mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
Merge branch 'master' into python3_compat
This commit is contained in:
Julian Oes
+9
-2
@@ -19,12 +19,19 @@ Archives/*
|
||||
Build/*
|
||||
core
|
||||
cscope.out
|
||||
dot.gdbinit
|
||||
Firmware.sublime-workspace
|
||||
Images/*.bin
|
||||
Images/*.px4
|
||||
mavlink/include/mavlink/v0.9/
|
||||
/nuttx-configs/px4io-v2/src/.depend
|
||||
/nuttx-configs/px4io-v2/src/Make.dep
|
||||
/nuttx-configs/px4io-v2/src/libboard.a
|
||||
/nuttx-configs/px4io-v1/src/.depend
|
||||
/nuttx-configs/px4io-v1/src/Make.dep
|
||||
/nuttx-configs/px4io-v1/src/libboard.a
|
||||
/NuttX
|
||||
/Documentation/doxy.log
|
||||
/Documentation/html/
|
||||
/Documentation/doxygen*objdb*tmp
|
||||
/Documentation/doxygen*objdb*tmp
|
||||
.tags
|
||||
.tags_sorted_by_file
|
||||
|
||||
@@ -27,7 +27,7 @@ define _perf_print
|
||||
# PC_COUNT
|
||||
if $hdr->type == 0
|
||||
set $count = (struct perf_ctr_count *)$hdr
|
||||
printf "%llu events,\n", $count->event_count;
|
||||
printf "%llu events\n", $count->event_count
|
||||
end
|
||||
# PC_ELPASED
|
||||
if $hdr->type == 1
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
# copy the file to .gdbinit in your Firmware tree, and adjust the path
|
||||
# below to match your system
|
||||
# For example:
|
||||
# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
|
||||
# target extended /dev/ttyACM4
|
||||
|
||||
|
||||
monitor swdp_scan
|
||||
attach 1
|
||||
monitor vector_catch disable hard
|
||||
set mem inaccessible-by-default off
|
||||
set print pretty
|
||||
source Debug/PX4
|
||||
@@ -0,0 +1,22 @@
|
||||
# program a bootable device load on a mavstation
|
||||
# To run type openocd -f mavprogram.cfg
|
||||
|
||||
source [find interface/olimex-arm-usb-ocd-h.cfg]
|
||||
source [find px4fmu-v1-board.cfg]
|
||||
|
||||
init
|
||||
halt
|
||||
|
||||
# Find the flash inside this CPU
|
||||
flash probe 0
|
||||
|
||||
# erase it (128 pages) then program and exit
|
||||
|
||||
#flash erase_sector 0 0 127
|
||||
# stm32f1x mass_erase 0
|
||||
|
||||
# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
|
||||
#flash write_bank 0 fixed.bin 0
|
||||
#flash write_image firmware.elf
|
||||
#shutdown
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
target remote :3333
|
||||
|
||||
# Don't let GDB get confused while stepping
|
||||
define hook-step
|
||||
mon cortex_m maskisr on
|
||||
end
|
||||
define hookpost-step
|
||||
mon cortex_m maskisr off
|
||||
end
|
||||
|
||||
mon init
|
||||
mon stm32_init
|
||||
# mon reset halt
|
||||
mon poll
|
||||
mon cortex_m maskisr auto
|
||||
set mem inaccessible-by-default off
|
||||
set print pretty
|
||||
source Debug/PX4
|
||||
|
||||
echo PX4 resumed, press ctrl-c to interrupt\n
|
||||
continue
|
||||
@@ -0,0 +1,38 @@
|
||||
# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
|
||||
|
||||
# increase working area to 32KB for faster flash programming
|
||||
set WORKAREASIZE 0x8000
|
||||
|
||||
source [find target/stm32f4x.cfg]
|
||||
|
||||
# needed for px4
|
||||
reset_config trst_only
|
||||
|
||||
proc stm32_reset {} {
|
||||
reset halt
|
||||
# FIXME - needed to init periphs on reset
|
||||
# 0x40023800 RCC base
|
||||
# 0x24 RCC_APB2 0x75933
|
||||
# RCC_APB2 0
|
||||
}
|
||||
|
||||
# perform init that is required on each connection to the target
|
||||
proc stm32_init {} {
|
||||
|
||||
# force jtag to not shutdown during sleep
|
||||
#uint32_t cr = getreg32(STM32_DBGMCU_CR);
|
||||
#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
|
||||
#putreg32(cr, STM32_DBGMCU_CR);
|
||||
mww 0xe0042004 00000007
|
||||
}
|
||||
|
||||
# if srst is not fitted use SYSRESETREQ to
|
||||
# perform a soft reset
|
||||
cortex_m reset_config sysresetreq
|
||||
|
||||
# Let GDB directly program elf binaries
|
||||
gdb_memory_map enable
|
||||
|
||||
# doesn't work yet
|
||||
gdb_flash_program disable
|
||||
|
||||
Executable
+5
@@ -0,0 +1,5 @@
|
||||
#!/bin/bash
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg
|
||||
@@ -1,64 +0,0 @@
|
||||
# script for stm32f2xxx
|
||||
|
||||
if { [info exists CHIPNAME] } {
|
||||
set _CHIPNAME $CHIPNAME
|
||||
} else {
|
||||
set _CHIPNAME stm32f4xxx
|
||||
}
|
||||
|
||||
if { [info exists ENDIAN] } {
|
||||
set _ENDIAN $ENDIAN
|
||||
} else {
|
||||
set _ENDIAN little
|
||||
}
|
||||
|
||||
# Work-area is a space in RAM used for flash programming
|
||||
# By default use 64kB
|
||||
if { [info exists WORKAREASIZE] } {
|
||||
set _WORKAREASIZE $WORKAREASIZE
|
||||
} else {
|
||||
set _WORKAREASIZE 0x10000
|
||||
}
|
||||
|
||||
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
|
||||
#
|
||||
# Since we may be running of an RC oscilator, we crank down the speed a
|
||||
# bit more to be on the safe side. Perhaps superstition, but if are
|
||||
# running off a crystal, we can run closer to the limit. Note
|
||||
# that there can be a pretty wide band where things are more or less stable.
|
||||
jtag_khz 1000
|
||||
|
||||
jtag_nsrst_delay 100
|
||||
jtag_ntrst_delay 100
|
||||
|
||||
#jtag scan chain
|
||||
if { [info exists CPUTAPID ] } {
|
||||
set _CPUTAPID $CPUTAPID
|
||||
} else {
|
||||
# See STM Document RM0033
|
||||
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
|
||||
set _CPUTAPID 0x4ba00477
|
||||
}
|
||||
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
|
||||
|
||||
if { [info exists BSTAPID ] } {
|
||||
set _BSTAPID $BSTAPID
|
||||
} else {
|
||||
# See STM Document RM0033
|
||||
# Section 32.6.2
|
||||
#
|
||||
set _BSTAPID 0x06413041
|
||||
}
|
||||
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
|
||||
|
||||
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
|
||||
|
||||
set _FLASHNAME $_CHIPNAME.flash
|
||||
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
|
||||
|
||||
# if srst is not fitted use SYSRESETREQ to
|
||||
# perform a soft reset
|
||||
cortex_m3 reset_config sysresetreq
|
||||
+1873
-89
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 9,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the PX4FMUv2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4FMUv2",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 10,
|
||||
"magic": "PX4FWv2",
|
||||
"description": "Firmware for the PX4IOv2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4IOv2",
|
||||
"version": "2.0",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 10,
|
||||
"magic": "PX4FWv2",
|
||||
"description": "Firmware for the PX4IOv2 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4IOv2",
|
||||
"version": "2.0",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
|
||||
include $(PX4_BASE)makefiles/setup.mk
|
||||
|
||||
#
|
||||
# Canned firmware configurations that we build.
|
||||
# Canned firmware configurations that we (know how to) build.
|
||||
#
|
||||
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
|
||||
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
|
||||
CONFIGS ?= $(KNOWN_CONFIGS)
|
||||
|
||||
#
|
||||
# Boards that we build NuttX export kits for.
|
||||
# Boards that we (know how to) build NuttX export kits for.
|
||||
#
|
||||
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
|
||||
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
|
||||
BOARDS ?= $(KNOWN_BOARDS)
|
||||
|
||||
#
|
||||
# Debugging
|
||||
@@ -87,10 +89,11 @@ endif
|
||||
#
|
||||
# Built products
|
||||
#
|
||||
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
|
||||
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
|
||||
|
||||
all: $(STAGED_FIRMWARES)
|
||||
all: $(DESIRED_FIRMWARES)
|
||||
|
||||
#
|
||||
# Copy FIRMWARES into the image directory.
|
||||
@@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) mkdir -p $(work_dir)
|
||||
$(Q) make -r -C $(work_dir) \
|
||||
$(Q) $(MKDIR) -p $(work_dir)
|
||||
$(Q) $(MAKE) -r -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
CONFIG=$(config) \
|
||||
WORK_DIR=$(work_dir) \
|
||||
$(FIRMWARE_GOAL)
|
||||
|
||||
#
|
||||
# Make FMU firmwares depend on the corresponding IO firmware.
|
||||
#
|
||||
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
|
||||
# and forces the _default config in all cases. There has to be a better way to do this...
|
||||
#
|
||||
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
|
||||
define FMU_DEP
|
||||
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
|
||||
endef
|
||||
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
|
||||
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
|
||||
|
||||
#
|
||||
# Build the NuttX export archives.
|
||||
#
|
||||
@@ -147,12 +163,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(board)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
||||
@$(ECHO) %% Exporting NuttX for $(board)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
||||
$(Q) mkdir -p $(dir $@)
|
||||
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
||||
$(Q) $(MKDIR) -p $(dir $@)
|
||||
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
|
||||
|
||||
@@ -168,11 +184,11 @@ BOARD = $(BOARDS)
|
||||
menuconfig: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(BOARD)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
|
||||
@$(ECHO) %% Running menuconfig for $(BOARD)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
||||
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
||||
@$(ECHO) %% Saving configuration file
|
||||
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
|
||||
else
|
||||
@@ -191,7 +207,7 @@ $(NUTTX_SRC):
|
||||
# Testing targets
|
||||
#
|
||||
testbuild:
|
||||
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
|
||||
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
|
||||
|
||||
#
|
||||
# Cleanup targets. 'clean' should remove all built products and force
|
||||
@@ -206,7 +222,8 @@ clean:
|
||||
.PHONY: distclean
|
||||
distclean: clean
|
||||
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
|
||||
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
|
||||
|
||||
#
|
||||
# Print some help text
|
||||
@@ -228,9 +245,9 @@ help:
|
||||
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
|
||||
@$(ECHO) ""
|
||||
@for config in $(CONFIGS); do \
|
||||
echo " $$config"; \
|
||||
echo " Build just the $$config firmware configuration."; \
|
||||
echo ""; \
|
||||
$(ECHO) " $$config"; \
|
||||
$(ECHO) " Build just the $$config firmware configuration."; \
|
||||
$(ECHO) ""; \
|
||||
done
|
||||
@$(ECHO) " clean"
|
||||
@$(ECHO) " Remove all firmware build pieces."
|
||||
|
||||
@@ -1,101 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
pwm -u 400 -m 0xff
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
@@ -1,99 +1,45 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
# Load default params for this platform
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
# Exit, because /dev/ttyS0 is needed for MAVLink
|
||||
exit
|
||||
|
||||
@@ -1,55 +1,47 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
# Load default params for this platform
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
mavlink_onboard start -d /dev/ttyS3 -b 115200
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink and MAVLink Onboard (Flow Sensor)
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
mavlink_onboard start -d /dev/ttyS3 -b 115200
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
@@ -79,16 +71,6 @@ flow_position_control start
|
||||
# Fire up the flow speed controller
|
||||
#
|
||||
flow_speed_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
# Exit, because /dev/ttyS0 is needed for MAVLink
|
||||
exit
|
||||
|
||||
@@ -0,0 +1,68 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] Multiplex Easystar"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||
px4io limit 100
|
||||
|
||||
#
|
||||
# Start the commander
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the sensors
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging (depends on sensors)
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Start GPS interface
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
@@ -0,0 +1,93 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.004
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.12
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_P 2.0
|
||||
param set MC_YAWRATE_D 0.005
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set NAV_TAKEOFF_ALT 1.0
|
||||
param set MPC_TILT_MAX 0.5
|
||||
param set MPC_THR_MAX 0.7
|
||||
param set MPC_THR_MIN 0.3
|
||||
param set MPC_XY_D 0
|
||||
param set MPC_XY_P 0.5
|
||||
param set MPC_XY_VEL_D 0
|
||||
param set MPC_XY_VEL_I 0
|
||||
param set MPC_XY_VEL_MAX 2
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_Z_D 0
|
||||
param set MPC_Z_P 1
|
||||
param set MPC_Z_VEL_D 0
|
||||
param set MPC_Z_VEL_I 0.10
|
||||
param set MPC_Z_VEL_MAX 2
|
||||
param set MPC_Z_VEL_P 0.20
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
px4io idle 900 900 900 900
|
||||
px4io min 1200 1200 1200 1200
|
||||
px4io max 1800 1800 1800 1800
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -1,116 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.005
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.1
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 4.5
|
||||
param set MC_RCLOSS_THR 0.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.3
|
||||
param set MC_YAWPOS_P 0.6
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.1
|
||||
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# This sets a PWM right after startup (regardless of safety button)
|
||||
#
|
||||
px4io idle 900 900 900 900
|
||||
|
||||
#
|
||||
# The values are for spinning motors when armed using DJI ESCs
|
||||
#
|
||||
px4io min 1200 1200 1200 1200
|
||||
|
||||
#
|
||||
# Upper limits could be higher, this is on the safe side
|
||||
#
|
||||
px4io max 1800 1800 1800 1800
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 20 -a -b 16
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
@@ -0,0 +1,77 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.004
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.12
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_P 2.0
|
||||
param set MC_YAWRATE_D 0.005
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_P 0.3
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
px4io idle 900 900 900 900
|
||||
px4io min 1200 1200 1200 1200
|
||||
px4io max 1800 1800 1800 1800
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -0,0 +1,77 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] Team Blacksheep Discovery Quad"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.006
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.17
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 5.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.15
|
||||
param set MC_YAWPOS_P 0.5
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.2
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
px4io idle 900 900 900 900
|
||||
px4io min 1200 1200 1200 1200
|
||||
px4io max 1800 1800 1800 1800
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load the mixer for a quad with wide arms
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -0,0 +1,77 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] 3DR Iris Quad"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.006
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.17
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 5.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.15
|
||||
param set MC_YAWPOS_P 0.5
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.2
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
px4io idle 900 900 900 900
|
||||
px4io min 1200 1200 1200 1200
|
||||
px4io max 1800 1800 1800 1800
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load the mixer for a quad with wide arms
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -1,26 +1,6 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
@@ -28,39 +8,18 @@ fi
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
@@ -90,6 +49,11 @@ px4io limit 100
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging (depends on sensors)
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
@@ -97,25 +61,13 @@ sh /etc/init.d/rc.sensors
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
kalman_demo start
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
@@ -1,26 +1,6 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
@@ -28,94 +8,61 @@ fi
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||
px4io limit 100
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
# Start the commander
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
# Start the sensors
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging (depends on sensors)
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Start GPS interface
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
kalman_demo start
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
@@ -1,26 +1,4 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
@@ -28,65 +6,34 @@ fi
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 10 = ground rover
|
||||
#
|
||||
param set MAV_TYPE 10
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
@@ -107,16 +54,3 @@ attitude_estimator_ekf start
|
||||
#
|
||||
md25 start 3 0x58
|
||||
segway start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
|
||||
+19
-62
@@ -1,28 +1,6 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU with PWM outputs.
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
echo "[init] doing PX4FMU Quad startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
@@ -47,13 +25,12 @@ then
|
||||
param set RC_SCALE_YAW 3
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
@@ -62,46 +39,26 @@ param set MAV_TYPE 2
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
# Start PWM output
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
echo "[init] starting PWM output"
|
||||
fmu mode_pwm
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
# Load mixer
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
# Exit, because /dev/ttyS0 is needed for MAVLink
|
||||
exit
|
||||
@@ -1,66 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# If we are still in flight mode, work out what airframe
|
||||
# configuration we have and start up accordingly.
|
||||
#
|
||||
if [ $MODE != autostart ]
|
||||
then
|
||||
echo "[init] automatic startup cancelled by user script"
|
||||
else
|
||||
echo "[init] detecting attached hardware..."
|
||||
|
||||
#
|
||||
# Assume that we are PX4FMU in standalone mode
|
||||
#
|
||||
set BOARD PX4FMU
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IOAR (AR.Drone carrier board)?
|
||||
#
|
||||
if boardinfo test name PX4IOAR
|
||||
then
|
||||
set BOARD PX4IOAR
|
||||
if [ -f /etc/init.d/rc.PX4IOAR ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IOAR"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IOAR
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IOAR not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IO?
|
||||
#
|
||||
if boardinfo test name PX4IO
|
||||
then
|
||||
set BOARD PX4IO
|
||||
if [ -f /etc/init.d/rc.PX4IO ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IO"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IO
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IO not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Looks like we are stand-alone
|
||||
#
|
||||
if [ $BOARD == PX4FMU ]
|
||||
then
|
||||
echo "[init] no expansion board detected"
|
||||
if [ -f /etc/init.d/rc.standalone ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.standalone"
|
||||
sh /etc/init.d/rc.standalone
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# We may not reach here if the airframe-specific script exits the shell.
|
||||
#
|
||||
echo "[init] startup done."
|
||||
fi
|
||||
@@ -8,21 +8,11 @@ echo "[HIL] starting.."
|
||||
uorb start
|
||||
|
||||
# Tell MAVLink that this link is "fast"
|
||||
mavlink start -b 230400 -d /dev/console
|
||||
mavlink start -b 230400 -d /dev/ttyS1
|
||||
|
||||
# Create a fake HIL /dev/pwm_output interface
|
||||
hil mode_pwm
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
@@ -38,13 +28,13 @@ commander start
|
||||
#
|
||||
# Check if we got an IO
|
||||
#
|
||||
if [ px4io start ]
|
||||
if px4io start
|
||||
then
|
||||
echo "IO started"
|
||||
else
|
||||
fmu mode_serial
|
||||
echo "FMU started"
|
||||
end
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
@@ -60,9 +50,7 @@ att_pos_estimator_ekf start
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
|
||||
fixedwing_backside start
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
|
||||
echo "[HIL] setup done, running"
|
||||
|
||||
# Exit shell to make it available to MAVLink
|
||||
exit
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
if px4io start
|
||||
then
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
px4io limit 200
|
||||
else
|
||||
px4io limit 400
|
||||
fi
|
||||
else
|
||||
# SOS
|
||||
tone_alarm error
|
||||
fi
|
||||
@@ -5,5 +5,10 @@
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
sdlog start
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
sdlog2 start -r 50 -a -b 16
|
||||
else
|
||||
sdlog2 start -r 200 -a -b 16
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -0,0 +1,44 @@
|
||||
#!nsh
|
||||
#
|
||||
# Standard everything needed for multirotors except mixer, output and mavlink
|
||||
#
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging (depends on sensors)
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Start position estimator
|
||||
#
|
||||
position_estimator_inav start
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start position control
|
||||
#
|
||||
multirotor_pos_control start
|
||||
@@ -7,25 +7,24 @@
|
||||
# Start sensor drivers here.
|
||||
#
|
||||
|
||||
#
|
||||
# Check for UORB
|
||||
#
|
||||
if uorb start
|
||||
then
|
||||
echo "uORB started"
|
||||
fi
|
||||
|
||||
ms5611 start
|
||||
adc start
|
||||
|
||||
# mag might be external
|
||||
if hmc5883 start
|
||||
then
|
||||
echo "using HMC5883"
|
||||
fi
|
||||
|
||||
if mpu6000 start
|
||||
then
|
||||
echo "using MPU6000 and HMC5883L"
|
||||
hmc5883 start
|
||||
echo "using MPU6000"
|
||||
set BOARD fmuv1
|
||||
else
|
||||
echo "using L3GD20 and LSM303D"
|
||||
l3gd20 start
|
||||
lsm303d start
|
||||
set BOARD fmuv2
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -36,8 +35,5 @@ fi
|
||||
#
|
||||
if sensors start
|
||||
then
|
||||
#
|
||||
# Check sensors - run AFTER 'sensors start'
|
||||
#
|
||||
preflight_check &
|
||||
fi
|
||||
|
||||
@@ -8,6 +8,14 @@ echo "Starting MAVLink on this USB console"
|
||||
# Stop tone alarm
|
||||
tone_alarm stop
|
||||
|
||||
#
|
||||
# Check for UORB
|
||||
#
|
||||
if uorb start
|
||||
then
|
||||
echo "uORB started"
|
||||
fi
|
||||
|
||||
# Tell MAVLink that this link is "fast"
|
||||
if mavlink stop
|
||||
then
|
||||
@@ -16,12 +24,26 @@ fi
|
||||
sleep 2
|
||||
mavlink start -b 230400 -d /dev/ttyACM0
|
||||
|
||||
# Stop commander
|
||||
if commander stop
|
||||
then
|
||||
echo "Commander stopped"
|
||||
fi
|
||||
sleep 1
|
||||
|
||||
# Start the commander
|
||||
if commander start
|
||||
then
|
||||
echo "Commander started"
|
||||
fi
|
||||
|
||||
# Stop px4io
|
||||
if px4io stop
|
||||
then
|
||||
echo "PX4IO stopped"
|
||||
fi
|
||||
sleep 1
|
||||
|
||||
# Start px4io if present
|
||||
if px4io start
|
||||
then
|
||||
|
||||
+152
-75
@@ -20,7 +20,7 @@ then
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
# Play SOS
|
||||
tone_alarm 2
|
||||
tone_alarm error
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -57,90 +57,167 @@ fi
|
||||
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
if ramtron start
|
||||
then
|
||||
param select /ramtron/params
|
||||
if [ -f /ramtron/params ]
|
||||
#
|
||||
# Start terminal
|
||||
#
|
||||
if sercon
|
||||
then
|
||||
param load /ramtron/params
|
||||
echo "USB connected"
|
||||
sleep 3
|
||||
mavlink start -d /dev/ttyACM0 -b 230400
|
||||
fi
|
||||
else
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
if ramtron start
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
|
||||
param select /ramtron/params
|
||||
if [ -f /ramtron/params ]
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
|
||||
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
|
||||
param load /ramtron/params
|
||||
fi
|
||||
else
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
echo "Using external RGB Led"
|
||||
else
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 1
|
||||
then
|
||||
sh /etc/init.d/01_fmu_quad_x
|
||||
fi
|
||||
# Try to get an USB console
|
||||
#nshterm /dev/ttyACM0 &
|
||||
|
||||
#
|
||||
# Upgrade PX4IO firmware
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
echo "PX4IO running, not upgrading"
|
||||
else
|
||||
echo "Attempting to upgrade PX4IO"
|
||||
if px4io update
|
||||
then
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2
|
||||
then
|
||||
sh /etc/init.d/02_io_quad_x
|
||||
fi
|
||||
# Allow IO to safely kick back to app
|
||||
usleep 200000
|
||||
else
|
||||
echo "No PX4IO to upgrade here"
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 8
|
||||
then
|
||||
sh /etc/init.d/08_ardrone
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9
|
||||
then
|
||||
sh /etc/init.d/09_ardrone_flow
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10
|
||||
then
|
||||
sh /etc/init.d/10_dji_f330
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 8
|
||||
then
|
||||
sh /etc/init.d/08_ardrone
|
||||
fi
|
||||
if param compare SYS_AUTOSTART 11
|
||||
then
|
||||
sh /etc/init.d/11_dji_f450
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 15
|
||||
then
|
||||
sh /etc/init.d/15_tbs_discovery
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9
|
||||
then
|
||||
sh /etc/init.d/09_ardrone_flow
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10
|
||||
then
|
||||
sh /etc/init.d/10_io_f330
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 30
|
||||
then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
fi
|
||||
if param compare SYS_AUTOSTART 16
|
||||
then
|
||||
sh /etc/init.d/16_3dr_iris
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 30
|
||||
then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
# Start any custom extensions that might be missing
|
||||
if [ -f /fs/microsd/etc/rc.local ]
|
||||
then
|
||||
sh /fs/microsd/etc/rc.local
|
||||
fi
|
||||
|
||||
# If none of the autostart scripts triggered, get a minimal setup
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
# Telemetry port is on both FMU boards ttyS1
|
||||
mavlink start -b 57600 -d /dev/ttyS1
|
||||
usleep 5000
|
||||
|
||||
# Start commander
|
||||
commander start
|
||||
|
||||
# Start px4io if present
|
||||
if px4io detect
|
||||
then
|
||||
px4io start
|
||||
else
|
||||
if fmu mode_serial
|
||||
then
|
||||
echo "FMU driver (no PWM) started"
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start sensors
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
# Start one of the estimators
|
||||
attitude_estimator_ekf start
|
||||
|
||||
# Start GPS
|
||||
gps start
|
||||
|
||||
fi
|
||||
|
||||
# End of autostart
|
||||
fi
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU standalone configuration.
|
||||
#
|
||||
|
||||
echo "[init] doing standalone PX4FMU startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
echo "[init] startup done"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script for test hackery.
|
||||
#
|
||||
@@ -158,7 +158,7 @@ class uploader(object):
|
||||
|
||||
INFO_BL_REV = chr(1) # bootloader protocol revision
|
||||
BL_REV_MIN = 2 # minimum supported bootloader protocol
|
||||
BL_REV_MAX = 3 # maximum supported bootloader protocol
|
||||
BL_REV_MAX = 4 # maximum supported bootloader protocol
|
||||
INFO_BOARD_ID = chr(2) # board type
|
||||
INFO_BOARD_REV = chr(3) # board revision
|
||||
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4FMUv2
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4FMU_V2
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
@@ -0,0 +1,11 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4IOv2
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM3
|
||||
CONFIG_BOARD = PX4IO_V2
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
@@ -6,6 +6,7 @@
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
@@ -17,7 +18,7 @@ MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/px4fmu
|
||||
MODULES += drivers/boards/px4fmu-v1
|
||||
MODULES += drivers/ardrone_interface
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/bma180
|
||||
@@ -30,6 +31,7 @@ MODULES += drivers/hil
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/md25
|
||||
MODULES += drivers/airspeed
|
||||
@@ -50,10 +52,12 @@ MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/preflight_check
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
|
||||
#
|
||||
# General system control
|
||||
@@ -67,18 +71,16 @@ MODULES += modules/gpio_led
|
||||
# Estimation modules (EKF / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3_comp
|
||||
MODULES += modules/position_estimator
|
||||
MODULES += modules/att_pos_estimator_ekf
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/segway
|
||||
MODULES += modules/fixedwing_backside
|
||||
MODULES += modules/fixedwing_att_control
|
||||
MODULES += modules/fixedwing_pos_control
|
||||
#MODULES += modules/segway # XXX needs state machine update
|
||||
#MODULES += modules/fw_pos_control_l1
|
||||
#MODULES += modules/fw_att_control
|
||||
MODULES += modules/multirotor_att_control
|
||||
MODULES += modules/multirotor_pos_control
|
||||
MODULES += examples/flow_position_control
|
||||
@@ -89,20 +91,28 @@ MODULES += examples/flow_speed_control
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += modules/unit_test
|
||||
#MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/mathlib
|
||||
MODULES += modules/mathlib/math/filter
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += modules/mathlib/CMSIS
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/ecl
|
||||
MODULES += lib/geo
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
|
||||
@@ -0,0 +1,142 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += modules/sensors
|
||||
|
||||
# Needs to be burned to the ground and re-written; for now,
|
||||
# just don't build it.
|
||||
#MODULES += drivers/mkblctrl
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/ramtron
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/preflight_check
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/mavlink_onboard
|
||||
|
||||
#
|
||||
# Estimation modules (EKF / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/att_pos_estimator_ekf
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/fw_pos_control_l1
|
||||
#MODULES += modules/fw_att_control
|
||||
MODULES += modules/multirotor_att_control
|
||||
MODULES += modules/multirotor_pos_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += modules/unit_test
|
||||
#MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/ecl
|
||||
MODULES += lib/geo
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -0,0 +1,41 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/reboot
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -6,5 +6,5 @@
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/boards/px4io
|
||||
MODULES += drivers/boards/px4io-v1
|
||||
MODULES += modules/px4iofirmware
|
||||
@@ -0,0 +1,10 @@
|
||||
#
|
||||
# Makefile for the px4iov2_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/boards/px4io-v2
|
||||
MODULES += modules/px4iofirmware
|
||||
+24
-3
@@ -177,6 +177,11 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||
#
|
||||
EXTRA_CLEANS =
|
||||
|
||||
#
|
||||
# Append the per-board driver directory to the header search path.
|
||||
#
|
||||
INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
|
||||
|
||||
################################################################################
|
||||
# NuttX libraries and paths
|
||||
################################################################################
|
||||
@@ -317,7 +322,7 @@ endif
|
||||
# a root from several templates. That would be a nice feature.
|
||||
#
|
||||
|
||||
# Add dependencies on anything in the ROMFS root
|
||||
# Add dependencies on anything in the ROMFS root directory
|
||||
ROMFS_FILES += $(wildcard \
|
||||
$(ROMFS_ROOT)/* \
|
||||
$(ROMFS_ROOT)/*/* \
|
||||
@@ -329,7 +334,14 @@ ifeq ($(ROMFS_FILES),)
|
||||
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
|
||||
endif
|
||||
ROMFS_DEPS += $(ROMFS_FILES)
|
||||
|
||||
# Extra files that may be copied into the ROMFS /extras directory
|
||||
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
|
||||
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
|
||||
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
|
||||
|
||||
ROMFS_IMG = romfs.img
|
||||
ROMFS_SCRATCH = romfs_scratch
|
||||
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
|
||||
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
|
||||
LIBS += $(ROMFS_OBJ)
|
||||
@@ -340,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
|
||||
$(call BIN_TO_OBJ,$<,$@,romfs_img)
|
||||
|
||||
# Generate the ROMFS image from the root
|
||||
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
@$(ECHO) "ROMFS: $@"
|
||||
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
|
||||
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
|
||||
|
||||
# Construct the ROMFS scratch root from the canonical root
|
||||
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
|
||||
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
|
||||
ifneq ($(ROMFS_EXTRA_FILES),)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
|
||||
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
|
||||
endif
|
||||
|
||||
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
|
||||
|
||||
|
||||
+4
-1
@@ -43,6 +43,7 @@
|
||||
#
|
||||
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
|
||||
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
|
||||
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
|
||||
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
|
||||
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
|
||||
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
|
||||
@@ -57,7 +58,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
|
||||
#
|
||||
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||
$(PX4_MODULE_SRC)/modules/ \
|
||||
$(PX4_INCLUDE_DIR)
|
||||
$(PX4_INCLUDE_DIR) \
|
||||
$(PX4_LIB_DIR)
|
||||
|
||||
#
|
||||
# Tools
|
||||
@@ -71,6 +73,7 @@ export RMDIR = rm -rf
|
||||
export GENROMFS = genromfs
|
||||
export TOUCH = touch
|
||||
export MKDIR = mkdir
|
||||
export FIND = find
|
||||
export ECHO = echo
|
||||
export UNZIP_CMD = unzip
|
||||
export PYTHON = python
|
||||
|
||||
+3
-1
@@ -18,7 +18,7 @@ ifeq ($(SYSTYPE),Linux)
|
||||
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
|
||||
endif
|
||||
ifeq ($(SERIAL_PORTS),)
|
||||
SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
||||
SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
|
||||
endif
|
||||
|
||||
.PHONY: all upload-$(METHOD)-$(BOARD)
|
||||
@@ -27,6 +27,8 @@ all: upload-$(METHOD)-$(BOARD)
|
||||
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
|
||||
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Reference in New Issue
Block a user