forked from Archive/PX4-Autopilot
VOXL2 board support updates (#21426)
This commit is contained in:
Eric Katzfey
GitHub
parent
cb66c48876
commit
018ca6b49d
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@ -1,18 +1,28 @@
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CONFIG_PLATFORM_QURT=y
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CONFIG_BOARD_TOOLCHAIN="qurt"
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CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
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CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
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CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
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CONFIG_DRIVERS_QSHELL_QURT=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_BOARD_ROOTFSDIR="/"
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CONFIG_MODULES_MUORB_SLPI=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_ORB_COMMUNICATOR=y
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CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
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CONFIG_DRIVERS_QSHELL_QURT=y
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CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
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CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
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CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
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CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
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CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_RC_CRSF_RC=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_PARAM_CLIENT=y
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@ -45,7 +45,7 @@
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* I2C buses
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*/
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#define CONFIG_I2C 1
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#define PX4_NUMBER_I2C_BUSES 3
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#define PX4_NUMBER_I2C_BUSES 4
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/*
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* SPI buses
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@ -40,6 +40,7 @@
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/radio_status.h>
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#include "uORB/uORBManager.hpp"
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#include <mavlink.h>
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#include <px4_log.h>
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@ -77,6 +78,7 @@ std::string port = "7";
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uint32_t baudrate = 115200;
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uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
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uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
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perf_counter_t _perf_rx_rate = nullptr;
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@ -97,6 +99,7 @@ void task_main(int argc, char *argv[]);
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void handle_message_dsp(mavlink_message_t *msg);
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void handle_message_rc_channels_override_dsp(mavlink_message_t *msg);
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void handle_message_radio_status_dsp(mavlink_message_t *msg);
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void handle_message_dsp(mavlink_message_t *msg)
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{
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@ -117,6 +120,10 @@ void handle_message_dsp(mavlink_message_t *msg)
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handle_message_rc_channels_override_dsp(msg);
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break;
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case MAVLINK_MSG_ID_RADIO_STATUS:
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handle_message_radio_status_dsp(msg);
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break;
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default:
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break;
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}
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@ -300,12 +307,33 @@ void task_main(int argc, char *argv[])
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}
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}
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void handle_message_radio_status_dsp(mavlink_message_t *msg)
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{
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if (debug) { PX4_INFO("Radio status msg received"); }
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mavlink_radio_status_t rstatus;
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mavlink_msg_radio_status_decode(msg, &rstatus);
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radio_status_s status{};
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status.timestamp = hrt_absolute_time();
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status.rssi = rstatus.rssi;
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status.remote_rssi = rstatus.remrssi;
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status.txbuf = rstatus.txbuf;
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status.noise = rstatus.noise;
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status.remote_noise = rstatus.remnoise;
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status.rxerrors = rstatus.rxerrors;
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status.fix = rstatus.fixed;
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_radio_status_pub.publish(status);
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}
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void handle_message_rc_channels_override_dsp(mavlink_message_t *msg)
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{
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mavlink_rc_channels_override_t man;
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mavlink_msg_rc_channels_override_decode(msg, &man);
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// if (debug) PX4_INFO("RC channels override msg received");
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if (debug) { PX4_INFO("RC channels override msg received"); }
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// Check target
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if (man.target_system != 0) {
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@ -38,5 +38,6 @@
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusExternal(1),
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initI2CBusExternal(2),
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initI2CBusExternal(4),
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initI2CBusInternal(5)
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};
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@ -2,19 +2,25 @@ CONFIG_PLATFORM_POSIX=y
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CONFIG_BOARD_LINUX_TARGET=y
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CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
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CONFIG_BOARD_ROOTFSDIR="/data/px4"
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CONFIG_DRIVERS_QSHELL_POSIX=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MUORB_APPS=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_ORB_COMMUNICATOR=y
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CONFIG_PARAM_SERVER=y
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CONFIG_DRIVERS_QSHELL_POSIX=y
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CONFIG_DRIVERS_OSD_MSP_OSD=y
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CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_MUORB_APPS=y
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@ -9,11 +9,125 @@ adb push build/modalai_voxl2_default/bin/px4 /usr/bin
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# Push scripts to voxl2
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adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
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adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
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adb push boards/modalai/voxl2/target/voxl-px4-start /usr/bin
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adb shell chmod a+x /usr/bin/px4-alias.sh
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adb shell chmod a+x /usr/bin/voxl-px4
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adb shell chmod a+x /usr/bin/voxl-px4-start
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# Push configuration file
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adb shell mkdir -p /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
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# Make sure to setup all of the needed px4 aliases.
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-accelsim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-attitude_estimator_q"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-barosim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-batt_smbus"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-bottle_drop"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-camera_feedback"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-camera_trigger"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-cdev_test"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-cm8jl65"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander_tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-control_allocator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-controllib_test"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dataman"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ekf2"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-esc_calib"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ets_airspeed"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ex_fixedwing_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-fw_att_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-fw_pos_control_l1"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gnd_att_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gnd_pos_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gps"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gpssim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gyrosim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-hello"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-hrt_test"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-land_detector"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-landing_target_estimator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-led_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-leddar_one"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-linux_sbus"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-listener"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ll40ls"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-load_mon"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-local_position_estimator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-measairspeedsim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mixer"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-motor_ramp"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-modalai_gps_timer"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms4525_airspeed"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms5525_airspeed"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-msp_osd"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-muorb"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-muorb_test"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-navigator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-param"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-perf"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pga460"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-position_estimator_inav"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pwm"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pwm_out_sim"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4io"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4_mavlink_debug"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4_simple_app"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-qshell"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_update"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-reboot"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rgbled"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rover_steering_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sd_bench"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sdp3x_airspeed"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-segway"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-send_event"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensors"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf0x"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf0x_tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf1xx"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-shutdown"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sih"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-simulator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-spektrum_rc"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-srf02"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-teraranger"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tfmini"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-top"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tune_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ulanding_radar"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uorb"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uorb_tests"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ver"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vl53lxx"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vmount"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vtol_att_control"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-wind_estimator"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_controller"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
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adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
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# Make sure any required directories exist
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adb shell "/bin/mkdir -p /data/px4/param"
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adb shell "/bin/mkdir -p /data/px4/etc/extras"
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# Push the json files for the component metadata
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adb push build/modalai_voxl2_default/actuators.json.xz /data/px4/etc/extras
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adb push build/modalai_voxl2_default/component_general.json.xz /data/px4/etc/extras
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adb push build/modalai_voxl2_default/parameters.json.xz /data/px4/etc/extras
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adb push build/modalai_voxl2_default/events/all_events.json.xz /data/px4/etc/extras
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adb shell sync
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|
|
|||
|
|
@ -50,3 +50,5 @@
|
|||
|
||||
#define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2
|
||||
|
||||
#define MODAL_IO_DEFAULT_PORT "2"
|
||||
|
|
|
|||
|
|
@ -1,39 +1,147 @@
|
|||
#!/bin/bash
|
||||
|
||||
CONFIG_FILE="/etc/modalai/voxl-px4.conf"
|
||||
|
||||
GPS=NONE
|
||||
RC=SPEKTRUM
|
||||
IMU_ROTATION=NONE
|
||||
OSD=DISABLE
|
||||
DAEMON_MODE=DISABLE
|
||||
SENSOR_CAL=ACTUAL
|
||||
EXTRA_STEPS=()
|
||||
|
||||
# Try to source configuration variables from a file.
|
||||
# This will override anything already set in the environment.
|
||||
if [ -f "$CONFIG_FILE" ]; then
|
||||
echo "[INFO] Reading from $CONFIG_FILE"
|
||||
source $CONFIG_FILE
|
||||
else
|
||||
echo "[INFO] $CONFIG_FILE not found, using defaults"
|
||||
fi
|
||||
|
||||
# Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
|
||||
# on the DSP
|
||||
if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
|
||||
/bin/echo "Found DSP signature file"
|
||||
else
|
||||
/bin/echo "Error, could not find DSP signature file"
|
||||
/bin/echo "[WARNING] Could not find DSP signature file"
|
||||
# Look for the DSP signature generation script
|
||||
if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
|
||||
/bin/echo "Attempting to generate the DSP signature file"
|
||||
/bin/echo "[INFO] Attempting to generate the DSP signature file"
|
||||
# Automatically generate the test signature so that px4 can run on SLPI DSP
|
||||
/share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
|
||||
else
|
||||
/bin/echo "Could not find the DSP signature file generation script"
|
||||
/bin/echo "[ERROR] Could not find the DSP signature file generation script"
|
||||
exit 0
|
||||
fi
|
||||
fi
|
||||
|
||||
# Make sure to setup all of the needed px4 aliases.
|
||||
cd /usr/bin
|
||||
/bin/ln -f -s px4 px4-muorb
|
||||
/bin/ln -f -s px4 px4-qshell
|
||||
cd -
|
||||
print_usage() {
|
||||
echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]"
|
||||
echo " [-c delete configuration file and exit]"
|
||||
echo " [-d start px4 in daemon mode]"
|
||||
echo " [-f (Use fake rc input instead of from a real transmitter)]"
|
||||
echo " [-i (Set IMU_ROTATION to ROTATION_YAW_180)]"
|
||||
echo " [-m (Specify Matek GPS unit)]"
|
||||
echo " [-o (Start OSD module on the apps processor)]"
|
||||
echo " [-r (Specify TBS Crossfire RC receiver, MAVLINK)]"
|
||||
echo " [-w (Specify TBS Crossfire RC receiver, raw)]"
|
||||
echo " [-z (Use fake sensor calibration values)]"
|
||||
echo " [-h (show help)]"
|
||||
|
||||
DAEMON=" "
|
||||
S="OFF"
|
||||
exit 1
|
||||
}
|
||||
|
||||
while getopts "ds" flag
|
||||
print_config_settings(){
|
||||
echo -e "\n*************************"
|
||||
echo "GPS=$GPS"
|
||||
echo "RC=$RC"
|
||||
echo "IMU_ROTATION=$IMU_ROTATION"
|
||||
echo "OSD=$OSD"
|
||||
echo "DAEMON_MODE=$DAEMON_MODE"
|
||||
echo "SENSOR_CAL=$SENSOR_CAL"
|
||||
echo "EXTRA STEPS:"
|
||||
for i in "${EXTRA_STEPS[@]}"
|
||||
do
|
||||
echo -e "\t$i"
|
||||
done
|
||||
echo -e "*************************\n"
|
||||
}
|
||||
|
||||
while getopts "bcdhifmorwz" flag
|
||||
do
|
||||
case "${flag}" in
|
||||
# Use -d to put PX4 into daemon mode
|
||||
d) DAEMON="-d";;
|
||||
# Use -s to run self tests
|
||||
s) S="ON";;
|
||||
b)
|
||||
echo "[INFO] Holybro GPS selected"
|
||||
GPS=HOLYBRO
|
||||
;;
|
||||
c)
|
||||
echo "[INFO] Wiping old config file"
|
||||
if [ -f "$CONFIG_FILE" ]; then
|
||||
rm -rf ${CONFIG_FILE}
|
||||
fi
|
||||
exit 0
|
||||
;;
|
||||
d)
|
||||
echo "[INFO] Enabling daemon mode"
|
||||
DAEMON_MODE=ENABLE
|
||||
;;
|
||||
h)
|
||||
print_usage
|
||||
;;
|
||||
i)
|
||||
echo "[INFO] Setting IMU_ROTATION to 4: ROTATION_YAW_180"
|
||||
IMU_ROTATION=4
|
||||
;;
|
||||
f)
|
||||
echo "[INFO] Setting RC to FAKE_RC_INPUT"
|
||||
RC=FAKE_RC_INPUT
|
||||
;;
|
||||
m)
|
||||
echo "[INFO] Matek GPS selected"
|
||||
GPS=MATEK
|
||||
;;
|
||||
o)
|
||||
echo "[INFO] OSD module selected"
|
||||
OSD=ENABLE
|
||||
;;
|
||||
r)
|
||||
echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
|
||||
RC=CRSF_MAV
|
||||
;;
|
||||
w)
|
||||
echo "[INFO] TBS Crossfire RC receiver, raw selected"
|
||||
RC=CRSF_RAW
|
||||
;;
|
||||
z)
|
||||
echo "[INFO] Fake sensor calibration values selected"
|
||||
SENSOR_CAL=FAKE
|
||||
;;
|
||||
*)
|
||||
print_usage
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
TESTMODE=$S px4 $DAEMON -s /etc/modalai/voxl-px4.config
|
||||
if [ $DAEMON_MODE == "DISABLE" ]; then
|
||||
DAEMON=" "
|
||||
else
|
||||
echo "[INFO] Daemon mode enabled"
|
||||
DAEMON="-d"
|
||||
fi
|
||||
|
||||
if [ ! -f /data/px4/param/parameters ]; then
|
||||
echo "[INFO] Setting default parameters for PX4 on voxl"
|
||||
px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
|
||||
/bin/sync
|
||||
fi
|
||||
|
||||
if [ $SENSOR_CAL == "FAKE" ]; then
|
||||
/bin/echo "[INFO] Setting up fake sensor calibration values"
|
||||
px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
|
||||
/bin/sync
|
||||
fi
|
||||
|
||||
print_config_settings
|
||||
|
||||
GPS=$GPS RC=$RC OSD=$OSD IMU_ROTATION=$IMU_ROTATION EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
|
||||
|
|
|
|||
|
|
@ -0,0 +1,37 @@
|
|||
|
||||
#!/bin/sh
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
. px4-alias.sh
|
||||
|
||||
# uorb start
|
||||
|
||||
param select /data/px4/param/parameters
|
||||
|
||||
# Load in all of the current parameters that have been saved in the file
|
||||
param load
|
||||
|
||||
# Fake Accel calibration parameters for testing
|
||||
param set CAL_ACC0_ID 2490378
|
||||
param set CAL_ACC0_PRIO 75
|
||||
param set CAL_ACC0_ROT -1
|
||||
param set CAL_ACC0_XOFF -0.005
|
||||
param set CAL_ACC0_XSCALE 1.008
|
||||
param set CAL_ACC0_YOFF 0.008
|
||||
param set CAL_ACC0_YSCALE 1.0008
|
||||
param set CAL_ACC0_ZOFF -0.1
|
||||
param set CAL_ACC0_ZSCALE 1.008
|
||||
|
||||
# Fake gyro calibration parameters for testing
|
||||
param set CAL_GYRO0_ID 2490378
|
||||
param set CAL_GYRO0_PRIO 75
|
||||
param set CAL_GYRO0_ROT 0
|
||||
param set CAL_GYRO0_XOFF -0.0008
|
||||
param set CAL_GYRO0_YOFF -0.03
|
||||
param set CAL_GYRO0_ZOFF 0.002
|
||||
|
||||
param save
|
||||
|
||||
sleep 2
|
||||
|
||||
/usr/bin/px4-shutdown
|
||||
|
|
@ -0,0 +1,182 @@
|
|||
#!/bin/sh
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
. px4-alias.sh
|
||||
|
||||
param select /data/px4/param/parameters
|
||||
|
||||
# Make sure we are running at 800Hz on IMU
|
||||
param set IMU_GYRO_RATEMAX 800
|
||||
|
||||
# EKF2 Parameters
|
||||
param set EKF2_IMU_POS_X 0.027
|
||||
param set EKF2_IMU_POS_Y 0.009
|
||||
param set EKF2_IMU_POS_Z -0.019
|
||||
param set EKF2_EV_DELAY 5
|
||||
param set EKF2_AID_MASK 280
|
||||
param set EKF2_ABL_LIM 0.8
|
||||
param set EKF2_TAU_POS 0.25
|
||||
param set EKF2_TAU_VEL 0.25
|
||||
|
||||
param set MC_AIRMODE 0
|
||||
|
||||
param set MC_YAW_P 2.0
|
||||
param set MC_YAWRATE_P 0.15
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_K 1.0
|
||||
|
||||
param set MC_PITCH_P 5.5
|
||||
param set MC_PITCHRATE_P 0.08
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_D 0.0013
|
||||
param set MC_PITCHRATE_K 1.0
|
||||
|
||||
param set MC_ROLL_P 5.5
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
param set MC_ROLLRATE_D 0.0013
|
||||
param set MC_ROLLRATE_K 1.0
|
||||
|
||||
param set MPC_VELD_LP 5.0
|
||||
|
||||
# tweak MPC_THR_MIN to prevent roll/pitch losing control
|
||||
# authority under rapid downward acceleration
|
||||
param set MPC_THR_MAX 0.75
|
||||
param set MPC_THR_MIN 0.08
|
||||
param set MPC_THR_HOVER 0.42
|
||||
param set MPC_MANTHR_MIN 0.05
|
||||
|
||||
# default position mode with a little expo, smooth mode is terrible
|
||||
param set MPC_POS_MODE 0
|
||||
param set MPC_YAW_EXPO 0.20
|
||||
param set MPC_XY_MAN_EXPO 0.20
|
||||
param set MPC_Z_MAN_EXPO 0.20
|
||||
|
||||
# max velocities
|
||||
param set MPC_VEL_MANUAL 5.0
|
||||
param set MPC_XY_VEL_MAX 5.0
|
||||
param set MPC_XY_CRUISE 5.0
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_MAX_UP 4.0
|
||||
param set MPC_LAND_SPEED 1.0
|
||||
|
||||
# Horizontal position PID
|
||||
param set MPC_XY_P 0.95
|
||||
param set MPC_XY_VEL_P_ACC 3.00
|
||||
param set MPC_XY_VEL_I_ACC 0.10
|
||||
param set MPC_XY_VEL_D_ACC 0.00
|
||||
|
||||
# Vertical position PID
|
||||
# PX4 Defaults
|
||||
param set MPC_Z_P 1.0
|
||||
param set MPC_Z_VEL_P_ACC 8.0
|
||||
param set MPC_Z_VEL_I_ACC 2.0
|
||||
param set MPC_Z_VEL_D_ACC 0.0
|
||||
|
||||
param set MPC_TKO_RAMP_T 1.50
|
||||
param set MPC_TKO_SPEED 1.50
|
||||
|
||||
# Set the ESC outputs to function as motors
|
||||
param set MODAL_IO_FUNC1 101
|
||||
param set MODAL_IO_FUNC2 103
|
||||
param set MODAL_IO_FUNC3 104
|
||||
param set MODAL_IO_FUNC4 102
|
||||
|
||||
param set MODAL_IO_SDIR1 0
|
||||
param set MODAL_IO_SDIR2 0
|
||||
param set MODAL_IO_SDIR3 0
|
||||
param set MODAL_IO_SDIR4 0
|
||||
|
||||
param set MODAL_IO_CONFIG 1
|
||||
param set MODAL_IO_REV 0
|
||||
param set MODAL_IO_MODE 0
|
||||
param set MODAL_IO_BAUD 2000000
|
||||
param set MODAL_IO_RPM_MAX 10500
|
||||
param set MODAL_IO_RPM_MIN 1000
|
||||
|
||||
# Some parameters for control allocation
|
||||
param set CA_ROTOR_COUNT 4
|
||||
param set CA_R_REV 0
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_ROTOR_COUNT 4
|
||||
param set CA_ROTOR0_PX 0.15
|
||||
param set CA_ROTOR0_PY 0.15
|
||||
param set CA_ROTOR1_PX -0.15
|
||||
param set CA_ROTOR1_PY -0.15
|
||||
param set CA_ROTOR2_PX 0.15
|
||||
param set CA_ROTOR2_PY -0.15
|
||||
param set CA_ROTOR2_KM -0.05
|
||||
param set CA_ROTOR3_PX -0.15
|
||||
param set CA_ROTOR3_PY 0.15
|
||||
param set CA_ROTOR3_KM -0.05
|
||||
|
||||
# Some parameter settings to disable / ignore certain preflight checks
|
||||
|
||||
# No GPS driver yet so disable it
|
||||
param set SYS_HAS_GPS 0
|
||||
|
||||
# Allow arming wihtout a magnetometer (Need magnetometer driver)
|
||||
param set SYS_HAS_MAG 0
|
||||
param set EKF2_MAG_TYPE 5
|
||||
|
||||
# Allow arming without battery check (Need voxlpm driver)
|
||||
param set CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Allow arming without an SD card
|
||||
param set COM_ARM_SDCARD 0
|
||||
|
||||
# Allow arming wihtout CPU load information
|
||||
param set COM_CPU_MAX 0.0
|
||||
|
||||
# Disable auto disarm. This is number of seconds to wait for takeoff
|
||||
# after arming. If no takeoff happens then it will disarm. A negative
|
||||
# value disables this.
|
||||
param set COM_DISARM_PRFLT -1
|
||||
|
||||
# This parameter doesn't exist anymore. Need to see what the new method is.
|
||||
# param set MAV_BROADCAST 0
|
||||
|
||||
# Doesn't work without setting this to Quadcopter
|
||||
param set MAV_TYPE 2
|
||||
|
||||
# Parameters that we don't use but QGC complains about if they aren't there
|
||||
param set SYS_AUTOSTART 4001
|
||||
|
||||
# Default RC channel mappings
|
||||
param set RC_MAP_ACRO_SW 0
|
||||
param set RC_MAP_ARM_SW 0
|
||||
param set RC_MAP_AUX1 0
|
||||
param set RC_MAP_AUX2 0
|
||||
param set RC_MAP_AUX3 0
|
||||
param set RC_MAP_AUX4 0
|
||||
param set RC_MAP_AUX5 0
|
||||
param set RC_MAP_AUX6 0
|
||||
param set RC_MAP_FAILSAFE 0
|
||||
param set RC_MAP_FLAPS 0
|
||||
param set RC_MAP_FLTMODE 6
|
||||
param set RC_MAP_GEAR_SW 0
|
||||
param set RC_MAP_KILL_SW 7
|
||||
param set RC_MAP_LOITER_SW 0
|
||||
param set RC_MAP_MAN_SW 0
|
||||
param set RC_MAP_MODE_SW 0
|
||||
param set RC_MAP_OFFB_SW 0
|
||||
param set RC_MAP_PARAM1 0
|
||||
param set RC_MAP_PARAM2 0
|
||||
param set RC_MAP_PARAM3 0
|
||||
param set RC_MAP_PITCH 2
|
||||
param set RC_MAP_POSCTL_SW 0
|
||||
param set RC_MAP_RATT_SW 0
|
||||
param set RC_MAP_RETURN_SW 0
|
||||
param set RC_MAP_ROLL 1
|
||||
param set RC_MAP_STAB_SW 0
|
||||
param set RC_MAP_THROTTLE 3
|
||||
param set RC_MAP_TRANS_SW 0
|
||||
param set RC_MAP_YAW 4
|
||||
|
||||
param save
|
||||
|
||||
sleep 2
|
||||
|
||||
# Need px4-shutdown otherwise Linux system shutdown is called
|
||||
px4-shutdown
|
||||
|
|
@ -0,0 +1,164 @@
|
|||
#!/bin/sh
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
. px4-alias.sh
|
||||
|
||||
echo -e "\n*************************"
|
||||
echo "GPS: $GPS"
|
||||
echo "RC: $RC"
|
||||
echo "IMU ROTATION: $IMU_ROTATION"
|
||||
echo "OSD: $OSD"
|
||||
echo "EXTRA STEPS:"
|
||||
for i in "${EXTRA_STEPS[@]}"
|
||||
do
|
||||
echo -e "\t$i"
|
||||
done
|
||||
echo -e "*************************\n"
|
||||
|
||||
# In order to just exit after starting the uorb / muorb modules define
|
||||
# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
|
||||
# This is useful for testing / debug where you may want to start drivers
|
||||
# and modules manually from the px4 command shell
|
||||
if [ ! -z $MINIMAL_PX4 ]; then
|
||||
/bin/echo "Running minimal script"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# Sleep a little here. A lot happens when the uorb and muorb start
|
||||
# and we need to make sure that it all completes successfully to avoid
|
||||
# any possible race conditions.
|
||||
/bin/sleep 1
|
||||
|
||||
param select /data/px4/param/parameters
|
||||
|
||||
# Load in all of the parameters that have been saved in the file
|
||||
param load
|
||||
|
||||
# Start logging and use timestamps for log files when possible.
|
||||
# Add the "-e" option to start logging immediately. Default is
|
||||
# to log only when armed. Caution must be used with the "-e" option
|
||||
# because if power is removed without stopping the logger gracefully then
|
||||
# the log file may be corrupted.
|
||||
logger start -t
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
# IMU (accelerometer / gyroscope)
|
||||
if [ "$IMU_ROTATION" != "NONE" ]; then
|
||||
/bin/echo "Starting IMU driver with rotation: $IMU_ROTATION"
|
||||
qshell icm42688p start -s -R $IMU_ROTATION
|
||||
else
|
||||
qshell icm42688p start -s
|
||||
fi
|
||||
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
# Start Invensense ICP 101xx barometer built on to VOXL 2
|
||||
qshell icp101xx start -I -b 5
|
||||
|
||||
# Magnetometer
|
||||
if [ "$GPS" == "MATEK" ]; then
|
||||
# Use this line for the magnetometer in the Matek Systems M8Q-5883 module
|
||||
/bin/echo "Starting Mateksys M8Q-5883 magnetometer"
|
||||
qshell qmc5883l start -R 10 -X -b 1
|
||||
elif [ "$GPS" == "HOLYBRO" ]; then
|
||||
# Use this line for the magnetometer in the Holybro GPS module
|
||||
/bin/echo "Starting Holybro magnetometer"
|
||||
qshell ist8310 start -R 10 -X -b 1
|
||||
fi
|
||||
|
||||
# GPS
|
||||
if [ "$GPS" == "MATEK" ]; then
|
||||
# Use this gps start line instead for Matek Systems M8Q-5883 module
|
||||
/bin/echo "Starting Mateksys M8Q-5883 GPS"
|
||||
qshell gps start
|
||||
elif [ "$GPS" == "HOLYBRO" ]; then
|
||||
# Only the newer Holybro unit is supported on M0054
|
||||
/bin/echo "Starting Holybro GPS"
|
||||
qshell gps start -b 115200
|
||||
fi
|
||||
|
||||
# LED driver for the Pixhawk 4 GPS module
|
||||
if [ "$GPS" == "HOLYBRO" ]; then
|
||||
/bin/echo "Starting Holybro LED driver"
|
||||
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
|
||||
fi
|
||||
|
||||
# We do not change the value of SYS_AUTOCONFIG but if it does not
|
||||
# show up as used then it is not reported to QGC and we get a
|
||||
# missing parameter error.
|
||||
param touch SYS_AUTOCONFIG
|
||||
|
||||
# ESC driver
|
||||
qshell modal_io start
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
if [ "$RC" == "FAKE_RC_INPUT" ]; then
|
||||
/bin/echo "Starting fake RC driver"
|
||||
qshell rc_controller start
|
||||
elif [ "$RC" == "CRSF_RAW" ]; then
|
||||
/bin/echo "Starting CRSF RC driver"
|
||||
qshell crsf_rc start -d 7
|
||||
elif [ "$RC" == "CRSF_MAV" ]; then
|
||||
/bin/echo "Starting TBS crossfire RC - MAV Mode"
|
||||
qshell mavlink_rc_in start -m -p 7 -b 115200
|
||||
elif [ "$RC" == "SPEKTRUM" ]; then
|
||||
/bin/echo "Starting Spektrum RC"
|
||||
qshell spektrum_rc start
|
||||
fi
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
# APM power monitor
|
||||
qshell voxlpm start -X -b 2
|
||||
|
||||
# Start all of the processing modules on DSP
|
||||
qshell sensors start
|
||||
qshell ekf2 start
|
||||
qshell mc_pos_control start
|
||||
qshell mc_att_control start
|
||||
qshell mc_rate_control start
|
||||
qshell mc_hover_thrust_estimator start
|
||||
qshell land_detector start multicopter
|
||||
qshell manual_control start
|
||||
qshell control_allocator start
|
||||
qshell rc_update start
|
||||
qshell commander start
|
||||
qshell commander mode manual
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
# Start all of the processing modules on the applications processor
|
||||
dataman start
|
||||
navigator start
|
||||
|
||||
# This is needed for altitude and position hold modes
|
||||
flight_mode_manager start
|
||||
|
||||
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
|
||||
|
||||
# slow down some of the fastest streams in onboard mode
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 10
|
||||
mavlink stream -u 14556 -s ATTITUDE -r 10
|
||||
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
|
||||
# speed up rc_channels
|
||||
mavlink stream -u 14556 -s RC_CHANNELS -r 50
|
||||
|
||||
/bin/sleep 1
|
||||
|
||||
mavlink boot_complete
|
||||
|
||||
# Optional MSP OSD driver for DJI goggles
|
||||
# This is only supported on M0054 (with M0125 accessory board)
|
||||
if [ "$OSD" == "ENABLE" ]; then
|
||||
/bin/echo "Starting OSD driver"
|
||||
msp_osd start -d /dev/ttyHS1
|
||||
fi
|
||||
|
||||
# Start optional EXTRA_STEPS
|
||||
for i in "${EXTRA_STEPS[@]}"
|
||||
do
|
||||
$i
|
||||
done
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
#!/bin/sh
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
. px4-alias.sh
|
||||
|
||||
if [ $TESTMODE = "ON" ]; then
|
||||
/bin/echo "Running self tests"
|
||||
muorb test
|
||||
MUORB_TEST_STATUS=$?
|
||||
if [ $MUORB_TEST_STATUS -ne 0 ]; then
|
||||
/bin/echo "muorb test failed"
|
||||
shutdown
|
||||
exit 0
|
||||
else
|
||||
/bin/echo "muorb test passed"
|
||||
fi
|
||||
fi
|
||||
|
||||
muorb start
|
||||
|
||||
qshell icm42688p start -s
|
||||
|
|
@ -93,8 +93,13 @@ extern "C" {
|
|||
|
||||
if (name == NULL) { return -1; }
|
||||
|
||||
memcpy(attr->name, name, PTHREAD_NAME_LEN);
|
||||
attr->name[PTHREAD_NAME_LEN - 1] = 0;
|
||||
size_t name_len = strlen(name);
|
||||
|
||||
if (name_len > PX4_TASK_MAX_NAME_LENGTH) { name_len = PX4_TASK_MAX_NAME_LENGTH; }
|
||||
|
||||
memcpy(attr->name, name, name_len);
|
||||
attr->name[name_len] = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -424,14 +429,20 @@ int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
|
|||
int px4_prctl(int option, const char *arg2, px4_task_t pid)
|
||||
{
|
||||
int rv = -1;
|
||||
|
||||
if (option != PR_SET_NAME) { return rv; }
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
for (int i = 0; i < PX4_MAX_TASKS; i++) {
|
||||
if (taskmap[i].isused && taskmap[i].tid == (pthread_t) pid) {
|
||||
rv = pthread_attr_setthreadname(&taskmap[i].attr, arg2);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
return rv;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,30 +1,33 @@
|
|||
|
||||
#include <time.h>
|
||||
|
||||
void qurt_free(void *ptr);
|
||||
#include <px4_log.h>
|
||||
#include <qurt_alloc.h>
|
||||
|
||||
__attribute__((visibility("default"))) void free(void *ptr)
|
||||
{
|
||||
qurt_free(ptr);
|
||||
// ptr = 0;
|
||||
ptr = 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *malloc(size_t size)
|
||||
{
|
||||
return (void *) 0;
|
||||
return qurt_malloc(size);
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *calloc(size_t nmemb, size_t size)
|
||||
{
|
||||
PX4_ERR("Undefined calloc called");
|
||||
return (void *) 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *realloc(void *ptr, size_t size)
|
||||
{
|
||||
PX4_ERR("Undefined realloc called");
|
||||
return (void *) 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) int nanosleep(const struct timespec *req, struct timespec *rem)
|
||||
{
|
||||
PX4_ERR("Undefined nanosleep called");
|
||||
return -1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -31,6 +31,8 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
#include "modal_io.hpp"
|
||||
|
|
@ -255,7 +257,9 @@ int ModalIo::task_spawn(int argc, char *argv[])
|
|||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
// This will cause a crash on SLPI DSP
|
||||
// delete instance;
|
||||
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
|
|
@ -322,7 +326,7 @@ int ModalIo::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
|
|||
uint32_t voltage = fb.voltage;
|
||||
int32_t current = fb.current * 8;
|
||||
int32_t temperature = fb.temperature / 100;
|
||||
PX4_INFO("[%lld] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1,
|
||||
PX4_INFO("[%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1,
|
||||
(int)rpm, (int)power, (int)voltage, (int)current, (int)temperature);
|
||||
}
|
||||
|
||||
|
|
@ -1426,21 +1430,21 @@ int ModalIo::print_status()
|
|||
|
||||
PX4_INFO("");
|
||||
|
||||
PX4_INFO("Params: MODAL_IO_CONFIG: %li", _parameters.config);
|
||||
PX4_INFO("Params: MODAL_IO_BAUD: %li", _parameters.baud_rate);
|
||||
PX4_INFO("Params: MODAL_IO_CONFIG: %" PRId32, _parameters.config);
|
||||
PX4_INFO("Params: MODAL_IO_BAUD: %" PRId32, _parameters.baud_rate);
|
||||
|
||||
PX4_INFO("Params: MODAL_IO_FUNC1: %li", _parameters.function_map[0]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC2: %li", _parameters.function_map[1]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC3: %li", _parameters.function_map[2]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC4: %li", _parameters.function_map[3]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC1: %" PRId32, _parameters.function_map[0]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC2: %" PRId32, _parameters.function_map[1]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC3: %" PRId32, _parameters.function_map[2]);
|
||||
PX4_INFO("Params: MODAL_IO_FUNC4: %" PRId32, _parameters.function_map[3]);
|
||||
|
||||
PX4_INFO("Params: MODAL_IO_SDIR1: %li", _parameters.direction_map[0]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR2: %li", _parameters.direction_map[1]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR3: %li", _parameters.direction_map[2]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR4: %li", _parameters.direction_map[3]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR1: %" PRId32, _parameters.direction_map[0]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR2: %" PRId32, _parameters.direction_map[1]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR3: %" PRId32, _parameters.direction_map[2]);
|
||||
PX4_INFO("Params: MODAL_IO_SDIR4: %" PRId32, _parameters.direction_map[3]);
|
||||
|
||||
PX4_INFO("Params: MODAL_IO_RPM_MIN: %li", _parameters.rpm_min);
|
||||
PX4_INFO("Params: MODAL_IO_RPM_MAX: %li", _parameters.rpm_max);
|
||||
PX4_INFO("Params: MODAL_IO_RPM_MIN: %" PRId32, _parameters.rpm_min);
|
||||
PX4_INFO("Params: MODAL_IO_RPM_MAX: %" PRId32, _parameters.rpm_max);
|
||||
|
||||
PX4_INFO("");
|
||||
|
||||
|
|
|
|||
|
|
@ -75,15 +75,13 @@ void WorkerThread::startTask(Request request)
|
|||
pthread_attr_init(&low_prio_attr);
|
||||
pthread_attr_setstacksize(&low_prio_attr, PX4_STACK_ADJUSTED(4804));
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
// This is not supported by QURT (yet).
|
||||
struct sched_param param;
|
||||
pthread_attr_getschedparam(&low_prio_attr, ¶m);
|
||||
|
||||
/* low priority */
|
||||
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
|
||||
pthread_attr_setschedparam(&low_prio_attr, ¶m);
|
||||
#endif
|
||||
|
||||
int ret = pthread_create(&_thread_handle, &low_prio_attr, &threadEntryTrampoline, this);
|
||||
pthread_attr_destroy(&low_prio_attr);
|
||||
|
||||
|
|
|
|||
|
|
@ -35,11 +35,9 @@
|
|||
#include "uORBAppsProtobufChannel.hpp"
|
||||
#include "uORB/uORBManager.hpp"
|
||||
|
||||
extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
|
||||
|
||||
static void usage()
|
||||
{
|
||||
PX4_INFO("Usage: muorb 'start', 'test', 'stop', 'status'");
|
||||
extern "C" {
|
||||
__EXPORT int muorb_main(int argc, char *argv[]);
|
||||
__EXPORT int muorb_init();
|
||||
}
|
||||
|
||||
static bool enable_debug = false;
|
||||
|
|
@ -47,52 +45,21 @@ static bool enable_debug = false;
|
|||
int
|
||||
muorb_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
usage();
|
||||
return -EINVAL;
|
||||
return muorb_init();
|
||||
}
|
||||
|
||||
int
|
||||
muorb_init()
|
||||
{
|
||||
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
|
||||
|
||||
PX4_INFO("Got muorb init command");
|
||||
|
||||
if (channel && channel->Initialize(enable_debug)) {
|
||||
uORB::Manager::get_instance()->set_uorb_communicator(channel);
|
||||
|
||||
if (channel->Test()) { return OK; }
|
||||
}
|
||||
|
||||
// TODO: Add an optional start parameter to control debug messages
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
// Register the protobuf channel with UORB.
|
||||
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
|
||||
|
||||
PX4_INFO("Got muorb start command");
|
||||
|
||||
if (channel && channel->Initialize(enable_debug)) {
|
||||
uORB::Manager::get_instance()->set_uorb_communicator(channel);
|
||||
return OK;
|
||||
}
|
||||
|
||||
} else if (!strcmp(argv[1], "test")) {
|
||||
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
|
||||
|
||||
PX4_INFO("Got muorb test command");
|
||||
|
||||
if (channel && channel->Initialize(enable_debug)) {
|
||||
uORB::Manager::get_instance()->set_uorb_communicator(channel);
|
||||
|
||||
if (channel->Test()) { return OK; }
|
||||
}
|
||||
|
||||
} else if (!strcmp(argv[1], "stop")) {
|
||||
if (uORB::AppsProtobufChannel::isInstance() == false) {
|
||||
PX4_WARN("muorb not running");
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
||||
} else if (!strcmp(argv[1], "status")) {
|
||||
if (uORB::AppsProtobufChannel::isInstance()) {
|
||||
PX4_INFO("muorb initialized");
|
||||
|
||||
} else {
|
||||
PX4_INFO("muorb not running");
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
usage();
|
||||
return -EINVAL;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue