From 37ffb61afdfd2ad4032592933b8224d714abac52 Mon Sep 17 00:00:00 2001 From: Mohammed Kabir Date: Sun, 17 Jan 2016 16:06:50 +0000 Subject: [PATCH] changes to rpi2 configs --- Makefile | 3 ++ cmake/configs/posix_rpi2_default.cmake | 55 +++++++++++++------- cmake/configs/posix_rpi2_release.cmake | 47 +++++++++++++++++ posix-configs/rpi2/init/rcS_navio | 71 -------------------------- 4 files changed, 87 insertions(+), 89 deletions(-) create mode 100644 cmake/configs/posix_rpi2_release.cmake diff --git a/Makefile b/Makefile index 6f9fb0f706..25b5fa5dfc 100644 --- a/Makefile +++ b/Makefile @@ -174,6 +174,9 @@ posix_eagle_default: posix_rpi2_default: $(call cmake-build,$@) +posix_rpi2_release: + $(call cmake-build,$@) + posix: posix_sitl_default sitl_deprecation: diff --git a/cmake/configs/posix_rpi2_default.cmake b/cmake/configs/posix_rpi2_default.cmake index 45aefdbf64..c745070c9e 100644 --- a/cmake/configs/posix_rpi2_default.cmake +++ b/cmake/configs/posix_rpi2_default.cmake @@ -4,25 +4,44 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.c set(config_module_list drivers/device - - systemcmds/param - systemcmds/ver - - modules/mavlink - - modules/param - modules/systemlib - modules/uORB - modules/dataman - - lib/mathlib - lib/mathlib/math/filter - lib/geo - lib/geo_lookup - lib/conversion - platforms/common platforms/posix/px4_layer platforms/posix/work_queue - + systemcmds/param + systemcmds/mixer + systemcmds/ver + systemcmds/esc_calib + systemcmds/reboot + systemcmds/topic_listener + systemcmds/perf + modules/uORB + modules/param + modules/systemlib + modules/systemlib/mixer + modules/sensors + modules/mavlink + modules/attitude_estimator_q + modules/position_estimator_inav + modules/navigator + modules/vtol_att_control + modules/mc_pos_control + modules/mc_att_control + modules/land_detector + modules/fw_att_control + modules/fw_pos_control_l1 + modules/dataman + modules/sdlog2 + modules/commander + modules/controllib + lib/mathlib + lib/mathlib/math/filter + lib/conversion + lib/ecl + lib/external_lgpl + lib/geo + lib/geo_lookup + lib/launchdetection + lib/terrain_estimation + lib/runway_takeoff + lib/tailsitter_recovery ) diff --git a/cmake/configs/posix_rpi2_release.cmake b/cmake/configs/posix_rpi2_release.cmake new file mode 100644 index 0000000000..c745070c9e --- /dev/null +++ b/cmake/configs/posix_rpi2_release.cmake @@ -0,0 +1,47 @@ +include(posix/px4_impl_posix) + +set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake) + +set(config_module_list + drivers/device + platforms/common + platforms/posix/px4_layer + platforms/posix/work_queue + systemcmds/param + systemcmds/mixer + systemcmds/ver + systemcmds/esc_calib + systemcmds/reboot + systemcmds/topic_listener + systemcmds/perf + modules/uORB + modules/param + modules/systemlib + modules/systemlib/mixer + modules/sensors + modules/mavlink + modules/attitude_estimator_q + modules/position_estimator_inav + modules/navigator + modules/vtol_att_control + modules/mc_pos_control + modules/mc_att_control + modules/land_detector + modules/fw_att_control + modules/fw_pos_control_l1 + modules/dataman + modules/sdlog2 + modules/commander + modules/controllib + lib/mathlib + lib/mathlib/math/filter + lib/conversion + lib/ecl + lib/external_lgpl + lib/geo + lib/geo_lookup + lib/launchdetection + lib/terrain_estimation + lib/runway_takeoff + lib/tailsitter_recovery +) diff --git a/posix-configs/rpi2/init/rcS_navio b/posix-configs/rpi2/init/rcS_navio index 6fd1d59db1..e69de29bb2 100644 --- a/posix-configs/rpi2/init/rcS_navio +++ b/posix-configs/rpi2/init/rcS_navio @@ -1,71 +0,0 @@ -uorb start -simulator start -s -param load -param set MAV_TYPE 2 -param set MC_PITCHRATE_P 0.15 -param set MC_PITCH_P 7 -param set MC_ROLL_P 7 -param set MC_ROLLRATE_P 0.15 -param set MC_YAW_P 2.8 -param set MC_YAWRATE_P 0.35 -param set SYS_AUTOSTART 4010 -param set SYS_RESTART_TYPE 2 -dataman start -param set CAL_GYRO0_ID 2293768 -param set CAL_ACC0_ID 1376264 -param set CAL_ACC1_ID 1310728 -param set CAL_MAG0_ID 196616 -param set CAL_GYRO0_XOFF 0.01 -param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 -param set CAL_ACC0_XSCALE 1.01 -param set CAL_ACC0_YSCALE 1.01 -param set CAL_ACC0_ZSCALE 1.01 -param set CAL_ACC1_XOFF 0.01 -param set CAL_MAG0_XOFF 0.01 -param set MPC_XY_P 0.4 -param set MPC_XY_VEL_P 0.2 -param set MPC_XY_VEL_D 0.005 -param set SENS_BOARD_ROT 0 -param set COM_RC_IN_MODE 1 -param set NAV_ACC_RAD 2.0 -param set RTL_RETURN_ALT 30.0 -param set RTL_DESCEND_ALT 10.0 -param set MIS_TAKEOFF_ALT 5.0 -param set MPC_HOLD_MAX_Z 2.0 -param set MPC_HOLD_XY_DZ 0.1 -param set MPC_HOLD_Z_DZ 0.1 -param set MPC_Z_VEL_MAX 2.0 -param set MPC_Z_VEL_P 0.4 -rgbledsim start -tone_alarm start -gyrosim start -accelsim start -barosim start -adcsim start -gpssim start -pwm_out_sim mode_pwm -sleep 1 -sensors start -commander start -land_detector start multicopter -navigator start -attitude_estimator_q start -position_estimator_inav start -mc_pos_control start -mc_att_control start -mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 -mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 -mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 -mavlink stream -r 80 -s ATTITUDE -u 14556 -mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 -mavlink stream -r 20 -s RC_CHANNELS -u 14556 -mavlink stream -r 250 -s HIGHRES_IMU -u 14556 -mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 -mavlink stream -r 20 -s MANUAL_CONTROL -u 14556 -mavlink boot_complete -sdlog2 start -r 100 -e -t -a