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Code Issues Actions 8 Packages Projects Releases Wiki Activity

Merge pull request #11 from ethz-asl/pr-upstream-merge

Browse Source 
23/02/2021 Upstream Merge
This commit is contained in:
JaeyoungLim
2021-02-24 10:48:56 +01:00
committed by GitHub
parent 472e191fef e2563388eb
commit 32a93d6355
392 changed files with 13107 additions and 8986 deletions
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.ci/Jenkinsfile-compile
+7 -8
View File
@@ -37,6 +37,7 @@ pipeline {
def nuttx_builds_archive = [
target: [
"airmind_mindpx-v2_default",
"ark_can-flow_canbootloader",
"ark_can-flow_default",
"av_x-v1_default",
"bitcraze_crazyflie_default",
@@ -49,36 +50,32 @@ pipeline {
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_console",
"cubepilot_cubeyellow_default",
"holybro_can-gps-v1_canbootloader",
"holybro_can-gps-v1_default",
"holybro_durandal-v1_default",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"holybro_can-gps-v1",
"holybro_can-gps-v1_canbootloader",
"intel_aerofc-v1_default",
"modalai_fc-v1_default",
"mro_ctrl-zero-f7_default",
"mro_pixracerpro_default",
"mro_x21-777_default",
"mro_x21_default",
"nxp_fmuk66-e_default",
"nxp_fmuk66-v3_default",
"nxp_fmuk66-v3_rtps",
"nxp_fmuk66-v3_socketcan",
"nxp_fmuk66-e_default",
"nxp_fmurt1062-v1_default",
"nxp_ucans32k146_default",
"omnibus_f4sd_default",
"px4_fmu-v2_default",
"px4_fmu-v2_fixedwing",
"px4_fmu-v2_lpe",
"px4_fmu-v2_multicopter",
"px4_fmu-v2_rover",
"px4_fmu-v2_test",
"px4_fmu-v3_ctrlalloc",
"px4_fmu-v3_default",
"px4_fmu-v4_cannode",
"px4_fmu-v4_ctrlalloc",
"px4_fmu-v4_default",
"px4_fmu-v4_optimized",
"px4_fmu-v4pro_default",
"px4_fmu-v5_ctrlalloc",
"px4_fmu-v5_debug",
@@ -89,10 +86,12 @@ pipeline {
"px4_fmu-v5_rover",
"px4_fmu-v5_rtps",
"px4_fmu-v5_stackcheck",
"px4_fmu-v5_uavcanv0periph",
"px4_fmu-v5_uavcanv1",
"px4_fmu-v5x_base_phy_DP83848C",
"px4_fmu-v5x_default",
"px4_fmu-v6x_default",
"px4_fmu-v6u_default",
"px4_fmu-v6x_default",
"px4_io-v2_default",
"spracing_h7extreme_default",
"uvify_core_default"
.ci/Jenkinsfile-hardware
+2 -3
View File
@@ -481,8 +481,7 @@ pipeline {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
@@ -635,7 +634,7 @@ pipeline {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
.github/workflows/checks.yml
+2 -2
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@@ -52,8 +52,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
.github/workflows/clang-tidy.yml
+2 -2
View File
@@ -34,8 +34,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/compile_linux.yml
+2 -2
View File
@@ -43,8 +43,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/compile_linux_arm64.yml
+2 -2
View File
@@ -39,8 +39,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/compile_macos.yml
+2 -2
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@@ -43,8 +43,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/compile_nuttx.yml
+5 -10
View File
@@ -19,8 +19,8 @@ jobs:
ark_can-flow_canbootloader,
ark_can-flow_default,
av_x-v1_default,
bitcraze_crazyflie_default,
bitcraze_crazyflie21_default,
bitcraze_crazyflie_default,
cuav_can-gps-v1_canbootloader,
cuav_can-gps-v1_default,
cuav_nora_default,
@@ -49,17 +49,12 @@ jobs:
omnibus_f4sd_default,
px4_fmu-v2_default,
px4_fmu-v2_fixedwing,
px4_fmu-v2_lpe,
px4_fmu-v2_multicopter,
px4_fmu-v2_rover,
px4_fmu-v2_test,
px4_fmu-v3_ctrlalloc,
px4_fmu-v3_default,
px4_fmu-v4_cannode,
px4_fmu-v4_ctrlalloc,
px4_fmu-v4_default,
px4_fmu-v4_optimized,
px4_fmu-v4_uavcanv1,
px4_fmu-v4pro_default,
px4_fmu-v5_ctrlalloc,
px4_fmu-v5_default,
@@ -68,12 +63,12 @@ jobs:
px4_fmu-v5_optimized,
px4_fmu-v5_rover,
px4_fmu-v5_rtps,
px4_fmu-v5_stackcheck,
px4_fmu-v5_uavcanv0periph,
px4_fmu-v5_uavcanv1,
px4_fmu-v5x_base_phy_DP83848C,
px4_fmu-v5x_default,
px4_fmu-v6x_default,
px4_fmu-v6u_default,
px4_fmu-v6x_default,
px4_io-v2_default,
spracing_h7extreme_default,
uvify_core_default
@@ -100,8 +95,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/compile_nuttx_cannode.yml
+2 -2
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@@ -43,8 +43,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/mavros_avoidance_tests.yml
+2 -2
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@@ -43,8 +43,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/mavros_mission_tests.yml
+2 -2
View File
@@ -49,8 +49,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/mavros_offboard_tests.yml
+2 -2
View File
@@ -44,8 +44,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
.github/workflows/sitl_tests.yml
+3 -7
View File
@@ -49,8 +49,8 @@ jobs:
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
@@ -94,7 +94,7 @@ jobs:
PX4_HOME_LON: ${{matrix.config.longitude}}
PX4_HOME_ALT: ${{matrix.config.altitude}}
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
- name: Look at core files
if: failure()
@@ -106,10 +106,6 @@ jobs:
name: coredump
path: px4.core
- name: Upload logs to flight review
if: failure()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2-preview
.vscode/cmake-variants.yaml
Vendored
+10
View File
@@ -131,6 +131,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: mro_ctrl-zero-f7_default
mro_pixracerpro_bootloader:
short: mro_pixracerpro_bootloader
buildType: MinSizeRel
settings:
CONFIG: mro_pixracerpro_bootloader
mro_pixracerpro_default:
short: mro_pixracerpro_default
buildType: MinSizeRel
settings:
CONFIG: mro_pixracerpro_default
mro_x21-777_default:
short: mro_x2.1-777
buildType: MinSizeRel
CMakeLists.txt
-1
View File
@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
add_subdirectory(platforms EXCLUDE_FROM_ALL)
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
add_subdirectory(${PX4_BOARD_DIR})
Jenkinsfile
Vendored
+2 -4
View File
@@ -67,11 +67,9 @@ pipeline {
unset ROS_DISTRO;
mkdir -p colcon_ws/src;
cd colcon_ws;
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
source /opt/ros/bouncy/setup.sh;
source /opt/ros/melodic/setup.sh;
source /opt/ros/foxy/setup.sh;
colcon build --event-handlers console_direct+ --symlink-install;
'''
}
ROMFS/CMakeLists.txt
+40
View File
@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
endforeach()
if(config_uavcan_peripheral_firmware)
include(ExternalProject)
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
# include the px4io binary in ROMFS
message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
ExternalProject_Add(build_${uavcan_peripheral_config}
SOURCE_DIR ${CMAKE_SOURCE_DIR}
DOWNLOAD_COMMAND ""
UPDATE_COMMAND ""
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
INSTALL_COMMAND ""
USES_TERMINAL_BUILD true
DEPENDS git_nuttx git_nuttx_apps
BUILD_ALWAYS 1
)
ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
add_custom_command(
OUTPUT
${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
${uavcan_peripheral_config}.stamp
COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
DEPENDS
build_${uavcan_peripheral_config}
COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
)
list(APPEND extras_dependencies
${uavcan_peripheral_config}.stamp
)
endforeach()
endif()
list(APPEND extras_dependencies
${config_romfs_extra_dependencies}
)
ROMFS/cannode/init.d/rcS
-7
View File
@@ -30,13 +30,6 @@ sercon
#
ver all
#
# Start the ORB (first app to start)
# tone_alarm and tune_control
# is dependent.
#
uorb start
#
# Set the parameter file if mtd starts successfully.
#
ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
+5
View File
@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
then
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_MODE_OUT 2
param set MNT_DO_STAB 2
fi
set MIXER quad_x
ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
-1
View File
@@ -26,7 +26,6 @@ then
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_DO_STAB 2
param set MAV_PROTO_VER 2
fi
set MAV_TYPE 13
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+2 -1
View File
@@ -24,7 +24,8 @@ then
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MNT_MODE_IN 4
param set MNT_MODE_OUT 2
param set MAV_PROTO_VER 2
fi
ROMFS/px4fmu_common/init.d-posix/rc.replay
-1
View File
@@ -20,7 +20,6 @@ module: replay
ignore_others: false
EOF
uorb start
param set SDLOG_DIRS_MAX 7
# apply all params before ekf starts, as some params cannot be changed after startup
ROMFS/px4fmu_common/init.d-posix/rcS
+7 -4
View File
@@ -53,8 +53,6 @@ else
fi
fi
uorb start
# Load parameters
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
param select $PARAM_FILE
@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))
if [ $AUTOCNF = yes ]
@@ -244,7 +244,7 @@ then
sh etc/init.d-posix/rc.mavlink_override
else
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +256,15 @@ else
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
fi
# execute autostart post script if any
[ -e "$autostart_file".post ] && . "$autostart_file".post
ROMFS/px4fmu_common/init.d/rcS
+3 -25
View File
@@ -73,13 +73,6 @@ sercon
#
ver all
#
# Start the ORB (first app to start)
# tone_alarm and tune_control
# is dependent.
#
uorb start
#
# Try to mount the microSD card.
#
@@ -289,33 +282,18 @@ else
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io start
then
# Try to safety px4 io so motor outputs don't go crazy.
if ! px4io safety_on
then
# px4io did not respond to the safety command.
px4io stop
fi
fi
if px4io forceupdate 14662 ${IOFW}
if px4io update ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
echo "PX4IO CRC OK after updating"
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
set IO_PRESENT yes
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
if [ $IO_PRESENT = no ]
then
echo "PX4IO update failed"
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
fi
fi
ROMFS/px4fmu_test/init.d/rc.standalone
-5
View File
@@ -5,9 +5,4 @@
echo "[i] doing standalone PX4FMU startup..."
#
# Start the ORB
#
uorb start
echo "[i] startup done"
ROMFS/px4fmu_test/init.d/rcS
+1 -8
View File
@@ -8,8 +8,6 @@ set unit_test_failure 0
set BOARD_RC ${R}etc/init.d/rc.board
uorb start
if rgbled start -X
then
led_control on -c blue
@@ -41,11 +39,6 @@ fi
# Start a minimal system
#
#
# Start the ORB (first app to start)
#
uorb start
#
# Load parameters
#
@@ -91,7 +84,7 @@ then
else
echo "PX4IO CRC failure"
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io forceupdate 14662 $io_file
if px4io update $io_file
then
if px4io start
then
Tools/astyle/files_to_check_code_style.sh
+1 -1
View File
@@ -17,7 +17,7 @@ exec find boards msg src platforms test \
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-path src/lib/ecl -prune -o \
-path src/lib/matrix -prune -o \
-path src/lib/systemlib/uthash -prune -o \
-path src/lib/parameters/uthash -prune -o \
-path src/examples/gyro_fft/CMSIS_5 -prune -o \
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: 4f26815d41...bebb9a95f0
boards/aerotenna/ocpoc/default.cmake
+2
View File
@@ -83,9 +83,11 @@ px4_add_board(
#top
topic_listener
tune_control
uorb
ver
work_queue
EXAMPLES
fake_gps
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
boards/airmind/mindpx-v2/default.cmake
+2
View File
@@ -105,10 +105,12 @@ px4_add_board(
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
boards/ark/can-flow/canbootloader.cmake
+1 -18
View File
@@ -1,21 +1,4 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.ark.can-flow\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
boards/ark/can-flow/default.cmake
+1 -19
View File
@@ -1,22 +1,4 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.ark.can-flow\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
boards/ark/can-flow/firmware.prototype
+1 -1
View File
@@ -1,5 +1,5 @@
{
"board_id": 11,
"board_id": 80,
"magic": "PX4FWv1",
"description": "Firmware for the ARK flow board",
"image": "",
boards/ark/can-flow/uavcan_board_identity
+17
View File
@@ -0,0 +1,17 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 0)
set(uavcanblid_hw_version_minor 80)
set(uavcanblid_name "\"org.ark.can-flow\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
boards/atlflight/eagle/default.cmake
+2
View File
@@ -110,9 +110,11 @@ px4_add_board(
#top
topic_listener
tune_control
uorb
ver
work_queue
EXAMPLES
#fake_gps
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
boards/atlflight/excelsior/default.cmake
+2
View File
@@ -108,9 +108,11 @@ px4_add_board(
#top
topic_listener
tune_control
uorb
ver
work_queue
EXAMPLES
#fake_gps
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
boards/av/x-v1/default.cmake
+2
View File
@@ -102,9 +102,11 @@ px4_add_board(
top
topic_listener
tune_control
uorb
ver
work_queue
EXAMPLES
fake_gps
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
boards/beaglebone/blue/default.cmake
+2
View File
@@ -79,9 +79,11 @@ px4_add_board(
#top
topic_listener
tune_control
uorb
ver
work_queue
EXAMPLES
fake_gps
dyn_hello # dynamically loading modules example
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
boards/bitcraze/crazyflie/default.cmake
+1
View File
@@ -64,6 +64,7 @@ px4_add_board(
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
boards/bitcraze/crazyflie21/default.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
boards/cuav/can-gps-v1/canbootloader.cmake
+1 -18
View File
@@ -1,21 +1,4 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
boards/cuav/can-gps-v1/debug.cmake
+53
View File
@@ -0,0 +1,53 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_definitions(-DUSE_S_RGB_LED_DMA)
px4_add_board(
PLATFORM nuttx
VENDOR cuav
MODEL can-gps-v1
LABEL debug
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
ROMFSROOT cannode
UAVCAN_INTERFACES 1
DRIVERS
barometer/ms5611
bootloaders
gps
lights/neopixel
magnetometer/rm3100
safety_button
tone_alarm
uavcannode
MODULES
load_mon
SYSTEMCMDS
i2cdetect
led_control
param
perf
reboot
top
topic_listener
tune_control
ver
work_queue
)
boards/cuav/can-gps-v1/default.cmake
+2 -18
View File
@@ -1,22 +1,5 @@
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_definitions(-DUSE_S_RGB_LED_DMA)
px4_add_board(
@@ -49,6 +32,7 @@ px4_add_board(
top
topic_listener
tune_control
uorb
ver
work_queue
)
boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig
+1
View File
@@ -61,6 +61,7 @@ CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_NOEXT_VECTORS=y
CONFIG_STM32_TIM8=y
CONFIG_TASK_NAME_SIZE=0
boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig
+1
View File
@@ -139,6 +139,7 @@ CONFIG_STM32_RTC_MAGIC_REG=1
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_TIM8=y
CONFIG_STM32_USART1=y
boards/cuav/can-gps-v1/nuttx-config/scripts/canbootloader_script.ld
+7 -2
View File
@@ -50,8 +50,9 @@
MEMORY
{
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
shared_sram (rwx) : ORIGIN = 0x20000000, LENGTH = 256
sram (rwx) : ORIGIN = 0x20000100, LENGTH = 192K - 256
}
OUTPUT_ARCH(arm)
@@ -101,6 +102,10 @@ SECTIONS
_eronly = ABSOLUTE(.);
.app_bl_shared : {
_sapp_bl_shared = ABSOLUTE(.);
} > shared_sram
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
boards/cuav/can-gps-v1/nuttx-config/scripts/script.ld
+7 -2
View File
@@ -50,8 +50,9 @@
MEMORY
{
flash (rx) : ORIGIN = 0x08010000, LENGTH = 448K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
flash (rx) : ORIGIN = 0x08010000, LENGTH = 448K
shared_sram (rwx) : ORIGIN = 0x20000000, LENGTH = 256
sram (rwx) : ORIGIN = 0x20000100, LENGTH = 192K - 256
}
OUTPUT_ARCH(arm)
@@ -114,6 +115,10 @@ SECTIONS
_eronly = ABSOLUTE(.);
.app_bl_shared : {
_sapp_bl_shared = ABSOLUTE(.);
} > shared_sram
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
boards/cuav/can-gps-v1/src/CMakeLists.txt
-2
View File
@@ -34,10 +34,8 @@
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
add_library(drivers_board
boot_config.h
boot.c
led.cpp
led.h
)
target_link_libraries(drivers_board
boards/cuav/can-gps-v1/src/init.c
+2
View File
@@ -66,6 +66,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <drivers/drv_watchdog.h>
#include <systemlib/px4_macros.h>
@@ -88,6 +89,7 @@
__EXPORT void
stm32_boardinitialize(void)
{
watchdog_init();
// Configure CAN interface
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
boards/cuav/can-gps-v1/uavcan_board_identity
+18
View File
@@ -0,0 +1,18 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 3)
set(uavcanblid_hw_version_minor 233)
set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-DSUPPORT_ALT_CAN_BOOTLOADER
)

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