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ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410)

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Daniel Agar 2023-04-01 14:41:33 -04:00 committed by GitHub
parent 19752a7670
commit 13487c654d
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 44 additions and 1 deletions
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0
ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris → ROMFS/px4fmu_common/init.d-posix/airframes/10015_gazebo-classic_iris
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30
ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris Normal file
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@ -0,0 +1,30 @@
#!/bin/sh
#
# @name Generic Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

3
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -79,7 +79,8 @@ px4_add_romfs_files(
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
10016_gazebo-classic_iris
10015_gazebo-classic_iris
10016_none_iris
10017_jmavsim_iris
10018_gazebo-classic_iris_foggy_lidar
10019_gazebo-classic_omnicopter

12
src/modules/simulation/simulator_mavlink/CMakeLists.txt
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@ -59,3 +59,15 @@ include(sitl_targets_flightgear.cmake)
include(sitl_targets_gazebo-classic.cmake)
include(sitl_targets_jmavsim.cmake)
include(sitl_targets_jsbsim.cmake)
# none_iris (legacy compatibility launch helper)
add_custom_target(none_iris
COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=10016 $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
px4
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris
COMMENT "launching px4 none_iris (SYS_AUTOSTART=10016)"
)