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posix shell: lots of cleanup and fixes 

- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix
  allows for easier unification, only one symlink is required.
  - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4
    master (parameter values, some sitl driver got removed)
- add alias to allow 'set variable value' syntax in scripts to px4-alias.sh
- use px4_getopt
- use separate argument for the test_data directory
- append PATH from within the px4 binary: this simplifies the usage
  w/o the sitl_run.sh script.
- add 'source px4-alias.sh' to all existing sitl startup scripts
- move sitl mixers to ROMFS/px4fmu_common/mixers-sitl
  makes it easier to use existing mixers and sitl-specific ones.
- remove unused rcS_gazebo_delta_wing
This commit is contained in:
Beat Küng 2018-08-04 12:01:12 +02:00 committed by Lorenz Meier
parent 413c09e20e
commit 7822e5b5c3
58 changed files with 472 additions and 371 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
posix-configs/SITL/init/10016_iris → ROMFS/px4fmu_common/init.d-posix/10016_iris
View File

@ -4,7 +4,7 @@
#
# @type Quadrotor Wide
#
# @maintainer Anton Babushkin <julian@oes.ch>
# @maintainer Julian Oes <julian@oes.ch>
#
pwm_out_sim mode_pwm

32
ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 Normal file
View File

@ -0,0 +1,32 @@
#!nsh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 13
param set MC_PITCHRATE_P 0.1
param set MC_ROLLRATE_P 0.05
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MAV_PROTO_VER 2
fi
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
pwm_out_sim mode_pwm16
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
vmount start
camera_trigger start

50
posix-configs/SITL/init/rcS → ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -7,10 +7,35 @@ source px4-alias.sh
# TODO: In the future we want to share rc.autostart with NuttX
#source rc.autostart
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" == "iris" ]; then
set REQUESTED_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
set REQUESTED_AUTOSTART 6011
else
echo "Unknown model"
exit -1
fi
uorb start
if ! param load
if [ -f eeprom/parameters ]
then
# param load fails the first time, set defaults
param load
fi
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
then
set AUTOCNF no
else
set AUTOCNF yes
fi
if [ $AUTOCNF == yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
@ -54,6 +79,7 @@ then
param set SYS_RESTART_TYPE 2
fi
# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
@ -61,17 +87,6 @@ elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
param set SYS_MC_EST_GROUP 1
fi
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" == "iris" ]; then
param set SYS_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
param set SYS_AUTOSTART 6011
else
echo "Unknown model"
exit -1
fi
dataman start
replay tryapplyparams
simulator start -s
@ -104,11 +119,11 @@ mc_att_control start
# infrastructure already available on NuttX.
if param compare SYS_AUTOSTART 10016
then
source etc/init/10016_iris
source etc/init.d-posix/10016_iris
elif param compare SYS_AUTOSTART 6011
then
source etc/init/6011_typhoon_h480
source etc/init.d-posix/6011_typhoon_h480
fi
@ -125,6 +140,11 @@ 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
# Required for the typhoon
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
logger start -e -t -b 1000
mavlink boot_complete

0
ROMFS/sitl/mixers/CMakeLists.txt → ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
View File

0
ROMFS/sitl/mixers/delta_wing_sitl.main.mix → ROMFS/px4fmu_common/mixers-sitl/delta_wing_sitl.main.mix
View File

0
ROMFS/sitl/mixers/plane_sitl.main.mix → ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
View File

0
ROMFS/sitl/mixers/quad_x_vtol.main.mix → ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
View File

0
ROMFS/sitl/mixers/rover_sitl.main.mix → ROMFS/px4fmu_common/mixers-sitl/rover_sitl.main.mix
View File

0
ROMFS/sitl/mixers/standard_vtol_sitl.main.mix → ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
View File

0
ROMFS/sitl/mixers/tiltrotor_sitl.main.mix → ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
View File

24
ROMFS/px4fmu_common/mixers/uuv_quad_x.mix Normal file
View File

@ -0,0 +1,24 @@
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 2 +10000 +10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 +10000 +10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000

34
ROMFS/sitl/CMakeLists.txt
View File

@ -1,34 +0,0 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(mixers)

56
Tools/sitl_run.sh
View File

@ -2,15 +2,13 @@
set -e
echo args: $@
sitl_bin=$1
rcS_path=$2
debugger=$3
program=$4
model=$5
src_path=$6
build_path=$7
sitl_bin="$1"
rcS_path="$2"
debugger="$3"
program="$4"
model="$5"
src_path="$6"
build_path="$7"
echo SITL ARGS
@ -22,17 +20,8 @@ echo model: $model
echo src_path: $src_path
echo build_path: $build_path
working_dir=`pwd`
rootfs=$build_path/tmp/rootfs
if [ "$chroot" == "1" ]
then
chroot_enabled=-c
sudo_enabled=sudo
else
chroot_enabled=""
sudo_enabled=""
fi
rootfs="$build_path/tmp/rootfs" # this is the working directory
mkdir -p "$rootfs"
# To disable user input
if [[ -n "$NO_PXH" ]]; then
@ -52,7 +41,6 @@ if [ "$replay_mode" == "ekf2" ]
then
model="iris_replay"
# create the publisher rules
mkdir -p $rootfs
publisher_rules_file="$rootfs/orb_publisher.rules"
cat <<EOF > "$publisher_rules_file"
restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@ -80,16 +68,16 @@ then
kill $jmavsim_pid
fi
cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
cp $src_path/Tools/posix_lldbinit $rootfs/.lldbinit
cp $src_path/Tools/posix.gdbinit $rootfs/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
# Start Java simulator
$src_path/Tools/jmavsim_run.sh -r 500 &
SIM_PID=`echo $!`
cd ../..
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
if [ -x "$(command -v gazebo)" ]
@ -118,27 +106,29 @@ then
fi
fi
cd $working_dir
pushd "$rootfs" >/dev/null
# Do not exit on failure now from here on because we want the complete cleanup
set +e
sitl_command="$sitl_bin $no_pxh $rootfs $rootfs/${rcS_path}"
# Use the new unified rcS for the supported models
# (All models will be transitioned over)
if [[ ($rcS_path == posix-configs/SITL/init/ekf2 || $rcS_path == posix-configs/SITL/init/lpe)
&& ($model == "iris" || $model == "typhoon_h480") ]]; then
echo "Using new unified rcS for $model"
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
else
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
fi
echo SITL COMMAND: $sitl_command
# Prepend to path to prioritize PX4 commands over potentially already
# installed PX4 commands.
export PATH="$build_path/bin":$PATH
export PX4_SIM_MODEL=${model}
pushd $rootfs
if [[ -n "$DONT_RUN" ]]
then
echo "Not running simulation (\$DONT_RUN is set)."
# Start Java simulator
elif [ "$debugger" == "lldb" ]
then
lldb -- $sitl_command
@ -167,7 +157,7 @@ else
eval $sitl_command
fi
popd
popd >/dev/null
if [[ -z "$DONT_RUN" ]]
then

2
cmake/configs/posix_sitl_default.cmake
View File

@ -148,7 +148,7 @@ set(config_module_list
# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
# which are based on posix_sitl_default.
set(config_sitl_rcS_dir etc/init/rcS CACHE INTERNAL "init script dir for sitl")
set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")

8
cmake/posix/px4-alias.sh_in
View File

@ -7,6 +7,14 @@ if [ ! -n "$ZSH_VERSION" ]; then
shopt -s expand_aliases
fi
# Map the NuttX-style variable definition 'set <var> <value>' to something that
# bash and alternatives understand
set() {
eval $1=$2
}
# alternative method with an alias:
# alias set='f(){ set -- "$1=$2"; eval "$1"; unset -f f; }; eval f'
# Don't stop on errors.
#set -e

24
platforms/posix/CMakeLists.txt
View File

@ -207,27 +207,3 @@ px4_posix_generate_symlinks(
TARGET px4
)
add_custom_command(TARGET px4
POST_BUILD
COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
)
add_custom_command(TARGET px4
POST_BUILD
COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
)
add_custom_command(TARGET px4
POST_BUILD
COMMAND cp -R ${PROJECT_SOURCE_DIR}/posix-configs/SITL/init ${CMAKE_BINARY_DIR}/rootfs/etc/
)
add_custom_command(TARGET px4
POST_BUILD
COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/sitl/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
)
add_custom_command(TARGET px4
POST_BUILD
COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/px4fmu_common/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
)

2
platforms/posix/cmake/sitl_target.cmake
View File

@ -3,7 +3,7 @@ file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
# add a symlink to the logs dir to make it easier to find them
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/fs/microsd/log logs
COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
WORKING_DIRECTORY ${PX4_BINARY_DIR})
add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)

190
platforms/posix/src/main.cpp
View File

@ -52,14 +52,17 @@
*/
#include <string>
#include <algorithm>
#include <fstream>
#include <signal.h>
#include <stdio.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <stdlib.h>
#include <px4_log.h>
#include <px4_getopt.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
@ -96,12 +99,14 @@ static void register_sig_handler();
static void set_cpu_scaling();
static int create_symlinks_if_needed(std::string &data_path);
static int create_dirs();
static int run_startup_bash_script(const char *commands_file);
static int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path);
static std::string get_absolute_binary_path(const std::string &argv0);
static void wait_to_exit();
static bool is_already_running();
static void print_usage();
static bool dir_exists(const std::string &path);
static bool file_exists(const std::string &name);
static std::string file_basename(std::string const &pathname);
static std::string pwd();
@ -120,16 +125,20 @@ int main(int argc, char **argv)
const char prefix[] = PX4_BASH_PREFIX;
int path_length = 0;
std::string absolute_binary_path; // full path to the px4 binary being executed
if (argc > 0) {
/* The executed binary name could start with a path, so strip it away */
const std::string full_binary_name = argv[0];
const std::string binary_name = file_basename(full_binary_name);
if (binary_name.compare(0, strlen(prefix), prefix) == 0) {
is_client = true;
}
path_length = full_binary_name.length() - binary_name.length();
absolute_binary_path = get_absolute_binary_path(full_binary_name);
}
if (is_client) {
@ -155,78 +164,68 @@ int main(int argc, char **argv)
/* Server/daemon apps need to parse the command line arguments. */
int positional_arg_count = 0;
std::string data_path = "";
std::string commands_file = "";
std::string node_name = "";
std::string commands_file = "etc/init.d/rcS";
std::string test_data_path = "";
// parse arguments
for (int i = 1; i < argc; ++i) {
if (argv[i][0] == '-') {
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
if (strcmp(argv[i], "-h") == 0) {
while ((ch = px4_getopt(argc, argv, "hdt:s:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'h':
print_usage();
return 0;
} else if (strcmp(argv[i], "-d") == 0) {
case 'd':
pxh_off = true;
break;
} else {
printf("Unknown/unhandled parameter: %s\n", argv[i]);
print_usage();
return 1;
}
case 't':
test_data_path = myoptarg;
break;
} else if (!strncmp(argv[i], "__", 2)) {
case 's':
commands_file = myoptarg;
break;
// FIXME: what is this?
// ros arguments
if (!strncmp(argv[i], "__name:=", 8)) {
std::string name_arg = argv[i];
node_name = name_arg.substr(8);
PX4_INFO("node name: %s", node_name.c_str());
}
} else {
//printf("positional argument\n");
positional_arg_count += 1;
if (positional_arg_count == 1) {
commands_file = argv[i];
} else if (positional_arg_count == 2) {
data_path = commands_file;
commands_file = argv[i];
}
}
if (positional_arg_count != 2 && positional_arg_count != 1) {
PX4_ERR("Error expected 1 or 2 position arguments, got %d", positional_arg_count);
default:
PX4_ERR("unrecognized flag");
print_usage();
return -1;
}
}
if (myoptind < argc) {
data_path = argv[myoptind];
}
int ret = create_symlinks_if_needed(data_path);
if (ret != PX4_OK) {
return ret;
}
if (test_data_path != "") {
const std::string required_test_data_path = "./test_data";
if (!dir_exists(required_test_data_path.c_str())) {
symlink(test_data_path.c_str(), required_test_data_path.c_str());
}
}
if (!file_exists(commands_file)) {
PX4_ERR("Error opening startup file, does not exist: %s", commands_file.c_str());
return -1;
}
PX4_INFO("startup file: %s", commands_file.c_str());
register_sig_handler();
set_cpu_scaling();
px4_daemon::Server server;
server.start();
int ret = create_symlinks_if_needed(data_path);
if (ret != PX4_OK) {
return ret;
}
ret = create_dirs();
if (ret != PX4_OK) {
@ -238,7 +237,7 @@ int main(int argc, char **argv)
px4::init_once();
px4::init(argc, argv, "px4");
ret = run_startup_bash_script(commands_file.c_str());
ret = run_startup_bash_script(commands_file, absolute_binary_path);
// We now block here until we need to exit.
if (pxh_off) {
@ -283,24 +282,20 @@ int create_symlinks_if_needed(std::string &data_path)
return PX4_OK;
}
std::vector<std::string> path_sym_links;
path_sym_links.push_back("etc");
path_sym_links.push_back("test_data");
const std::string path_sym_link = "etc";
for (const auto &it = path_sym_links.begin(); it != path_sym_links.end(); ++it) {
PX4_DEBUG("path sym link: %s", path_sym_link.c_str());
PX4_DEBUG("path sym link: %s", it->c_str());;
std::string src_path = data_path + "/" + *it;
std::string dest_path = current_path + "/" + *it;
std::string src_path = data_path;
std::string dest_path = current_path + "/" + path_sym_link;
if (dir_exists(dest_path.c_str())) {
continue;
return PX4_OK;
}
PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
// create sym-links
// create sym-link
int ret = symlink(src_path.c_str(), dest_path.c_str());
if (ret != 0) {
@ -310,7 +305,6 @@ int create_symlinks_if_needed(std::string &data_path)
} else {
PX4_DEBUG("Successfully created symlink %s -> %s", src_path.c_str(), dest_path.c_str());
}
}
return PX4_OK;
}
@ -416,13 +410,71 @@ void set_cpu_scaling()
#endif
}
int run_startup_bash_script(const char *commands_file)
std::string get_absolute_binary_path(const std::string &argv0)
{
// On Linux we could also use readlink("/proc/self/exe", buf, bufsize) to get the absolute path
std::size_t last_slash = argv0.find_last_of("/");
if (last_slash == std::string::npos) {
// either relative path or in PATH (PATH is ignored here)
return pwd();
}
std::string base = argv0.substr(0, last_slash);
if (base.length() > 0 && base[0] == '/') {
// absolute path
return base;
}
// relative path
return pwd() + "/" + base;
}
int run_startup_bash_script(const std::string &commands_file, const std::string &absolute_binary_path)
{
std::string bash_command("bash ");
bash_command += commands_file;
PX4_INFO("Calling bash script: %s", bash_command.c_str());
// Update the PATH variable to include the absolute_binary_path
// (required for the px4-alias.sh script and px4-* commands).
// They must be within the same directory as the px4 binary
const char *path_variable = "PATH";
std::string updated_path = absolute_binary_path;
const char *path = getenv(path_variable);
if (path) {
std::string spath = path;
// Check if absolute_binary_path already in PATH
bool already_in_path = false;
std::size_t current, previous = 0;
current = spath.find(':');
while (current != std::string::npos) {
if (spath.substr(previous, current - previous) == absolute_binary_path) {
already_in_path = true;
}
previous = current + 1;
current = spath.find(':', previous);
}
if (spath.substr(previous, current - previous) == absolute_binary_path) {
already_in_path = true;
}
if (!already_in_path) {
// Prepend to path to prioritize PX4 commands over potentially already installed PX4 commands.
updated_path = updated_path + ":" + path;
setenv(path_variable, updated_path.c_str(), 1);
}
}
PX4_INFO("Calling startup script: %s", bash_command.c_str());
int ret = 0;
@ -454,11 +506,11 @@ void print_usage()
{
printf("Usage for Server/daemon process: \n");
printf("\n");
printf(" px4 [-h|-d] [rootfs_directory] startup_file\n");
printf(" px4 [-h|-d] [-s <startup_file>] [-d <test_data_directory>] [<rootfs_directory>]\n");
printf("\n");
printf(" <startup_file> bash start script to be used as startup (default=etc/init.d/rcS)\n");
printf(" <rootfs_directory> directory where startup files and mixers are located,\n");
printf(" (if not given, CWD is used)\n");
printf(" <startup_file> bash start script to be used as startup\n");
printf(" -h help/usage information\n");
printf(" -d daemon mode, don't start pxh shell\n");
printf("\n");
@ -505,6 +557,18 @@ bool file_exists(const std::string &name)
return (stat(name.c_str(), &buffer) == 0);
}
static std::string file_basename(std::string const &pathname)
{
struct MatchPathSeparator {
bool operator()(char ch) const
{
return ch == '/';
}
};
return std::string(std::find_if(pathname.rbegin(), pathname.rend(),
MatchPathSeparator()).base(), pathname.end());
}
bool dir_exists(const std::string &path)
{
struct stat info;

1
platforms/posix/src/px4_layer/px4_posix_tasks.cpp
View File

@ -227,6 +227,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
pthread_mutex_lock(&task_mutex);
px4_task_t taskid = 0;
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (!taskmap[i].isused) {
taskmap[i].name = name;

15
posix-configs/SITL/init/6011_typhoon_h480
View File

@ -1,15 +0,0 @@
#!nsh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
# @maintainer empty@empty.com
#
param set MAV_TYPE 13
pwm_out_sim mode_pwm16
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
vmount start

59
posix-configs/SITL/init/CMakeLists.txt
View File

@ -1,59 +0,0 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(posix_init_file_names
rcS
rcS_tests
6011_typhoon_h480
10016_iris
)
# Get absolute paths
set(posix_init_files)
foreach(posix_file ${posix_init_file_names})
list(APPEND posix_init_files ${CMAKE_CURRENT_SOURCE_DIR}/${posix_file})
endforeach()
set(init_directory ${ROOTFS_DIRECTORY}/etc/init)
add_custom_target(posix_init_dir
COMMAND ${CMAKE_COMMAND} -E make_directory ${init_directory}
)
# cmake -E copy with version < 3.5 does not support copying multiple files yet, therefore use cp.
add_custom_target(posix_init
COMMAND cp ${posix_init_files} ${init_directory}
DEPENDS posix_init_dir
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

7
posix-configs/SITL/init/ekf2/hippocampus
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set CAL_GYRO0_ID 2293768
@ -14,7 +19,7 @@ dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start

7
posix-configs/SITL/init/ekf2/iris
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -60,7 +65,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_1
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -62,7 +67,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_2
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -62,7 +67,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14558 -r 4000000
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558

7
posix-configs/SITL/init/ekf2/iris_irlock
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -62,7 +67,7 @@ ekf2 start
landing_target_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_opt_flow
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -64,7 +69,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

5
posix-configs/SITL/init/ekf2/iris_replay
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param set SDLOG_DIRS_MAX 7

7
posix-configs/SITL/init/ekf2/iris_rplidar
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -60,7 +65,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/iris_vision
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -63,7 +68,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/multiple_iris
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -60,7 +65,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_
mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_

7
posix-configs/SITL/init/ekf2/plane
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -84,7 +89,7 @@ fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/rover
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -65,7 +70,7 @@ navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/solo
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -57,7 +62,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/standard_vtol
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -80,7 +85,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557

7
posix-configs/SITL/init/ekf2/tailsitter
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -63,7 +68,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/quad_x_vtol.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/quad_x_vtol.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/ekf2/tiltrotor
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -97,7 +102,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/tiltrotor_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557

9
posix-configs/SITL/init/ekf2/typhoon_h480
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -63,8 +68,8 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

7
posix-configs/SITL/init/inav/iris
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -59,7 +64,7 @@ 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
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556

7
posix-configs/SITL/init/inav/iris_opt_flow
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -61,7 +66,7 @@ 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_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/hippocampus
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set CAL_GYRO0_ID 2293768
@ -14,7 +19,7 @@ dataman start
simulator start -s
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
mixer load /dev/pwm_output0 etc/mixers/uuv_quad_x.mix
gyrosim start
accelsim start

7
posix-configs/SITL/init/lpe/iris
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -61,7 +66,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/iris_1
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_SYS_ID 1
@ -63,7 +68,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/iris_2
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_SYS_ID 2
@ -63,7 +68,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14558 -r 4000000
mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558

7
posix-configs/SITL/init/lpe/iris_irlock
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -70,7 +75,7 @@ local_position_estimator start
landing_target_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/iris_opt_flow
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -79,7 +84,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

8
posix-configs/SITL/init/lpe/iris_rplidar
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -37,7 +42,6 @@ param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set LPE_FUSION 242
@ -61,7 +65,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/plane
View File

@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 1
@ -66,7 +71,7 @@ local_position_estimator start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/plane_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/rover
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
dataman start
@ -61,7 +66,7 @@ navigator start
ekf2 start
gnd_pos_control start
gnd_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/rover_sitl.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/solo
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 2
@ -61,7 +66,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

7
posix-configs/SITL/init/lpe/standard_vtol
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 22
@ -74,7 +79,7 @@ mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mixer load /dev/pwm_output0 etc/mixers-sitl/standard_vtol_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540

9
posix-configs/SITL/init/lpe/typhoon_h480
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set MAV_TYPE 13
@ -58,8 +63,8 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14556 -r 4000000
mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556

59
posix-configs/SITL/init/rcS_gazebo_delta_wing
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@ -1,59 +0,0 @@
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
dataman start
param set BAT_N_CELLS 3
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 SENS_BOARD_ROT 8
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set FW_THR_IDLE 0.6
param set FS_GCS_ENABLE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
gpssim start
measairspeedsim start
pwm_out_sim start
sensors start
commander start
navigator start
ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
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_QUATERNION -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
logger start -e -t
mavlink boot_complete
replay trystart

21
posix-configs/SITL/init/rcS_tests
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@ -1,21 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set SYS_RESTART_TYPE 0
dataman start
rgbledsim start
tone_alarm start
ver all
tests all
shutdown

5
posix-configs/SITL/init/shell/iris
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load

5
posix-configs/SITL/init/test/cmd_template.in
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load

5
posix-configs/SITL/init/test/tests_all
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load

5
posix-configs/SITL/init/test/tests_template.in
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@ -1,3 +1,8 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load