forked from Archive/PX4-Autopilot
board: ARK CAN RTK GPS enable ekf2
This commit is contained in:
Daniel Agar
parent
fe3314e33e
commit
65e6938779
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@ -67,6 +67,9 @@ then
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fi
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unset BOARD_RC_DEFAULTS
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# start uavcannode as early as possible to pet the watchdog
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uavcannode start
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#
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# Start system state indicator.
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#
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@ -114,5 +117,4 @@ param set-default SENS_MAG_RATE 100
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sensors start
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uavcannode start
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unset R
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@ -21,15 +21,21 @@ CONFIG_UAVCANNODE_RTK_DATA=y
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CONFIG_UAVCANNODE_SAFETY_BUTTON=y
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CONFIG_UAVCANNODE_STATIC_PRESSURE=y
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CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_EKF2=y
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# CONFIG_EKF2_AUXVEL is not set
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# CONFIG_EKF2_EXTERNAL_VISION is not set
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# CONFIG_EKF2_GNSS_YAW is not set
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# CONFIG_EKF2_GRAVITY_FUSION is not set
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# CONFIG_EKF2_RANGE_FINDER is not set
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# CONFIG_EKF2_WIND is not set
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CONFIG_MODULES_SENSORS=y
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# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
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# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
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# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
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# CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY is not set
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# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
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# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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@ -27,7 +27,6 @@
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# CONFIG_NSH_DISABLE_LOOPS is not set
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# CONFIG_NSH_DISABLE_LS is not set
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# CONFIG_NSH_DISABLE_MKDIR is not set
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# CONFIG_NSH_DISABLE_MKFATFS is not set
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# CONFIG_NSH_DISABLE_MOUNT is not set
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# CONFIG_NSH_DISABLE_MV is not set
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# CONFIG_NSH_DISABLE_PS is not set
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@ -66,17 +65,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEBUG_TCBINFO=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_DEV_FIFO_SIZE=0
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CONFIG_DEV_PIPE_MAXSIZE=1024
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CONFIG_DEV_PIPE_SIZE=70
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CONFIG_FDCLONE_STDIO=y
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CONFIG_FS_BINFS=y
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CONFIG_FS_CROMFS=y
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CONFIG_FS_FAT=y
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CONFIG_FS_FATTIME=y
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CONFIG_FS_PROCFS=y
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CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
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CONFIG_FS_PROCFS_REGISTER=y
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CONFIG_FS_ROMFS=y
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CONFIG_GRAN=y
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CONFIG_GRAN_INTR=y
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@ -90,14 +80,9 @@ CONFIG_INIT_STACKSIZE=2624
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_MAX_EXITFUNS=1
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CONFIG_LIBC_STRERROR=y
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CONFIG_MEMSET_64BIT=y
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CONFIG_MEMSET_OPTSPEED=y
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CONFIG_MM_REGIONS=2
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CONFIG_MTD=y
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CONFIG_MTD_BYTE_WRITE=y
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CONFIG_MTD_PARTITION=y
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CONFIG_MTD_RAMTRON=y
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CONFIG_NAME_MAX=40
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_ARGCAT=y
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@ -110,37 +95,22 @@ CONFIG_NSH_NESTDEPTH=8
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CONFIG_NSH_QUOTE=y
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CONFIG_NSH_ROMFSETC=y
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CONFIG_NSH_ROMFSSECTSIZE=128
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CONFIG_NSH_STRERROR=y
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CONFIG_NSH_VARS=y
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CONFIG_PIPES=y
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CONFIG_PREALLOC_TIMERS=50
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CONFIG_PRIORITY_INHERITANCE=y
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CONFIG_PTHREAD_MUTEX_ROBUST=y
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
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CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
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CONFIG_RAMTRON_SETSPEED=y
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CONFIG_RAM_SIZE=262144
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CONFIG_RAM_START=0x20000000
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CONFIG_RAW_BINARY=y
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CONFIG_RTC_DATETIME=y
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CONFIG_SCHED_HPWORK=y
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CONFIG_SCHED_HPWORKPRIORITY=249
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CONFIG_SCHED_HPWORKSTACKSIZE=1280
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CONFIG_SCHED_INSTRUMENTATION=y
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CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
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CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
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CONFIG_SCHED_LPWORK=y
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CONFIG_SCHED_LPWORKPRIORITY=50
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CONFIG_SCHED_LPWORKSTACKSIZE=1632
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CONFIG_SCHED_WAITPID=y
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CONFIG_SEM_PREALLOCHOLDERS=32
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_SIG_SIGWORK=4
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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@ -155,11 +125,6 @@ CONFIG_STM32_I2C1=y
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CONFIG_STM32_I2C2=y
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CONFIG_STM32_JTAG_SW_ENABLE=y
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CONFIG_STM32_PWR=y
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CONFIG_STM32_RTC=y
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CONFIG_STM32_RTC_HSECLOCK=y
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CONFIG_STM32_RTC_MAGIC=0xfacefeee
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CONFIG_STM32_RTC_MAGIC_REG=1
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CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
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CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
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CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32_SPI1=y
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@ -162,8 +162,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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#endif // FLASH_BASED_PARAMS
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/* Configure the HW based on the manifest */
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px4_platform_configure();
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//px4_platform_configure();
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return OK;
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}
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@ -1167,8 +1167,9 @@ GPS::print_status()
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PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
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PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
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#ifndef CONSTRAINED_FLASH
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print_message(ORB_ID(sensor_gps), _report_gps_pos);
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#endif // !CONSTRAINED_FLASH
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}
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if (_instance == Instance::Main && _secondary_instance.load()) {
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