dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571) 

* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Daniel Agar 2024-02-23 09:40:00 -05:00 committed by GitHub
parent 37a40d3fc2
commit b2b7439060
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
3 changed files with 201 additions and 107 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

91
ROMFS/px4fmu_common/init.d/CMakeLists.txt
View File

@ -34,28 +34,79 @@
add_subdirectory(airframes)
px4_add_romfs_files(
rc.airship_apps
rc.airship_defaults
rc.autostart_ext
rc.balloon_apps
rc.balloon_defaults
rc.boat_defaults
rc.fw_apps
rc.fw_defaults
rc.heli_defaults
rc.logging
rc.mc_apps
rc.mc_defaults
rcS
rc.sensors
rc.thermal_cal
rc.rover_apps
rc.rover_defaults
rc.rover_differential_apps
rc.rover_differential_defaults
rc.uuv_apps
rc.uuv_defaults
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
# TODO
rc.balloon_apps
rc.balloon_defaults
)
if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
px4_add_romfs_files(
rc.airship_apps
rc.airship_defaults
)
endif()
if(CONFIG_MODULES_FW_RATE_CONTROL)
px4_add_romfs_files(
rc.fw_apps
rc.fw_defaults
)
endif()
if(CONFIG_MODULES_MC_RATE_CONTROL)
px4_add_romfs_files(
rc.heli_defaults
rc.mc_apps
rc.mc_defaults
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
rc.rover_apps
rc.rover_defaults
rc.boat_defaults # hack
)
endif()
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
px4_add_romfs_files(
rc.rover_differential_apps
rc.rover_differential_defaults
)
endif()
if(CONFIG_MODULES_UUV_ATT_CONTROL)
px4_add_romfs_files(
rc.uuv_apps
rc.uuv_defaults
)
endif()
if(CONFIG_MODULES_VTOL_ATT_CONTROL)
px4_add_romfs_files(
rc.vtol_apps
rc.vtol_defaults
)
endif()
if(CONFIG_MODULES_LOGGER)
px4_add_romfs_files(
rc.logging
)
endif()
if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
px4_add_romfs_files(
rc.thermal_cal
)
endif()

203
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
View File

@ -32,94 +32,127 @@
############################################################################
px4_add_romfs_files(
# [0-999] Reserved (historical)"
# [1000, 1999] Simulation setups"
1001_rc_quad_x.hil
1002_standard_vtol.hil
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
# [2000, 2999] Standard planes"
2100_standard_plane
2106_albatross
2507_cloudship
# [3000, 3999] Flying wing"
3000_generic_wing
# [4000, 4999] Quadrotor x"
4001_quad_x
4014_s500
4015_holybro_s500
4016_holybro_px4vision
4017_nxp_hovergames
4019_x500_v2
4020_holybro_px4vision_v1_5
4041_beta75x
4050_generic_250
4052_holybro_qav250
4053_holybro_kopis2
4061_atl_mantis_edu
4071_ifo
4073_ifo-s
4500_clover4
4901_crazyflie21
# [5000, 5999] Quadrotor +"
5001_quad_+
# [6000, 6999] Hexarotor x"
6001_hexa_x
6002_draco_r
# [7000, 7999] Hexarotor +"
7001_hexa_+
# [8000, 8999] Octorotor +"
8001_octo_x
# [9000, 9999] Octorotor +"
9001_octo_+
# [11000, 11999] Hexa Cox
11001_hexa_cox
# [12000, 12999] Octo Cox
12001_octo_cox
# [13000, 13999] VTOL
13000_generic_vtol_standard
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13200_generic_vtol_tailsitter
# [14000, 14999] MC with tilt
14001_generic_mc_with_tilt
16001_helicopter
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
# [0-999] Reserved (historical)
# [18000, 18999] High-altitude balloons
18001_TF-B1
# [22000, 22999] Reserve for custom models
24001_dodeca_cox
50000_generic_ground_vehicle
50004_nxpcup_car_dfrobot_gpx
50003_aion_robotics_r1_rover
# [60000, 61000] (Unmanned) Underwater Robots
60000_uuv_generic
60001_uuv_hippocampus
60002_uuv_bluerov2_heavy
)
if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
px4_add_romfs_files(
# [1000, 1999] Simulation setups
1001_rc_quad_x.hil
1002_standard_vtol.hil
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
)
endif()
if(CONFIG_MODULES_MC_RATE_CONTROL)
px4_add_romfs_files(
# [4000, 4999] Quadrotor x
4001_quad_x
4014_s500
4015_holybro_s500
4016_holybro_px4vision
4017_nxp_hovergames
4019_x500_v2
4020_holybro_px4vision_v1_5
4041_beta75x
4050_generic_250
4052_holybro_qav250
4053_holybro_kopis2
4061_atl_mantis_edu
4071_ifo
4073_ifo-s
4500_clover4
4901_crazyflie21
# [5000, 5999] Quadrotor +
5001_quad_+
# [6000, 6999] Hexarotor x
6001_hexa_x
6002_draco_r
# [7000, 7999] Hexarotor +
7001_hexa_+
# [8000, 8999] Octorotor +
8001_octo_x
# [9000, 9999] Octorotor +
9001_octo_+
# [11000, 11999] Hexa Cox
11001_hexa_cox
# [12000, 12999] Octo Cox
12001_octo_cox
# [14000, 14999] MC with tilt
14001_generic_mc_with_tilt
16001_helicopter
24001_dodeca_cox
)
endif()
if(CONFIG_MODULES_FW_RATE_CONTROL)
px4_add_romfs_files(
# [2000, 2999] Standard planes
2100_standard_plane
2106_albatross
# [3000, 3999] Flying wing
3000_generic_wing
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
)
endif()
if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
px4_add_romfs_files(
2507_cloudship
)
endif()
if(CONFIG_MODULES_VTOL_ATT_CONTROL)
px4_add_romfs_files(
# [13000, 13999] VTOL
13000_generic_vtol_standard
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13200_generic_vtol_tailsitter
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
50000_generic_ground_vehicle
50004_nxpcup_car_dfrobot_gpx
)
endif()
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
px4_add_romfs_files(
50003_aion_robotics_r1_rover
)
endif()
if(CONFIG_MODULES_UUV_ATT_CONTROL)
px4_add_romfs_files(
# [60000, 61000] (Unmanned) Underwater Robots
60000_uuv_generic
60001_uuv_hippocampus
60002_uuv_bluerov2_heavy
)
endif()

14
ROMFS/px4fmu_common/init.d/rcS
View File

@ -439,7 +439,12 @@ else
#
# Start a thermal calibration if required.
#
. ${R}etc/init.d/rc.thermal_cal
set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
if [ -f ${RC_THERMAL_CAL} ]
then
. ${RC_THERMAL_CAL}
fi
unset RC_THERMAL_CAL
#
# Start gimbal to control mounts such as gimbals, disabled by default.
@ -500,7 +505,12 @@ else
#
# Start the logger.
#
. ${R}etc/init.d/rc.logging
set RC_LOGGING ${R}etc/init.d/rc.logging
if [ -f ${RC_LOGGING} ]
then
. ${RC_LOGGING}
fi
unset RC_LOGGING
#
# Set additional parameters and env variables for selected AUTOSTART.