forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'upstream/master' into navigator_new_fw
Conflicts: makefiles/config_px4fmu-v2_logging.mk
This commit is contained in:
Thomas Gubler
commit
3000d08b05
|
|
@ -32,8 +32,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -74,8 +72,3 @@ pwm max -c 1234 -p 1900
|
|||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -32,8 +32,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -73,8 +71,3 @@ pwm min -c 1234 -p 1050
|
|||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -42,8 +42,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -80,8 +78,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -42,8 +42,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -80,8 +78,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -42,8 +42,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -82,8 +80,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -20,8 +20,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -58,8 +56,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -47,8 +47,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -85,8 +83,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -20,8 +20,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -58,8 +56,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -46,8 +46,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -84,8 +82,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -46,8 +46,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -84,8 +82,3 @@ fi
|
|||
# Start common fixedwing apps
|
||||
#
|
||||
sh /etc/init.d/rc.fixedwing
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -54,11 +54,6 @@ ardrone_interface start -d /dev/ttyS1
|
|||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
|
|
@ -41,14 +41,6 @@ then
|
|||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
|
|
@ -69,29 +61,9 @@ else
|
|||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm rate -c 1234 -r 400
|
||||
|
||||
#
|
||||
# Set disarmed, min and max PWM signals (for DJI ESCs)
|
||||
#
|
||||
pwm disarmed -c 1234 -p 900
|
||||
pwm min -c 1234 -p 1200
|
||||
pwm max -c 1234 -p 1800
|
||||
sh /etc/init.d/rc.mc_interface
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -32,8 +32,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -43,8 +41,6 @@ then
|
|||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
commander start
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
|
|
@ -76,8 +72,3 @@ pwm max -c 1234 -p 1800
|
|||
# Start common multirotor apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -28,11 +28,6 @@ usleep 5000
|
|||
# Start and configure PX4IO interface
|
||||
#
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
|
|
|
|||
|
|
@ -34,8 +34,6 @@ fi
|
|||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -76,8 +74,3 @@ pwm max -c 1234 -p 1900
|
|||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -13,8 +13,6 @@ then
|
|||
param save
|
||||
fi
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
|
|
@ -24,8 +22,6 @@ then
|
|||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
commander start
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
else
|
||||
|
|
@ -53,8 +49,3 @@ then
|
|||
sdlog2 start -r 200 -e -b 16
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -52,7 +52,7 @@ param set MAV_TYPE 13
|
|||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
|
|
@ -62,18 +62,14 @@ then
|
|||
|
||||
sh /etc/init.d/rc.io
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
|
||||
# This is not possible on a hexa
|
||||
tone_alarm error
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
|
||||
mixer load /dev/pwm_output $MIXER
|
||||
|
||||
#
|
||||
# Set PWM output frequency to 400 Hz
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
#!nsh
|
||||
#
|
||||
# Script to set PWM min / max limits and mixer
|
||||
#
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
if [ $FRAME_GEOMETRY == x ]
|
||||
then
|
||||
echo "Frame geometry X"
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
else
|
||||
if [ $FRAME_GEOMETRY == w ]
|
||||
then
|
||||
echo "Frame geometry W"
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
|
||||
else
|
||||
echo "Frame geometry +"
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $FRAME_COUNT == 4 ]
|
||||
then
|
||||
set OUTPUTS 1234
|
||||
param set MAV_TYPE 2
|
||||
else
|
||||
if [ $FRAME_COUNT == 6 ]
|
||||
then
|
||||
set OUTPUTS 123456
|
||||
param set MAV_TYPE 13
|
||||
else
|
||||
set OUTPUTS 12345678
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm rate -c $OUTPUTS -r $PWM_RATE
|
||||
|
||||
#
|
||||
# Set disarmed, min and max PWM signals (for DJI ESCs)
|
||||
#
|
||||
pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
|
||||
pwm min -c $OUTPUTS -p $PWM_MIN
|
||||
pwm max -c $OUTPUTS -p $PWM_MAX
|
||||
|
|
@ -0,0 +1,94 @@
|
|||
#!nsh
|
||||
|
||||
echo "[init] Octorotor startup"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.004
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.12
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_P 2.0
|
||||
param set MC_YAWRATE_D 0.005
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set NAV_TAKEOFF_ALT 3.0
|
||||
param set MPC_TILT_MAX 0.5
|
||||
param set MPC_THR_MAX 0.7
|
||||
param set MPC_THR_MIN 0.3
|
||||
param set MPC_XY_D 0
|
||||
param set MPC_XY_P 0.5
|
||||
param set MPC_XY_VEL_D 0
|
||||
param set MPC_XY_VEL_I 0
|
||||
param set MPC_XY_VEL_MAX 3
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_Z_D 0
|
||||
param set MPC_Z_P 1
|
||||
param set MPC_Z_VEL_D 0
|
||||
param set MPC_Z_VEL_I 0.1
|
||||
param set MPC_Z_VEL_MAX 2
|
||||
param set MPC_Z_VEL_P 0.20
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
|
||||
# 14 = octorotor
|
||||
#
|
||||
param set MAV_TYPE 14
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
else
|
||||
# This is not possible on an octo
|
||||
tone_alarm error
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output $MIXER
|
||||
|
||||
#
|
||||
# Set PWM output frequency to 400 Hz
|
||||
#
|
||||
pwm rate -a -r 400
|
||||
|
||||
#
|
||||
# Set disarmed, min and max PWM signals
|
||||
#
|
||||
pwm disarmed -c 12345678 -p 900
|
||||
pwm min -c 12345678 -p 1100
|
||||
pwm max -c 12345678 -p 1900
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
|
@ -204,64 +204,103 @@ then
|
|||
tone_alarm MNGGG
|
||||
fi
|
||||
fi
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
# AUTOSTART PARTITION:
|
||||
# 0 .. 999 Reserved (historical)
|
||||
# 1000 .. 1999 Simulation setups
|
||||
# 2000 .. 2999 Standard planes
|
||||
# 3000 .. 3999 Flying wing
|
||||
# 4000 .. 4999 Quad X
|
||||
# 5000 .. 5999 Quad +
|
||||
# 6000 .. 6999 Hexa X
|
||||
# 7000 .. 7999 Hexa +
|
||||
# 8000 .. 8999 Octo X
|
||||
# 9000 .. 9999 Octo +
|
||||
# 10000 .. 19999 Wide arm / H frame
|
||||
|
||||
if param compare SYS_AUTOSTART 8
|
||||
if param compare SYS_AUTOSTART 4008 8
|
||||
then
|
||||
sh /etc/init.d/08_ardrone
|
||||
sh /etc/init.d/4008_ardrone
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9
|
||||
if param compare SYS_AUTOSTART 4009 9
|
||||
then
|
||||
sh /etc/init.d/09_ardrone_flow
|
||||
sh /etc/init.d/4009_ardrone_flow
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10
|
||||
if param compare SYS_AUTOSTART 4010 10
|
||||
then
|
||||
sh /etc/init.d/10_dji_f330
|
||||
set FRAME_GEOMETRY x
|
||||
set FRAME_COUNT 4
|
||||
set PWM_MIN 1200
|
||||
set PWM_MAX 1900
|
||||
set PWM_DISARMED 900
|
||||
sh /etc/init.d/4010_dji_f330
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 11
|
||||
if param compare SYS_AUTOSTART 4011 11
|
||||
then
|
||||
sh /etc/init.d/11_dji_f450
|
||||
sh /etc/init.d/4011_dji_f450
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 12
|
||||
if param compare SYS_AUTOSTART 4012
|
||||
then
|
||||
sh /etc/init.d/666_fmu_q_x550
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 6012 12
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_hex_x.mix
|
||||
sh /etc/init.d/12-13_hex
|
||||
sh /etc/init.d/rc.hexa
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 13
|
||||
if param compare SYS_AUTOSTART 7013 13
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_hex_+.mix
|
||||
sh /etc/init.d/12-13_hex
|
||||
sh /etc/init.d/rc.hexa
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 8001
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_octo_x.mix
|
||||
sh /etc/init.d/rc.octo
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9001
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_octo_+.mix
|
||||
sh /etc/init.d/rc.octo
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 15
|
||||
if param compare SYS_AUTOSTART 10015 15
|
||||
then
|
||||
sh /etc/init.d/15_tbs_discovery
|
||||
sh /etc/init.d/10015_tbs_discovery
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 16
|
||||
if param compare SYS_AUTOSTART 10016 16
|
||||
then
|
||||
sh /etc/init.d/16_3dr_iris
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
|
||||
if param compare SYS_AUTOSTART 17
|
||||
if param compare SYS_AUTOSTART 4017 17
|
||||
then
|
||||
set MKBLCTRL_MODE no
|
||||
set MKBLCTRL_FRAME x
|
||||
|
|
@ -270,7 +309,7 @@ then
|
|||
fi
|
||||
|
||||
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
|
||||
if param compare SYS_AUTOSTART 18
|
||||
if param compare SYS_AUTOSTART 5018 18
|
||||
then
|
||||
set MKBLCTRL_MODE no
|
||||
set MKBLCTRL_FRAME +
|
||||
|
|
@ -279,7 +318,7 @@ then
|
|||
fi
|
||||
|
||||
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
|
||||
if param compare SYS_AUTOSTART 19
|
||||
if param compare SYS_AUTOSTART 4019 19
|
||||
then
|
||||
set MKBLCTRL_MODE yes
|
||||
set MKBLCTRL_FRAME x
|
||||
|
|
@ -288,7 +327,7 @@ then
|
|||
fi
|
||||
|
||||
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
|
||||
if param compare SYS_AUTOSTART 20
|
||||
if param compare SYS_AUTOSTART 5020 20
|
||||
then
|
||||
set MKBLCTRL_MODE yes
|
||||
set MKBLCTRL_FRAME +
|
||||
|
|
@ -297,7 +336,7 @@ then
|
|||
fi
|
||||
|
||||
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
|
||||
if param compare SYS_AUTOSTART 21
|
||||
if param compare SYS_AUTOSTART 4021 21
|
||||
then
|
||||
set FRAME_GEOMETRY x
|
||||
set ESC_MAKER afro
|
||||
|
|
@ -306,40 +345,40 @@ then
|
|||
fi
|
||||
|
||||
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
|
||||
if param compare SYS_AUTOSTART 22
|
||||
if param compare SYS_AUTOSTART 10022 22
|
||||
then
|
||||
set FRAME_GEOMETRY w
|
||||
sh /etc/init.d/rc.custom_io_esc
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 30
|
||||
if param compare SYS_AUTOSTART 3030 30
|
||||
then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
sh /etc/init.d/3030_io_camflyer
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
if param compare SYS_AUTOSTART 3031 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
sh /etc/init.d/3031_io_phantom
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 32
|
||||
if param compare SYS_AUTOSTART 3032 32
|
||||
then
|
||||
sh /etc/init.d/32_skywalker_x5
|
||||
sh /etc/init.d/3032_skywalker_x5
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 33
|
||||
if param compare SYS_AUTOSTART 3033 33
|
||||
then
|
||||
sh /etc/init.d/33_io_wingwing
|
||||
sh /etc/init.d/3033_io_wingwing
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 34
|
||||
if param compare SYS_AUTOSTART 3034 34
|
||||
then
|
||||
sh /etc/init.d/34_io_fx79
|
||||
sh /etc/init.d/3034_io_fx79
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
|
|
@ -349,21 +388,21 @@ then
|
|||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 100
|
||||
if param compare SYS_AUTOSTART 2100 100
|
||||
then
|
||||
sh /etc/init.d/100_mpx_easystar
|
||||
sh /etc/init.d/2100_mpx_easystar
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 101
|
||||
if param compare SYS_AUTOSTART 2101 101
|
||||
then
|
||||
sh /etc/init.d/101_hk_bixler
|
||||
sh /etc/init.d/2101_hk_bixler
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 102
|
||||
if param compare SYS_AUTOSTART 2102 102
|
||||
then
|
||||
sh /etc/init.d/102_3dr_skywalker
|
||||
sh /etc/init.d/2102_3dr_skywalker
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
|
|
@ -412,5 +451,10 @@ then
|
|||
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
|
||||
# End of autostart
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -1,159 +0,0 @@
|
|||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += modules/sensors
|
||||
|
||||
# Needs to be burned to the ground and re-written; for now,
|
||||
# just don't build it.
|
||||
#MODULES += drivers/mkblctrl
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/ramtron
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/preflight_check
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/mavlink_onboard
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/att_pos_estimator_ekf
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/multirotor_att_control
|
||||
MODULES += modules/multirotor_pos_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += modules/unit_test
|
||||
#MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/conversion
|
||||
MODULES += modules/dataman
|
||||
MODULES += lib/launchdetection
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
|
|
@ -533,7 +533,8 @@ FixedwingAttitudeControl::task_main()
|
|||
|
||||
/* rate limit vehicle status updates to 5Hz */
|
||||
orb_set_interval(_vcontrol_mode_sub, 200);
|
||||
orb_set_interval(_att_sub, 100);
|
||||
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
|
||||
orb_set_interval(_att_sub, 17);
|
||||
|
||||
parameters_update();
|
||||
|
||||
|
|
|
|||
|
|
@ -350,20 +350,26 @@ l_input_rc(const struct listener *l)
|
|||
/* copy rc channels into local buffer */
|
||||
orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
|
||||
|
||||
if (gcs_link)
|
||||
/* Channels are sent in MAVLink main loop at a fixed interval */
|
||||
mavlink_msg_rc_channels_raw_send(chan,
|
||||
rc_raw.timestamp / 1000,
|
||||
0,
|
||||
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
|
||||
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
|
||||
255);
|
||||
if (gcs_link) {
|
||||
|
||||
const unsigned port_width = 8;
|
||||
|
||||
for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) {
|
||||
/* Channels are sent in MAVLink main loop at a fixed interval */
|
||||
mavlink_msg_rc_channels_raw_send(chan,
|
||||
rc_raw.timestamp / 1000,
|
||||
i,
|
||||
(rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
|
||||
(rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
|
||||
rc_raw.rssi);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -492,7 +498,8 @@ l_actuator_outputs(const struct listener *l)
|
|||
|
||||
if (gcs_link) {
|
||||
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
|
||||
l->arg /* port number */,
|
||||
l->arg /* port number - needs GCS support */,
|
||||
/* QGC has port number support already */
|
||||
act_outputs.output[0],
|
||||
act_outputs.output[1],
|
||||
act_outputs.output[2],
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -63,7 +62,7 @@ static void do_import(const char* param_file_name);
|
|||
static void do_show(const char* search_string);
|
||||
static void do_show_print(void *arg, param_t param);
|
||||
static void do_set(const char* name, const char* val);
|
||||
static void do_compare(const char* name, const char* val);
|
||||
static void do_compare(const char* name, const char* vals[], unsigned comparisons);
|
||||
|
||||
int
|
||||
param_main(int argc, char *argv[])
|
||||
|
|
@ -121,7 +120,7 @@ param_main(int argc, char *argv[])
|
|||
|
||||
if (!strcmp(argv[1], "compare")) {
|
||||
if (argc >= 4) {
|
||||
do_compare(argv[2], argv[3]);
|
||||
do_compare(argv[2], &argv[3], argc - 3);
|
||||
} else {
|
||||
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
|
||||
}
|
||||
|
|
@ -306,7 +305,7 @@ do_set(const char* name, const char* val)
|
|||
}
|
||||
|
||||
static void
|
||||
do_compare(const char* name, const char* val)
|
||||
do_compare(const char* name, const char* vals[], unsigned comparisons)
|
||||
{
|
||||
int32_t i;
|
||||
float f;
|
||||
|
|
@ -330,12 +329,16 @@ do_compare(const char* name, const char* val)
|
|||
|
||||
/* convert string */
|
||||
char* end;
|
||||
int j = strtol(val,&end,10);
|
||||
if (i == j) {
|
||||
printf(" %d: ", i);
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
for (unsigned k = 0; k < comparisons; k++) {
|
||||
|
||||
int j = strtol(vals[k],&end,10);
|
||||
|
||||
if (i == j) {
|
||||
printf(" %d: ", i);
|
||||
ret = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
|
@ -345,10 +348,14 @@ do_compare(const char* name, const char* val)
|
|||
|
||||
/* convert string */
|
||||
char* end;
|
||||
float g = strtod(val, &end);
|
||||
if (fabsf(f - g) < 1e-7f) {
|
||||
printf(" %4.4f: ", (double)f);
|
||||
ret = 0;
|
||||
|
||||
for (unsigned k = 0; k < comparisons; k++) {
|
||||
|
||||
float g = strtod(vals[k], &end);
|
||||
if (fabsf(f - g) < 1e-7f) {
|
||||
printf(" %4.4f: ", (double)f);
|
||||
ret = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -359,7 +366,7 @@ do_compare(const char* name, const char* val)
|
|||
}
|
||||
|
||||
if (ret == 0) {
|
||||
printf("%c %s: equal\n",
|
||||
printf("%c %s: match\n",
|
||||
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
|
||||
param_name(param));
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue