forked from Archive/PX4-Autopilot
Merge branch 'master' into export-build
Clean up some script trash and update scripts.
This commit is contained in:
px4dev
commit
53f6bac327
|
|
@ -5,7 +5,7 @@ set USB no
|
|||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
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||||
|
|
@ -27,38 +27,65 @@ fi
|
|||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
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||||
then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
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||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
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fi
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||||
fi
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||||
fi
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||||
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||||
#
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||||
# Start MAVLink
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||||
# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander.
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# Start the commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start GPS interface
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#
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gps start
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#
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# Start the attitude estimator
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#
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kalman_demo start
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#
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# Start PX4IO interface
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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#
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# Load mixer and start controllers
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Start the sensors (depends on orb, px4io)
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#
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sh /etc/init.d/rc.sensors
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator (depends on orb)
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||||
#
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||||
kalman_demo start
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||||
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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control_demo start
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||||
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@ -66,8 +93,8 @@ control_demo start
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|||
#
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# Start logging
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#
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sdlog start -s 10
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#sdlog start -s 4
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#
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# Start system state
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#
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|
|
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@ -2,10 +2,10 @@
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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# Disable the USB interface
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set USB no
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||||
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||||
# Disable autostarting other apps
|
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set MODE ardrone
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||||
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||||
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@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ]
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|||
then
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param load /fs/microsd/parameters
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||||
fi
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||||
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
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||||
param set MAV_TYPE 2
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||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
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#
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fmu mode_gpio_serial
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||||
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||||
#
|
||||
# Start the sensors.
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@ -54,11 +59,6 @@ commander start
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|||
#
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attitude_estimator_ekf start
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||||
#
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||||
# Configure PX4FMU for operation with PX4IOAR
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||||
#
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fmu mode_gpio_serial
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#
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||||
# Fire up the multi rotor attitude controller
|
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#
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||||
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@ -68,17 +68,17 @@ multirotor_att_control start
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# Fire up the AR.Drone interface.
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||||
#
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||||
ardrone_interface start -d /dev/ttyS1
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||||
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||||
#
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||||
# Start GPS capture
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||||
#
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||||
gps start
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||||
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||||
#
|
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# Start logging
|
||||
#
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||||
sdlog start -s 10
|
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||||
#
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||||
# Start GPS capture
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||||
#
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||||
gps start
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||||
#
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# Start system state
|
||||
#
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||||
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|
@ -95,4 +95,5 @@ fi
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|||
# use the same UART for telemetry
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||||
#
|
||||
echo "[init] startup done"
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||||
exit
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||||
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||||
exit
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||||
|
|
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|||
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@ -21,9 +21,9 @@ set MODE autostart
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|||
set USB autoconnect
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||||
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||||
#
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||||
# Start playing the startup tune
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||||
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||||
#
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||||
tone_alarm start
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||||
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||||
|
||||
#
|
||||
# Try to mount the microSD card.
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||||
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|
@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
|
|||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
# Play SOS
|
||||
tone_alarm 2
|
||||
fi
|
||||
|
||||
#
|
||||
|
|
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|||
|
|
@ -0,0 +1,7 @@
|
|||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
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||||
This file defines a single mixer for a quadrotor in the V configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4v 10000 10000 10000 0
|
||||
|
|
@ -1,107 +0,0 @@
|
|||
#!nsh
|
||||
|
||||
# Disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
#sdlog start -s 4
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
|
@ -1,99 +0,0 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Init the parameter storage
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
exit
|
||||
|
|
@ -1,83 +0,0 @@
|
|||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
|
||||
#
|
||||
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
# Play SOS
|
||||
tone_alarm 2
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
|
|
@ -418,6 +418,7 @@ public:
|
|||
enum Geometry {
|
||||
QUAD_X = 0, /**< quad in X configuration */
|
||||
QUAD_PLUS, /**< quad in + configuration */
|
||||
QUAD_V, /**< quad in V configuration */
|
||||
HEX_X, /**< hex in X configuration */
|
||||
HEX_PLUS, /**< hex in + configuration */
|
||||
OCTA_X,
|
||||
|
|
|
|||
|
|
@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
|
|||
{ 0.000000, 1.000000, -1.00 },
|
||||
{ -0.000000, -1.000000, -1.00 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_quad_v[] = {
|
||||
{ -0.927184, 0.374607, 1.00 },
|
||||
{ 0.694658, -0.719340, 1.00 },
|
||||
{ 0.927184, 0.374607, -1.00 },
|
||||
{ -0.694658, -0.719340, -1.00 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_hex_x[] = {
|
||||
{ -1.000000, 0.000000, -1.00 },
|
||||
{ 1.000000, 0.000000, 1.00 },
|
||||
|
|
@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
|
|||
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
|
||||
&_config_quad_x[0],
|
||||
&_config_quad_plus[0],
|
||||
&_config_quad_v[0],
|
||||
&_config_hex_x[0],
|
||||
&_config_hex_plus[0],
|
||||
&_config_octa_x[0],
|
||||
|
|
@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
|
|||
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
|
||||
4, /* quad_x */
|
||||
4, /* quad_plus */
|
||||
4, /* quad_v */
|
||||
6, /* hex_x */
|
||||
6, /* hex_plus */
|
||||
8, /* octa_x */
|
||||
|
|
@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
|
|||
} else if (!strcmp(geomname, "4x")) {
|
||||
geometry = MultirotorMixer::QUAD_X;
|
||||
|
||||
} else if (!strcmp(geomname, "4v")) {
|
||||
geometry = MultirotorMixer::QUAD_V;
|
||||
|
||||
} else if (!strcmp(geomname, "6+")) {
|
||||
geometry = MultirotorMixer::HEX_PLUS;
|
||||
|
||||
|
|
|
|||
|
|
@ -20,6 +20,13 @@ set quad_plus {
|
|||
180 CW
|
||||
}
|
||||
|
||||
set quad_v {
|
||||
68 CCW
|
||||
-136 CCW
|
||||
-68 CW
|
||||
136 CW
|
||||
}
|
||||
|
||||
set hex_x {
|
||||
90 CW
|
||||
-90 CCW
|
||||
|
|
@ -60,7 +67,7 @@ set octa_plus {
|
|||
90 CW
|
||||
}
|
||||
|
||||
set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
|
||||
set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
|
||||
|
||||
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue