mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-21 10:26:02 +08:00
Added TeraRanger one sensor
This commit is contained in:
Lorenz Meier
+30
-8
@@ -78,7 +78,7 @@ end
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################################################################################
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||||
define showfiles
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
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printf "%d files\n", $nfiles
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||||
set $index = 0
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||||
@@ -102,7 +102,7 @@ end
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################################################################################
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||||
define _showtask_oneline
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set $task = (struct _TCB *)$arg0
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set $task = (struct tcb_s *)$arg0
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printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
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end
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@@ -139,7 +139,7 @@ end
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# Print task registers for a NuttX v7em target with FPU enabled.
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#
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define _showtaskregs_v7em
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set $task = (struct _TCB *)$arg0
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set $task = (struct tcb_s *)$arg0
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set $regs = (uint32_t *)&($task->xcp.regs[0])
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|
||||
printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
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@@ -162,7 +162,7 @@ end
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define _showsemaphore
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printf "count %d ", $arg0->semcount
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if $arg0->holder.htcb != 0
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||||
set $_task = (struct _TCB *)$arg0->holder.htcb
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set $_task = (struct tcb_s *)$arg0->holder.htcb
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printf "held by %s", $_task->name
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end
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printf "\n"
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@@ -172,7 +172,7 @@ end
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# Print information about a task's stack usage
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#
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define showtaskstack
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set $task = (struct _TCB *)$arg0
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set $task = (struct tcb_s *)$arg0
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if $task == &g_idletcb
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printf "can't measure idle stack\n"
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@@ -189,7 +189,7 @@ end
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# Print details of a task
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#
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define showtask
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set $task = (struct _TCB *)$arg0
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set $task = (struct tcb_s *)$arg0
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printf "%p %.2d ", $task, $task->pid
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_showtaskstate $task
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@@ -204,7 +204,7 @@ define showtask
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if $task->task_state != TSTATE_TASK_RUNNING
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_showtaskregs_v7em $task
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else
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_showcurrentregs_v7em
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_showtaskregs_v7em $task
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end
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# XXX print registers here
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@@ -247,8 +247,10 @@ define showtasks
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_showtasklist &g_pendingtasks
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printf "RUNNABLE\n"
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_showtasklist &g_readytorun
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printf "WAITING\n"
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printf "WAITING for Semaphore\n"
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_showtasklist &g_waitingforsemaphore
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printf "WAITING for Signal\n"
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_showtasklist &g_waitingforsignal
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printf "INACTIVE\n"
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_showtasklist &g_inactivetasks
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end
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@@ -257,3 +259,23 @@ document showtasks
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. showtasks
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. Print a list of all tasks in the system, separated into their respective queues.
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end
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define my_mem
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set $start = $arg0
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set $end = $arg1
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set $cursor = $start
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if $start < $end
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while $cursor != $end
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set *$cursor = 0x0000
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set $cursor = $cursor + 4
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printf "0x%x of 0x%x\n",$cursor,$end
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end
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else
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while $cursor != $end
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set *$cursor = 0x0000
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set $cursor = $cursor - 4
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||||
end
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||||
end
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||||
end
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||||
+386
-47
File diff suppressed because it is too large
Load Diff
Regular → Executable
+41
@@ -0,0 +1,41 @@
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||||
The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
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to be made under the same license. Any exception to this general rule is listed below.
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||||
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||||
/****************************************************************************
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||||
*
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||||
* Copyright (c) 2012-2014 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.
|
||||
*
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||||
****************************************************************************/
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||||
|
||||
|
||||
- PX4 middleware: BSD 3-clause
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||||
- PX4 flight control stack: BSD 3-clause
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||||
- NuttX operating system: BSD 3-clause
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- Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
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+1
-1
Submodule NuttX updated: 088146b90e...ec6b670f6d
@@ -0,0 +1,10 @@
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## PX4 Aerial Middleware and Flight Control Stack ##
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||||
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* Official Website: http://px4.io
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||||
* License: BSD 3-clause (see LICENSE.md)
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||||
* Supported airframes:
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||||
* Multicopters
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||||
* Fixed wing
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||||
* Binaries (always up-to-date from master):
|
||||
* [Downloads](https://pixhawk.org/downloads)
|
||||
* Mailing list: [Google Groups](http://groups.google.com/group/px4users)
|
||||
@@ -1,14 +1,10 @@
|
||||
#!nsh
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||||
#
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||||
# HILStar / X-Plane
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||||
#
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||||
# Lorenz Meier <lm@inf.ethz.ch>
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||||
# HILStar
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||||
# <lorenz@px4.io>
|
||||
#
|
||||
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||||
sh /etc/init.d/rc.fw_defaults
|
||||
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||||
echo "X Plane HIL starting.."
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||||
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||||
set HIL yes
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||||
|
||||
set MIXER FMU_AERT
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||||
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||||
@@ -2,7 +2,7 @@
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||||
#
|
||||
# Team Blacksheep Discovery Quadcopter
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
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||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
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||||
@@ -27,3 +27,4 @@ fi
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||||
set MIXER FMU_quad_w
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||||
|
||||
set PWM_OUTPUTS 1234
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set PWM_MIN 1200
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|
||||
@@ -2,7 +2,7 @@
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||||
#
|
||||
# 3DR Iris Quadcopter
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||||
#
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||||
# Anton Babushkin <anton.babushkin@me.com>
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||||
# Anton Babushkin <anton@px4.io>
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||||
#
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||||
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||||
sh /etc/init.d/rc.mc_defaults
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||||
|
||||
@@ -2,8 +2,7 @@
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||||
#
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||||
# Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
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||||
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||||
@@ -2,7 +2,7 @@
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||||
#
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||||
# HIL Quadcopter X
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||||
#
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||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
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||||
|
||||
sh /etc/init.d/rc.mc_defaults
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||||
|
||||
@@ -2,7 +2,7 @@
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||||
#
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||||
# HIL Quadcopter +
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||||
#
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||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
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||||
|
||||
@@ -2,13 +2,11 @@
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||||
#
|
||||
# HIL Rascal 110 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
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||||
|
||||
echo "HIL Rascal 110 starting.."
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||||
|
||||
set HIL yes
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||||
|
||||
set MIXER FMU_AERT
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||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# HIL Malolo 1 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_cox
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -3,3 +3,6 @@
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER FMU_Q
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUTPUTS 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Phantom FPV Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -21,8 +21,6 @@ then
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.02
|
||||
@@ -30,6 +28,9 @@ then
|
||||
param set FW_RR_P 0.08
|
||||
param set FW_R_LIM 50
|
||||
param set FW_R_RMAX 0
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set SENS_BOARD_Y_OFF 7.0
|
||||
fi
|
||||
|
||||
set MIXER phantom
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Skywalker X5 Flying Wing
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
|
||||
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -19,10 +19,6 @@ then
|
||||
param set FW_PR_I 0
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_I 0
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#!nsh
|
||||
#
|
||||
# Viper
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER Viper
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# TBS Caipirinha Flying Wing
|
||||
# TBS Caipirinha
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -22,10 +22,6 @@ then
|
||||
param set FW_PR_I 0
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 0
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_I 0
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Quad X geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -3,9 +3,6 @@
|
||||
# ARDrone
|
||||
#
|
||||
|
||||
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
|
||||
|
||||
# Just use the default multicopter settings.
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
#
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F330 Quadcopter
|
||||
# DJI Flame Wheel F330
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F450 Quadcopter
|
||||
# DJI Flame Wheel F450
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# F450-sized quadrotor with CAN
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Pavel Kirienko <pavel@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
# Hobbyking Micro Integrated PCB Quadcopter
|
||||
# with SimonK ESC firmware and Mystery A1510 motors
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
echo "HK Micro PCB Quad"
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Quad + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa X geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_x
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_+
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo X geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
# AUTOSTART PARTITION:
|
||||
@@ -18,9 +17,15 @@
|
||||
# 12000 .. 12999 Octo Cox
|
||||
|
||||
#
|
||||
# Simulation setups
|
||||
# Simulation
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 901
|
||||
then
|
||||
sh /etc/init.d/901_bottle_drop_test.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1000
|
||||
then
|
||||
sh /etc/init.d/1000_rc_fw_easystar.hil
|
||||
@@ -47,7 +52,7 @@ then
|
||||
fi
|
||||
|
||||
#
|
||||
# Standard plane
|
||||
# Plane
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 2100 100
|
||||
@@ -103,6 +108,11 @@ then
|
||||
sh /etc/init.d/3034_fx79
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3035 35
|
||||
then
|
||||
sh /etc/init.d/3035_viper
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3100
|
||||
then
|
||||
sh /etc/init.d/3100_tbs_caipirinha
|
||||
|
||||
@@ -13,3 +13,5 @@ ekf_att_pos_estimator start
|
||||
#
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
bottle_drop start
|
||||
|
||||
@@ -11,4 +11,8 @@ then
|
||||
param set NAV_RTL_ALT 100
|
||||
param set NAV_RTL_LAND_T -1
|
||||
param set NAV_ACCEPT_RAD 50
|
||||
param set FW_T_HRATE_P 0.01
|
||||
param set FW_T_RLL2THR 15
|
||||
param set FW_T_SRATE_P 0.01
|
||||
param set FW_T_TIME_CONST 5
|
||||
fi
|
||||
@@ -10,7 +10,7 @@ then
|
||||
#
|
||||
set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
|
||||
|
||||
#Use the mixer file from the SD-card if it exists
|
||||
# Use the mixer file from the SD-card if it exists
|
||||
if [ -f $MIXERSD ]
|
||||
then
|
||||
set MIXER_FILE $MIXERSD
|
||||
@@ -54,7 +54,6 @@ then
|
||||
#
|
||||
if [ $PWM_RATE != none ]
|
||||
then
|
||||
echo "[init] Set PWM rate: $PWM_RATE"
|
||||
pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
|
||||
fi
|
||||
|
||||
@@ -63,18 +62,20 @@ then
|
||||
#
|
||||
if [ $PWM_DISARMED != none ]
|
||||
then
|
||||
echo "[init] Set PWM disarmed: $PWM_DISARMED"
|
||||
pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
|
||||
fi
|
||||
if [ $PWM_MIN != none ]
|
||||
then
|
||||
echo "[init] Set PWM min: $PWM_MIN"
|
||||
pwm min -c $PWM_OUTPUTS -p $PWM_MIN
|
||||
fi
|
||||
if [ $PWM_MAX != none ]
|
||||
then
|
||||
echo "[init] Set PWM max: $PWM_MAX"
|
||||
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $FAILSAFE != none ]
|
||||
then
|
||||
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Test jig startup script
|
||||
#
|
||||
|
||||
echo "[testing] doing production test.."
|
||||
|
||||
tests jig
|
||||
|
||||
echo "[testing] testing done"
|
||||
@@ -54,7 +54,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start airspeed sensors
|
||||
if meas_airspeed start
|
||||
then
|
||||
echo "[init] Using MEAS airspeed sensor"
|
||||
@@ -68,11 +67,12 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if px4flow start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensor collection task.
|
||||
# IMPORTANT: this also loads param offsets
|
||||
# ALWAYS start this task before the
|
||||
# preflight_check.
|
||||
# Start sensors -> preflight_check
|
||||
#
|
||||
if sensors start
|
||||
then
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
#!nsh
|
||||
#
|
||||
# UAVCAN initialization script.
|
||||
#
|
||||
|
||||
if param compare UAVCAN_ENABLE 1
|
||||
then
|
||||
if uavcan start
|
||||
then
|
||||
# First sensor publisher to initialize takes lowest instance ID
|
||||
# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
|
||||
sleep 1
|
||||
echo "[init] UAVCAN started"
|
||||
else
|
||||
echo "[init] ERROR: Could not start UAVCAN"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
@@ -3,8 +3,12 @@
|
||||
# USB MAVLink start
|
||||
#
|
||||
|
||||
mavlink start -r 10000 -d /dev/ttyACM0 -x
|
||||
mavlink start -r 20000 -d /dev/ttyACM0 -x
|
||||
# Enable a number of interesting streams we want via USB
|
||||
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
|
||||
@@ -15,9 +19,11 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
|
||||
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
|
||||
usleep 100000
|
||||
|
||||
# Exit shell to make it available to MAVLink
|
||||
|
||||
@@ -66,6 +66,9 @@ then
|
||||
#
|
||||
sercon
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
@@ -83,9 +86,12 @@ then
|
||||
param select $PARAM_FILE
|
||||
if param load
|
||||
then
|
||||
echo "[init] Params loaded: $PARAM_FILE"
|
||||
echo "[param] Loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "[init] ERROR: Params loading failed: $PARAM_FILE"
|
||||
echo "[param] FAILED loading $PARAM_FILE"
|
||||
if param reset
|
||||
then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -93,11 +99,9 @@ then
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
echo "[init] RGB Led"
|
||||
else
|
||||
if blinkm start
|
||||
then
|
||||
echo "[init] BlinkM"
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
@@ -126,15 +130,14 @@ then
|
||||
set LOAD_DEFAULT_APPS yes
|
||||
set GPS yes
|
||||
set GPS_FAKE no
|
||||
set FAILSAFE none
|
||||
|
||||
#
|
||||
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# We can't be sure the defaults haven't changed, so
|
||||
# if someone requests a re-configuration, we do it
|
||||
# cleanly from scratch (except autostart / autoconfig)
|
||||
# Wipe out params
|
||||
param reset_nostart
|
||||
set DO_AUTOCONFIG yes
|
||||
else
|
||||
@@ -197,12 +200,10 @@ then
|
||||
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK"
|
||||
echo "PX4IO CRC OK" >> $LOG_FILE
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] Trying to update"
|
||||
echo "PX4IO Trying to update" >> $LOG_FILE
|
||||
|
||||
tone_alarm MLL32CP8MB
|
||||
@@ -212,18 +213,15 @@ then
|
||||
usleep 500000
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK, update successful"
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tone_alarm MLL8CDE
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
@@ -276,17 +274,12 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
# waypoint storage
|
||||
if dataman start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the Commander (needs to be this early for in-air-restarts)
|
||||
#
|
||||
# Needs to be this early for in-air-restarts
|
||||
commander start
|
||||
|
||||
#
|
||||
@@ -299,11 +292,10 @@ then
|
||||
then
|
||||
if [ $OUTPUT_MODE == uavcan_esc ]
|
||||
then
|
||||
if uavcan start 1
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
then
|
||||
echo "CAN UP"
|
||||
else
|
||||
echo "CAN ERR"
|
||||
echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
|
||||
param set UAVCAN_ENABLE 1
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -421,9 +413,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# MAVLink
|
||||
#
|
||||
if [ $MAVLINK_FLAGS == default ]
|
||||
then
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
@@ -442,19 +431,19 @@ then
|
||||
|
||||
mavlink start $MAVLINK_FLAGS
|
||||
|
||||
#
|
||||
# UAVCAN
|
||||
#
|
||||
sh /etc/init.d/rc.uavcan
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging in all modes, including HIL
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
if [ $GPS == yes ]
|
||||
then
|
||||
echo "[init] Start GPS"
|
||||
if [ $GPS_FAKE == yes ]
|
||||
then
|
||||
echo "[init] Faking GPS"
|
||||
|
||||
@@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels
|
||||
Gimbal / flaps / payload mixer for last four channels,
|
||||
using the payload control group
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
S: 2 3 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -27,12 +27,12 @@ for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 8000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 8000 5000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
@@ -52,21 +52,18 @@ M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels
|
||||
Inputs to the mixer come from channel group 2 (payload), channels 0
|
||||
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
S: 2 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Executable
+71
@@ -0,0 +1,71 @@
|
||||
Viper Delta-wing mixer
|
||||
=================================
|
||||
|
||||
Designed for Viper.
|
||||
|
||||
TODO (sjwilks): Add mixers for flaps.
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Inputs to the mixer come from channel group 2 (payload), channels 0
|
||||
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 2 -8000 -8000 0 -10000 10000
|
||||
|
||||
|
||||
@@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ]
|
||||
then
|
||||
tests mount
|
||||
fi
|
||||
|
||||
#
|
||||
# Run unit tests at board boot, reporting failure as needed.
|
||||
# Add new unit tests using the same pattern as below.
|
||||
#
|
||||
|
||||
set unit_test_failure 0
|
||||
|
||||
if mavlink_tests
|
||||
then
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
|
||||
fi
|
||||
|
||||
if commander_tests
|
||||
then
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
|
||||
fi
|
||||
|
||||
if [ $unit_test_failure == 0 ]
|
||||
then
|
||||
echo
|
||||
echo "All Unit Tests PASSED"
|
||||
else
|
||||
echo
|
||||
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
|
||||
fi
|
||||
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Reference in New Issue
Block a user