Commit Graph

429 Commits

Author SHA1 Message Date
Daniel Agar 739a02022b position_estimator_inav: move to examples (start deprecation) 2019-01-27 22:15:39 +01:00
Daniel Agar 48df19c8df move dyn_hello to examples and restore testing 2018-11-26 14:40:14 -08:00
Mara Bos 3c660acca8 Add unit test for dynamically loading modules on posix. 2018-11-24 01:58:09 +01:00
Daniel Agar 26bac9594f add simple SITL shutdown test 2018-11-16 16:43:19 -05:00
Bart Slinger f913de3957 bebop 2 improved gains, disable rangefinder 2018-10-03 15:35:25 -04:00
Beat Küng 719bfd1073 posix-configs: use '.' instead of 'source'
'source' is not POSIX
2018-09-27 23:39:20 +02:00
TSC21 8325724079 general fixes on VIO data access 2018-09-18 09:52:33 +02:00
TSC21 22b8fa0414 posix_configs: add LPE iris_vision config 2018-09-18 09:52:33 +02:00
Daniel Agar 8ddb99971f tests template skip mavlink except for mavlink test 2018-08-30 11:13:24 -04:00
Daniel Agar 72792cef43
posix-configs shell scripts use /bin/sh to maximize compatibility (#10292)
- fix ocpoc line endings
2018-08-25 11:02:37 -04:00
mcsauder 3a22ee48db Correct trailing whitespaces. 2018-08-18 15:15:41 -04:00
Beat Küng 273988c124 SITL: move all models to unified rcS startup and remove old scripts 2018-08-13 21:50:14 -04:00
Beat Küng e6b9806ee1 SITL: add multi-vehicle support to rcS
This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see
why it's needed and it adds noticeable CPU load.
2018-08-13 21:50:14 -04:00
Beat Küng 1318e614ad SITL: handle 'make posix_sitl_shell' via unified rcS
The command is now: 'make posix none_shell'
which means: don't start a simulator and run a minimal shell only.
2018-08-13 21:50:14 -04:00
Beat Küng ab7f68f2ad ekf2 replay: refactor to use unified rcS scripts 2018-08-13 21:50:14 -04:00
Daniel Agar c2142a3067 posix SITL tests don't manually stop dataman 2018-08-12 11:23:21 -04:00
Beat Küng 5363aff879 fixes for integration and unit tests
Move ros logs dir so that .ulg files are not in the same directory
(mission_test.py:: get_last_log() fails otherwise)
2018-08-08 21:09:39 +02:00
Beat Küng efb202106f bbblue: required changes for posix shell 2018-08-08 21:09:39 +02:00
Beat Küng d90ac975a7 posix shell: required updates for RPi, bepob, ocpoc, eagle & exxcelsior
- RPi works
- the rest is not tested, and requires a bit more
  (such as uploading the bin/ directory)
2018-08-08 21:09:39 +02:00
Beat Küng 57a85fbc61 cleanup: remove unused files 2018-08-08 21:09:39 +02:00
Beat Küng 7822e5b5c3 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
2018-08-08 21:09:39 +02:00
Julian Oes 0c5c741b1a add posix shell
squashed & rebased version, not including:
- listener changes
- src/firmware renaming

Commits:

tag_to_version.py: fix Python3 error

subprocess.communicate returns bytes instead of a str which is not the
same for Python3. Therefore, we need to decode the bytes.

cmake: remove folder src/firmware

The folder src/firmware was not intuitive. Why would the binaries for
SITL be inside a src and why even inside a src/firmware folder. Also,
the rootfs was put there which made it even more confusing.

The CMakeLists.txt files are moved into cmake/ and get now called from
the main CMakeLists.txt.

qshell: support for return value

Instead of just sending commands, qshell will now also wait until
the command has finished on QURT and sent back a return value. This will
allow all modules on the DSP side to be spawned from the Linux side
meaning that we only need one config/startup file instead of two.

adb_upload: create folders before pushing

Previously the script failed if the folder on the destination was not
already existing. This therefore makes pushing easier.

posix: spawn PX4 modules in bash

This adds the possibility to spawn PX4 modules out of bash. Basically,
the main executable can now be started as a server/daemon or as a
client.
The server replaces the existing functionality of the main exe with
the pxh shell, however, it also opens a pipe that clients can talk to.

Clients can run or spawn PX4 modules or commands by connecting to the
server over the pipe. They clients will get the stdout and return value
of their commands via a client specific pipe back.

This work will allow to start all modules using a bash script similar to
the way it is done in NuttX where the NuttShell scripts the startup
scripts and starts the modules.

SITL: use new client shell in SITL

This is a first step to use the new shell capabilities for SITL.
The new startup bash script rcS merges (and therefore replaces) the two
existing scripts rcS_gazebo_iris and rcS_jmavsim_iris.

More cleanup will be necessary for the rest of the SITL startup scripts.

Snapdragon: use new shell to start all modules

Instead of different mainapp.config and px4.config files, we can now use
a unified rcS bash script which starts all the modules based on
parameters, mainly the SYS_AUTOSTART param.

Snapdragon: fix the airframe description

pxh: argv needs to end with a nullptr

The comment was wrong that argv needs an additional 0 termination.
Instead it needs a nullptr at the end.

px4_posix_tasks: variable cleanup

The px4_task_spawn_cmd function got a cleanup while debugging, however,
no functional changes.

Snapdragon: move some drivers to 4100 config

These drivers are supported by the community, so they go into the 4100
config.

Snapdragon: update 210qc platform

px4_daemon: use doxygen comments

apps.h_in: fix string printf: use .c_str()

px4_daemon: \b -> \n in printf

px4_daemon: handle error in generate_uuid (close the file on error)

posix main: some clarifications in comment (it's the symlinks not the script aliases)

cmake: remove new install command again

This one was probably wrong and untested. Installing needs revisiting.

POSIX: remove argument USES_TERMINAL

POSIX: copy init and mixer files for SITL

Instead of using non-working install commands, the mixer and startup
files are now copied as part of the build in cmake.

adb_upload.sh: remove leftover commented printf

POSIX main: just the pointer instead of memmove

POSIX main: remove chroot

chroot is removed because it hasn't been used anywhere and seems
untested.

px4_daemon: remove client pipe when cleaning up

px4_daemon: fail if the client pipe already exists

The client pipe is supposed to be specific (by UUID), so the path
shouldn't exist already.

history: limit the number of history entries

This is a protection to avoid filling the memory if we are entering a
lot of commands (e.g. auto-generated).

px4_daemon: add a threadsafe map and use it

px4_daemon: whitespace

px4_daemon: fix client parsing

Sometimes the client ends up reading more than one packet in one read.
The parsing is not made for this and would require a (ring)buffer for
it.

The solution of this commit just reads as much as needed from the pipe
which avoids having to do buffering and parsing.

posix: changes sitl_run.sh and main.cpp cleanup

This changes the paths in sitl_run.sh quite a bit to allow the px4
binary to run in the rootfs directory which should make it convenient
and very close to the NuttX variant.

Also main.cpp got a big cleanup after the big rebase with some
conflicts. Quite some functionality was removed but it has yet to be
seen if it needs to be re-added.

px4_log: cleanup log levels, now they make sense

Before DEBUG and INFO log levels where inverted which didn't make much
sense in my eyes.

dataman: fix path for bash shell

logger: fix paths for bash shell

mavlink: fix paths for bash shell

param: fix path for bash shell

inav: fix paths for bash shell

sdlog2: fix paths for bash shell

ROMFS: add forgotten mixer to list

SITL init: more models, more options

- Support for different models using the unified startup
script rcS.
- Support to choose the estimator by setting the environment variable
  PX4_ESTIMATOR.
- Support to choose the logger by setting the environment variable
  PX4_LOGGER.

rcS: fix string comparison

listener: use template file

Instead of having all of the C++ code inside the Python file it is
nicer to have a separate template file with the C++ headers, etc.

px4_log: add PX4_INFO_RAW for raw printfs

This allows to do custom formatting but is still transported over
sockets to clients.

topic_listener: use PX4_INFO_RAW instead of printf

commander: use PX4_INFO_RAW for status

listener: rewrite to classes and factory

posix: fix some argument warnings

generate_listener.py: by accident changed shebang

listener: big refactor of the generator

Hopefully this makes it easier to read and change in the future.

rcS: manually take over rebase changes

listener: remove leftover try

listener: properly clean up topic instance

rcS: take over some vehicle specific changes

posix-configs: vehicle specifics to separate files

posix-configs: remove leftover lines

uORBDevices: new PX4_INFO_RAW instead of printf

px4_log: just use printf on NuttX

listener: use less binary space, strip on NuttX

generate_listener.py: remove commented code

cmake: fix syntax error from merge

px4_daemon: fixes after rebase of apps.h/cpp fix

px4_daemon: namespace missing

posix: only create stub for fsync on QURT

unitests: reduce dependencies of param test

This makes the unit test compile and link again after the bash changes.

QURT: some compile fixes after a rebase

SITL: arg change for sitl_run.sh to use rcS_test

This allows to use a custom startup file for testing.

SITL: add the folder test_data

SITL: implement shutdown command as systemcmd

The shutdown command needs to be a proper systemcmd, otherwise the alias
and symlink generation doesn't work and we end up calling shutdown of
the host computer which is to be avoided.

px4fmu_test: same IO_pass mixer as px4fmu_default

px4fmu_test: use normal quad x mixer

There is no good reason to use a specific test mixer, except more cmake
code around it. Therefore just use the same mixer as default, and at
some point px4fmu_test and px4fmu_default can get merged

POSIX: cleanup, dir and symlink fixes

This cleans up the logic behind the symlinking and creating directories.

POSIX: correct arg order in usage info

tests: fix paths for SITL tests

POSIX: printf fix

sitl_run.sh: try to make this run on Mac as well

cmake: try to make jenkins happier

Path cleanup, the bin is no longer in src/firmware

POSIX: fix symlink logic

SITL: prefix all exported env variables

cmake: fix path for ROS tests

integrationtests: fix log path

launch: try to make tets with ROS working again

px4_defines: fix after wrong merge deconflicting

px4_defines: get paths for POSIX correct

cmake: fix cmake arguments

This was fine with cmake 3.6 but did not work with cmake 3.2.2

cmake: use cp instead of cmake -E copy

cmake -E copy does not support copying multiple files with versions <
3.5. Therefore, just use cp for now.

ROMFS: fix build error after rebase

cmake: fix paths in configs

launch: use `spawn_model` again

cmake: various fixes after big rebase

param: path fixes after rebase

posix platform: fixes after rebase

test_mixer: fix screwed up rebase
2018-08-08 21:09:39 +02:00
Bob-F a9bb274001 Renamed mavlink wifi interface name and enabled land_detector 2018-08-06 13:32:36 +02:00
Bob-F 627ea3b23e update according to pull request review comments 2018-08-06 13:32:36 +02:00
Bob-F 2ece14bad1 Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule 2018-08-06 13:32:36 +02:00
Paul Riseborough 7ff23f7859 posix-configs: Update optical flow SITL test parameter defaults
Use baro for height in EKF.
Use terrain hold mode in height controller.
2018-07-22 17:42:31 +10:00
Matthias Grob cc0bc05156 mc_att_control: remove useless parameter MC_YAW_FF
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
2018-07-20 09:26:18 +02:00
Daniel Agar 8537863848 delete sdlog2 2018-07-13 09:02:59 +02:00
Roman 1dea998be5 ROMFS: clean up quad x tailsitter mixer files
- use mixer for the simulation to the sitl mixer dir
- do not use virtual elevator in the mixer for the real vehicle

Signed-off-by: Roman <bapstroman@gmail.com>
2018-07-02 13:09:35 +02:00
Elia Tarasov 9ccf17dbee add sitl init file for iris_vision model 2018-06-10 21:26:44 -04:00
Elia Tarasov 384028aa7b decrease rollrate P gain due to gimbal oscillations 2018-06-05 20:57:08 +02:00
Roman 20b51d6256 sdflight config: weird changes to get things working
- just use external mag, if they run together the sensor_mag_0 topic gets
corrupted even though they publish on different instances
- added sleep at two places, they resolve weird boot problems like params
not being read correctly...

Signed-off-by: Roman <bapstroman@gmail.com>
2018-05-23 10:08:28 -04:00
Daniel Agar 8404889098 delete unused ADCSIM
- set BOARD_NUMBER_BRICKS to 0 for boards without analog power bricks
2018-04-29 21:48:54 -04:00
Daniel Agar 439ed7d3f5 posix sitl ekf2 plane model add fw defaults
- EKF2 airspeed fusion and synthetic sideslip fusion
 - commander eph/epv failsafe thresholds appropirate for FW
2018-04-24 00:02:48 -04:00
Daniel Agar 7538ea44e3 Jenkins add VTOL tiltrotor mission test 2018-04-19 07:21:00 +02:00
Roman 7fa91ad3dd posix-configs: increase tailsitter land speed
Signed-off-by: Roman <bapstroman@gmail.com>
2018-04-18 17:23:38 -04:00
Roman bb4b5e7c1d posix-configs: set tailsitter SITL SYS_AUTOSTART to quad tailsitter
Signed-off-by: Roman <bapstroman@gmail.com>
2018-04-18 17:23:38 -04:00
Roman 694df08b37 posix-configs: better tailsitter front transition parameters
- reduce height increase during front transition

Signed-off-by: Roman <bapstroman@gmail.com>
2018-04-18 17:23:38 -04:00
Daniel Agar 2c31671cc2 FW SITL enable FW EKF2 default parameters 2018-03-30 19:29:42 -04:00
Daniel Agar 7830d3503e posix sitl standard_vtol lower MPC_THR_MIN 2018-03-21 20:49:41 -04:00
Roman df3a3daa0f start wind estimator for relevant platforms
Signed-off-by: Roman <bapstroman@gmail.com>
2018-03-21 18:46:58 +01:00
Roman 2c0436c37c sitl tiltrotor config: front transition throttle parameter name change
Signed-off-by: Roman <bapstroman@gmail.com>
2018-03-07 14:01:51 +01:00
Roman 8f71633516 sitl configs: updated VT_TRANS_THR parameter name change
Signed-off-by: Roman <bapstroman@gmail.com>
2018-03-07 14:01:51 +01:00
Daniel Agar 38f5f60a1e pwm_out_sim cleanup
- move to ModuleBase
 - strip down to PWM 8 and 16 modes only
 - remove all dead code
 - implement missing pwm ioctls (current value, rates, etc)
 - default rate 50Hz -> 400Hz
2018-03-04 14:12:15 -05:00
Roman 159834ce1b posix-configs: set tiltrotor transition parameters
Signed-off-by: Roman <bapstroman@gmail.com>
2018-02-22 15:10:22 -05:00
Roman 2886fe8da3 posix-configs: added sitl startup script for gazebo quad tiltrotor model
Signed-off-by: Roman <bapstroman@gmail.com>
2018-02-22 15:10:22 -05:00
Roman 8ec1fb9999 ROMFS: added mixer for tailsitter simulation
- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)

Signed-off-by: Roman <bapstroman@gmail.com>
2018-02-13 20:47:40 -05:00
ChristophTobler 305859f356 disable power module (#8804)
- currently doesn't work on all boards...
2018-02-02 12:00:39 -05:00
ChristophTobler cf79be1559 sitl ekf2 config: add vision position estimate 2018-01-28 21:07:48 +01:00
Beat Küng a329fd4c76 SITL configs: set SDLOG_DIRS_MAX to 7
Avoids ending up with huge log directories.

plus some param alphabetic reordering
2018-01-17 02:19:01 -05:00