diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt index 4b45187ff5..34b255e255 100644 --- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt @@ -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() diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 8fbccdee54..66e29e32b4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -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() diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 49b062909d..466fed1f62 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -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.