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Added LPE to testing, fix LPE logging, add SENS_EN_SF0X

This commit is contained in:
James Goppert 2016-04-14 18:14:22 -04:00
parent 2527a88042
commit 372de3fca9
4 changed files with 73 additions and 47 deletions
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18
.travis.yml
View File

@ -100,16 +100,19 @@ script:
- git submodule update --quiet --init --recursive
- echo 'Building POSIX Firmware..' && make posix_sitl_default
- echo 'Running Tests..' && make posix_sitl_default test
- build_configs="\
px4fmu-v1_default \
px4fmu-v2_default \
px4fmu-v2_lpe \
mindpx4-v2_default \
px4-stm32f4discovery_default \
uavcan_firmware \
px4fmu-v4_default"
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
cd ${TRAVIS_BUILD_DIR}
&& make check_format
&& arm-none-eabi-gcc --version
&& echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
&& echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
&& echo 'Building NuttX mindpx-v2 Firmware..' && make mindpx-v2_default
&& echo 'Building UAVCAN node firmware..' && make uavcan_firmware
&& echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
&& echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
&& for config in $build_configs; do echo 'Building NuttX ${config} Firmware..' && make $config; done
&& echo 'Running Tests..' && make tests
;
fi
@ -119,9 +122,10 @@ after_success:
make package_firmware
&& cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
&& cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
&& cp build_px4fmu-v2_lpe/src/firmware/nuttx/nuttx-px4fmu-v2-lpe.px4 px4fmu-v2_lpe.px4
&& cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
&& cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
&& ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v2_lpe.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
&& ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put CI-Tools/index.html index.html

86
ROMFS/px4fmu_common/init.d/rcS
View File

@ -569,6 +569,54 @@ then
fi
fi
#
# Optional drivers
#
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
if ll40ls start pwm
then
fi
fi
fi
# sf0x lidar sensor
if param compare SENS_EN_SF0X 1
then
sf0x start
fi
if ver hwcmp PX4FMU_V4
then
frsky_telemetry start -d /dev/ttyS6
fi
if ver hwcmp PX4FMU_V2
then
# Check for flow sensor - as it is a background task, launch it last
px4flow start &
fi
if ver hwcmp MINDPX_V2
then
#mindxp also need flow
px4flow start &
fi
# Start USB shell if no microSD present, MAVLink else
if [ $LOG_FILE == /dev/null ]
then
# Try to get an USB console
nshterm /dev/ttyACM0 &
else
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
#
# Logging
#
@ -818,44 +866,6 @@ unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
if ll40ls start pwm
then
fi
fi
fi
if ver hwcmp PX4FMU_V4
then
frsky_telemetry start -d /dev/ttyS6
fi
if ver hwcmp PX4FMU_V2
then
# Check for flow sensor - as it is a background task, launch it last
px4flow start &
fi
if ver hwcmp MINDPX_V2
then
#mindxp also need flow
px4flow start &
fi
# Start USB shell if no microSD present, MAVLink else
if [ $LOG_FILE == /dev/null ]
then
# Try to get an USB console
nshterm /dev/ttyACM0 &
else
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
if [ $EXIT_ON_END == yes ]
then
echo "Exit from nsh"

6
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -651,9 +651,11 @@ void AttitudeEstimatorQ::task_main()
est.vibe[2] = _voter_accel.get_vibration_offset(est.timestamp, 2);
/* the instance count is not used here */
int est_inst;
//int est_inst;
/* publish to control state topic */
orb_publish_auto(ORB_ID(estimator_status), &_est_state_pub, &est, &est_inst, ORB_PRIO_HIGH);
// TODO handle attitude states in position estimators instead so we can publish all data at once
// or we need to enable more thatn just one estimator_status topic
// orb_publish_auto(ORB_ID(estimator_status), &_est_state_pub, &est, &est_inst, ORB_PRIO_HIGH);
}
}
}

10
src/modules/sensors/sensor_params.c
View File

@ -2871,6 +2871,16 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
*/
PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
/**
* Enable sf0x driver
*
* @reboot_required true
*
* @boolean
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
/**
* Set the minimum PWM for the MAIN outputs
*