forked from Archive/PX4-Autopilot
create example vehicle type build configs for fmu-v2 and fmu-v5 (#10963)
- update navigator precision landing to build without multicopter
This commit is contained in:
Daniel Agar
GitHub
parent
fd4caa849d
commit
1a4d31140e
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@ -30,7 +30,12 @@ pipeline {
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]
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def nuttx_builds_archive = [
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target: ["px4_fmu-v2_default", "px4_fmu-v3_default", "px4_fmu-v4_default", "px4_fmu-v4pro_default", "px4_fmu-v5_default", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
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target: [
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"px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
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"px4_fmu-v3_default",
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"px4_fmu-v4_default",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
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"intel_aerofc-v1_default", "gumstix_aerocore2_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
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"nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
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image: docker_images.nuttx,
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@ -0,0 +1,83 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v2
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LABEL fixedwing
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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#TESTING
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#UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS6
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DRIVERS
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#barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
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imu/l3gd20
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imu/lsm303d
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imu/mpu6000
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imu/mpu9250
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lights/rgbled
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#magnetometer # all available magnetometer drivers
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magnetometer/hmc5883
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px4fmu
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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#telemetry # all available telemetry drivers
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telemetry/iridiumsbd
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#uavcan
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MODULES
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camera_feedback
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commander
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dataman
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ekf2
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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load_mon
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logger
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mavlink
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navigator
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sensors
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vmount
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wind_estimator
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SYSTEMCMDS
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bl_update
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#config
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#dumpfile
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#esc_calib
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hardfault_log
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#led_control
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mixer
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#motor_ramp
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#motor_test
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mtd
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#nshterm
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param
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perf
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pwm
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reboot
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#sd_bench
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top
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#topic_listener
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tune_control
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usb_connected
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ver
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)
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@ -0,0 +1,80 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v2
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LABEL multicopter
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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#UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS6
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DRIVERS
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barometer/ms5611
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batt_smbus
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camera_trigger
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distance_sensor # all available distance sensor drivers
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gps
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imu/l3gd20
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imu/lsm303d
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imu/mpu6000
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imu/mpu9250
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irlock
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lights/rgbled
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magnetometer/hmc5883
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px4flow
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px4fmu
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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MODULES
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#attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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land_detector
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landing_target_estimator
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load_mon
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#local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_pos_control
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navigator
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sensors
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vmount
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SYSTEMCMDS
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bl_update
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#config
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#dumpfile
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#esc_calib
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hardfault_log
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#led_control
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mixer
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#motor_ramp
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#motor_test
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mtd
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#nshterm
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param
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perf
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pwm
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reboot
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#sd_bench
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top
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#topic_listener
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tune_control
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usb_connected
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ver
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)
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@ -0,0 +1,75 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v2
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LABEL rover
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS6
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DRIVERS
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barometer/ms5611
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batt_smbus
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camera_trigger
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distance_sensor # all available distance sensor drivers
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gps
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imu/l3gd20
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imu/lsm303d
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imu/mpu6000
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imu/mpu9250
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lights/rgbled
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magnetometer/hmc5883
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px4flow
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px4fmu
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px4io
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stm32
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stm32/adc
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stm32/tone_alarm
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MODULES
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camera_feedback
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commander
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dataman
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ekf2
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events
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gnd_att_control
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gnd_pos_control
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land_detector
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load_mon
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logger
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mavlink
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navigator
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sensors
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vmount
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SYSTEMCMDS
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bl_update
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#config
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#dumpfile
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#esc_calib
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hardfault_log
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#led_control
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mixer
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#motor_ramp
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#motor_test
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mtd
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#nshterm
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param
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perf
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pwm
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reboot
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#sd_bench
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top
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#topic_listener
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tune_control
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usb_connected
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ver
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)
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@ -27,22 +27,20 @@ px4_add_board(
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#heater
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imu/adis16448
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#imu # all available imu drivers
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imu/bma180
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imu/bmi055
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imu/bmi160
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imu/mpu6000
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imu/mpu9250
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imu/icm20948
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irlock
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lights/blinkm
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lights/oreoled
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lights/pca8574
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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#md25
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mkblctrl
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lights/pca8574
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pca9685
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pmw3901
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#protocol_splitter
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@ -0,0 +1,85 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v5
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LABEL fixedwing
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS3
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DRIVERS
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barometer # all available barometer drivers
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batt_smbus
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
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imu/adis16448
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imu/bmi055
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imu/mpu6000
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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pwm_input
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pwm_out_sim
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px4fmu
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px4io
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rc_input
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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uavcan
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MODULES
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camera_feedback
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commander
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dataman
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ekf2
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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load_mon
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logger
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mavlink
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navigator
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sensors
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vmount
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wind_estimator
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SYSTEMCMDS
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bl_update
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config
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dumpfile
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esc_calib
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hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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top
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topic_listener
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tune_control
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usb_connected
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ver
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)
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@ -0,0 +1,94 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v5
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LABEL multicopter
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS3
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DRIVERS
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barometer # all available barometer drivers
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batt_smbus
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camera_trigger
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distance_sensor # all available distance sensor drivers
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gps
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imu/bmi055
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imu/mpu6000
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irlock
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lights/blinkm
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lights/oreoled
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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pmw3901
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pwm_input
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pwm_out_sim
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px4flow
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px4fmu
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px4io
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rc_input
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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tap_esc
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telemetry # all available telemetry drivers
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uavcan
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MODULES
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attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_pos_control
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navigator
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sensors
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vmount
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wind_estimator
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SYSTEMCMDS
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bl_update
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config
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dumpfile
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esc_calib
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hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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top
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topic_listener
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tune_control
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usb_connected
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ver
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)
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@ -0,0 +1,89 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v5
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LABEL rover
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS3
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DRIVERS
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barometer # all available barometer drivers
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batt_smbus
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camera_trigger
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distance_sensor # all available distance sensor drivers
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gps
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imu/bmi055
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imu/mpu6000
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lights/pca8574
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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#md25
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mkblctrl
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pca9685
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pmw3901
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pwm_input
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pwm_out_sim
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px4flow
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px4fmu
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px4io
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rc_input
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roboclaw
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stm32
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stm32/adc
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stm32/tone_alarm
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telemetry # all available telemetry drivers
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uavcan
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MODULES
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camera_feedback
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commander
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dataman
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ekf2
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events
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gnd_att_control
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gnd_pos_control
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land_detector
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load_mon
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logger
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mavlink
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navigator
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sensors
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vmount
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SYSTEMCMDS
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bl_update
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config
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dumpfile
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esc_calib
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hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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||||
perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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top
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topic_listener
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tune_control
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usb_connected
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ver
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)
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|
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@ -63,6 +63,10 @@ PrecLand::PrecLand(Navigator *navigator) :
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MissionBlock(navigator),
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ModuleParams(navigator)
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{
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_handle_param_acceleration_hor = param_find("MPC_ACC_HOR");
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_handle_param_xy_vel_cruise = param_find("MPC_XY_CRUISE");
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updateParams();
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}
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void
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|
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@ -101,7 +105,6 @@ PrecLand::on_activation()
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_last_slewrate_time = 0;
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switch_to_state_start();
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}
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void
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|
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@ -160,6 +163,20 @@ PrecLand::on_active()
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}
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||||
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||||
void
|
||||
PrecLand::updateParams()
|
||||
{
|
||||
ModuleParams::updateParams();
|
||||
|
||||
if (_handle_param_acceleration_hor != PARAM_INVALID) {
|
||||
param_get(_handle_param_acceleration_hor, &_param_acceleration_hor);
|
||||
}
|
||||
|
||||
if (_handle_param_xy_vel_cruise != PARAM_INVALID) {
|
||||
param_get(_handle_param_xy_vel_cruise, &_param_xy_vel_cruise);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
PrecLand::run_state_start()
|
||||
{
|
||||
|
|
@ -545,21 +562,21 @@ void PrecLand::slewrate(float &sp_x, float &sp_y)
|
|||
// limit the setpoint speed to the maximum cruise speed
|
||||
matrix::Vector2f sp_vel = (sp_curr - _sp_pev) / dt; // velocity of the setpoints
|
||||
|
||||
if (sp_vel.length() > _param_xy_vel_cruise.get()) {
|
||||
sp_vel = sp_vel.normalized() * _param_xy_vel_cruise.get();
|
||||
if (sp_vel.length() > _param_xy_vel_cruise) {
|
||||
sp_vel = sp_vel.normalized() * _param_xy_vel_cruise;
|
||||
sp_curr = _sp_pev + sp_vel * dt;
|
||||
}
|
||||
|
||||
// limit the setpoint acceleration to the maximum acceleration
|
||||
matrix::Vector2f sp_acc = (sp_curr - _sp_pev * 2 + _sp_pev_prev) / (dt * dt); // acceleration of the setpoints
|
||||
|
||||
if (sp_acc.length() > _param_acceleration_hor.get()) {
|
||||
sp_acc = sp_acc.normalized() * _param_acceleration_hor.get();
|
||||
if (sp_acc.length() > _param_acceleration_hor) {
|
||||
sp_acc = sp_acc.normalized() * _param_acceleration_hor;
|
||||
sp_curr = _sp_pev * 2 - _sp_pev_prev + sp_acc * (dt * dt);
|
||||
}
|
||||
|
||||
// limit the setpoint speed such that we can stop at the setpoint given the maximum acceleration/deceleration
|
||||
float max_spd = sqrtf(_param_acceleration_hor.get() * ((matrix::Vector2f)(_sp_pev - matrix::Vector2f(sp_x,
|
||||
float max_spd = sqrtf(_param_acceleration_hor * ((matrix::Vector2f)(_sp_pev - matrix::Vector2f(sp_x,
|
||||
sp_y))).length());
|
||||
sp_vel = (sp_curr - _sp_pev) / dt; // velocity of the setpoints
|
||||
|
||||
|
|
|
|||
|
|
@ -77,6 +77,9 @@ public:
|
|||
PrecLandMode get_mode() { return _mode; };
|
||||
|
||||
private:
|
||||
|
||||
void updateParams() override;
|
||||
|
||||
// run the control loop for each state
|
||||
void run_state_start();
|
||||
void run_state_horizontal_approach();
|
||||
|
|
@ -127,9 +130,13 @@ private:
|
|||
(ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_final_approach_alt,
|
||||
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_search_alt,
|
||||
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_search_timeout,
|
||||
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches,
|
||||
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_acceleration_hor,
|
||||
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_xy_vel_cruise
|
||||
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches
|
||||
)
|
||||
|
||||
// non-navigator parameters
|
||||
param_t _handle_param_acceleration_hor{PARAM_INVALID};
|
||||
param_t _handle_param_xy_vel_cruise{PARAM_INVALID};
|
||||
float _param_acceleration_hor{0.0f};
|
||||
float _param_xy_vel_cruise{0.0f};
|
||||
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue