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Merge branch 'master' into acro2

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This commit is contained in:
Anton Babushkin
2014-05-20 00:03:00 +02:00
parent b165e6ba20 b250e28abf
commit b12928548c
590 changed files with 32230 additions and 16046 deletions
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.gitignore
+3
View File
@@ -34,5 +34,8 @@ mavlink/include/mavlink/v0.9/
/Documentation/html/
/Documentation/doxygen*objdb*tmp
.tags
tags
.tags_sorted_by_file
.pydevproject
.ropeproject
*.orig
.ycm_extra_conf.py
+173
View File
@@ -0,0 +1,173 @@
# This file is NOT licensed under the GPLv3, which is the license for the rest
# of YouCompleteMe.
#
# Here's the license text for this file:
#
# This is free and unencumbered software released into the public domain.
#
# Anyone is free to copy, modify, publish, use, compile, sell, or
# distribute this software, either in source code form or as a compiled
# binary, for any purpose, commercial or non-commercial, and by any
# means.
#
# In jurisdictions that recognize copyright laws, the author or authors
# of this software dedicate any and all copyright interest in the
# software to the public domain. We make this dedication for the benefit
# of the public at large and to the detriment of our heirs and
# successors. We intend this dedication to be an overt act of
# relinquishment in perpetuity of all present and future rights to this
# software under copyright law.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
# OTHER DEALINGS IN THE SOFTWARE.
#
# For more information, please refer to <http://unlicense.org/>
import os
import ycm_core
# These are the compilation flags that will be used in case there's no
# compilation database set (by default, one is not set).
# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
flags = [
'-Wall',
'-Wextra',
'-Werror',
#'-Wc++98-compat',
'-Wno-long-long',
'-Wno-variadic-macros',
'-fexceptions',
'-DNDEBUG',
# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
# source code needs it.
#'-DUSE_CLANG_COMPLETER',
# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
# language to use when compiling headers. So it will guess. Badly. So C++
# headers will be compiled as C headers. You don't want that so ALWAYS specify
# a "-std=<something>".
# For a C project, you would set this to something like 'c99' instead of
# 'c++11'.
'-std=c++11',
# ...and the same thing goes for the magic -x option which specifies the
# language that the files to be compiled are written in. This is mostly
# relevant for c++ headers.
# For a C project, you would set this to 'c' instead of 'c++'.
'-x',
'c++',
'-undef', # get rid of standard definitions to allow us to include arm math header
'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
'-I', 'Build/px4io-v1_default.build/nuttx-export/include/',
'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
'-I', './NuttX/nuttx/arch/arm/include',
'-include', './src/include/visibility.h',
'-I', './src',
'-I', './src/modules',
'-I', './src/include',
'-I', './src/lib',
'-I', './NuttX',
]
# Set this to the absolute path to the folder (NOT the file!) containing the
# compile_commands.json file to use that instead of 'flags'. See here for
# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
#
# Most projects will NOT need to set this to anything; you can just change the
# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
compilation_database_folder = ''
if os.path.exists( compilation_database_folder ):
database = ycm_core.CompilationDatabase( compilation_database_folder )
else:
database = None
SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
def DirectoryOfThisScript():
return os.path.dirname( os.path.abspath( __file__ ) )
def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
if not working_directory:
return list( flags )
new_flags = []
make_next_absolute = False
path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
for flag in flags:
new_flag = flag
if make_next_absolute:
make_next_absolute = False
if not flag.startswith( '/' ):
new_flag = os.path.join( working_directory, flag )
for path_flag in path_flags:
if flag == path_flag:
make_next_absolute = True
break
if flag.startswith( path_flag ):
path = flag[ len( path_flag ): ]
new_flag = path_flag + os.path.join( working_directory, path )
break
if new_flag:
new_flags.append( new_flag )
return new_flags
def IsHeaderFile( filename ):
extension = os.path.splitext( filename )[ 1 ]
return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
def GetCompilationInfoForFile( filename ):
# The compilation_commands.json file generated by CMake does not have entries
# for header files. So we do our best by asking the db for flags for a
# corresponding source file, if any. If one exists, the flags for that file
# should be good enough.
if IsHeaderFile( filename ):
basename = os.path.splitext( filename )[ 0 ]
for extension in SOURCE_EXTENSIONS:
replacement_file = basename + extension
if os.path.exists( replacement_file ):
compilation_info = database.GetCompilationInfoForFile(
replacement_file )
if compilation_info.compiler_flags_:
return compilation_info
return None
return database.GetCompilationInfoForFile( filename )
def FlagsForFile( filename, **kwargs ):
if database:
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
# python list, but a "list-like" StringVec object
compilation_info = GetCompilationInfoForFile( filename )
if not compilation_info:
return None
final_flags = MakeRelativePathsInFlagsAbsolute(
compilation_info.compiler_flags_,
compilation_info.compiler_working_dir_ )
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
#try:
# final_flags.remove( '-stdlib=libc++' )
#except ValueError:
# pass
else:
relative_to = DirectoryOfThisScript()
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
return {
'flags': final_flags,
'do_cache': True
}
Debug/NuttX
+5 -5
View File
@@ -34,10 +34,10 @@ define _showheap
else
set $MM_ALLOC_BIT = 0x80000000
end
printf "HEAP %d %p - %p\n", $index, g_heapstart[$index], g_heapend[$index]
printf "HEAP %d %p - %p\n", $index, g_mmheap.mm_heapstart[$index], g_mmheap.mm_heapend[$index]
printf "ptr size\n"
set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s)
while $node < g_heapend[$index]
set $node = (char *)g_mmheap.mm_heapstart[$index] + sizeof(struct mm_allocnode_s)
while $node < g_mmheap.mm_heapend[$index]
printf " %p", $node
set $nodestruct = (struct mm_allocnode_s *)$node
printf " %u", $nodestruct->size
@@ -47,7 +47,7 @@ define _showheap
else
set $used = $used + $nodestruct->size
end
if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index])
if ($nodestruct->size > g_mmheap.mm_heapsize) || (($node + $nodestruct->size) > g_mmheap.mm_heapend[$index])
printf " (BAD SIZE)"
end
printf "\n"
@@ -59,7 +59,7 @@ define _showheap
end
define showheap
set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0])
set $nheaps = sizeof(g_mmheap.mm_heapstart) / sizeof(g_mmheap.mm_heapstart[0])
printf "Printing %d heaps\n", $nheaps
set $heapindex = (int)0
while $heapindex < $nheaps
Debug/Nuttx.py
+10 -6
View File
@@ -306,12 +306,15 @@ class NX_show_heap (gdb.Command):
def __init__(self):
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
self._allocflag = 0x80000000
self._allocnodesize = 8
else:
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
self._allocflag = 0x8000
self._allocnodesize = 4
elif preceding_size == 4:
self._allocflag = 0x80000000
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
def _node_allocated(self, allocnode):
if allocnode['preceding'] & self._allocflag:
@@ -333,7 +336,8 @@ class NX_show_heap (gdb.Command):
state = ''
else:
state = '(free)'
print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
print ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state)
cursor += self._node_size(allocnode) / self._allocnodesize
def invoke(self, args, from_tty):
Documentation/rc_mode_switch.odg
BIN
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Documentation/rc_mode_switch.pdf
BIN
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Images/aerocore.prototype
+12
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@@ -0,0 +1,12 @@
{
"board_id": 19,
"magic": "AeroCore",
"description": "Firmware for the Gumstix AeroCore board",
"image": "",
"build_time": 0,
"summary": "AEROCORE",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+1 -1
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@@ -7,7 +7,7 @@
sh /etc/init.d/rc.fw_defaults
echo "HIL Rascal 110 starting.."
echo "X Plane HIL starting.."
set HIL yes
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
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@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+35
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@@ -0,0 +1,35 @@
#!nsh
#
# Steadidrone QU4D
#
# Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set BAT_N_CELLS 4
fi
set MIXER FMU_quad_w
set PWM_MIN 1210
set PWM_MAX 2100
set PWM_OUTPUTS 1234
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+2 -2
View File
@@ -2,14 +2,14 @@
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/rc.mc_defaults
set MIXER hexa_cox
set MIXER FMU_hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/12001_octo_cox
+2 -2
View File
@@ -1,12 +1,12 @@
#!nsh
#
# Generic 10” Octo coaxial geometry
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
sh /etc/init.d/rc.mc_defaults
set MIXER octo_cox
set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+1 -1
View File
@@ -5,4 +5,4 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_RET
set MIXER easystar.mix
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
+5
View File
@@ -0,0 +1,5 @@
#!nsh
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AET
ROMFS/px4fmu_common/init.d/3031_phantom
+30 -1
View File
@@ -2,9 +2,38 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 25
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
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
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 50
param set FW_R_RMAX 0
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
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+1 -1
View File
@@ -23,7 +23,7 @@ then
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_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
ROMFS/px4fmu_common/init.d/3033_wingwing
+28
View File
@@ -7,4 +7,32 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 11
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 12
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_P_ROLLFF 2
param set FW_PR_FF 0.6
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.06
param set FW_RR_FF 0.6
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.09
param set FW_THR_CRUISE 0.65
fi
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+42
View File
@@ -0,0 +1,42 @@
#!nsh
#
# TBS Caipirinha Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
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
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
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
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad X geometry
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/4008_ardrone
+3 -1
View File
@@ -23,13 +23,15 @@ then
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAW_D 0.1
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
param set BAT_V_SCALING 0.00838095238
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad + geometry
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/6001_hexa_x
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa X geometry
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/7001_hexa_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa + geometry
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo X geometry
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo + geometry
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/rc.autostart
+16
View File
@@ -68,6 +68,12 @@ then
set MODE custom
fi
if param compare SYS_AUTOSTART 2103 103
then
sh /etc/init.d/2103_skyhunter_1800
set MODE custom
fi
#
# Flying wing
#
@@ -97,6 +103,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
@@ -184,6 +195,11 @@ then
sh /etc/init.d/10016_3dr_iris
fi
if param compare SYS_AUTOSTART 10017
then
sh /etc/init.d/10017_steadidrone_qu4d
fi
#
# Hexa Coaxial
#
ROMFS/px4fmu_common/init.d/rc.fw_apps
+8 -1
View File
@@ -3,6 +3,13 @@
# Standard apps for fixed wing
#
att_pos_estimator_ekf start
#
# Start the attitude and position estimator
#
ekf_att_pos_estimator start
#
# Start attitude controller
#
fw_att_control start
fw_pos_control_l1 start
ROMFS/px4fmu_common/init.d/rc.io
+1 -1
View File
@@ -11,7 +11,7 @@ px4io recovery
# Adjust PX4IO update rate limit
#
set PX4IO_LIMIT 400
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set PX4IO_LIMIT 200
fi
ROMFS/px4fmu_common/init.d/rc.logging
+2 -2
View File
@@ -5,10 +5,10 @@
if [ -d /fs/microsd ]
then
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 8 -t
sdlog2 start -r 50 -a -b 4 -t
else
echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 16 -t
ROMFS/px4fmu_common/init.d/rc.mc_apps
+1
View File
@@ -5,6 +5,7 @@
#
attitude_estimator_ekf start
#ekf_att_pos_estimator start
position_estimator_inav start
mc_att_control start
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+8 -2
View File
@@ -32,9 +32,15 @@ then
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_TILTMAX_AIR 45.0
param set MPC_TILTMAX_LND 15.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set PE_VELNE_NOISE 0.5
param set PE_VELNE_NOISE 0.7
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
fi
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -1
View File
@@ -22,7 +22,7 @@ then
echo "[init] Using L3GD20(H)"
fi
if hw_ver compare PX4FMU_V2
if ver hwcmp PX4FMU_V2
then
if lsm303d start
then
ROMFS/px4fmu_common/init.d/rc.usb
+15 -35
View File
@@ -3,40 +3,20 @@
# USB MAVLink start
#
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
echo "stopped other MAVLink instance"
fi
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
echo "MAVLink started, exiting shell.."
mavlink start -r 10000 -d /dev/ttyACM0
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
usleep 100000
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 SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
# Exit shell to make it available to MAVLink
exit
exit
ROMFS/px4fmu_common/init.d/rcS
+72 -45
View File
@@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set LOG_FILE /fs/microsd/bootlog.txt
echo "[init] microSD card mounted at /fs/microsd"
echo "[init] microSD mounted: /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
@@ -83,9 +83,9 @@ then
param select $PARAM_FILE
if param load
then
echo "[init] Parameters loaded: $PARAM_FILE"
echo "[init] Params loaded: $PARAM_FILE"
else
echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
echo "[init] ERROR: Params loading failed: $PARAM_FILE"
fi
#
@@ -108,7 +108,6 @@ then
set HIL no
set VEHICLE_TYPE none
set MIXER none
set USE_IO yes
set OUTPUT_MODE none
set PWM_OUTPUTS none
set PWM_RATE none
@@ -117,7 +116,12 @@ then
set PWM_MAX none
set MKBLCTRL_MODE none
set FMU_MODE pwm
set MAVLINK_FLAGS default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -128,13 +132,23 @@ then
else
set DO_AUTOCONFIG no
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
else
set USE_IO no
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
echo "[init] Don't try to find autostart script"
echo "[init] No autostart"
else
sh /etc/init.d/rc.autostart
fi
@@ -144,10 +158,10 @@ then
#
if [ -f $CONFIG_FILE ]
then
echo "[init] Reading config: $CONFIG_FILE"
echo "[init] Config: $CONFIG_FILE"
sh $CONFIG_FILE
else
echo "[init] Config file not found: $CONFIG_FILE"
echo "[init] Config not found: $CONFIG_FILE"
fi
#
@@ -234,7 +248,7 @@ then
echo "[init] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
@@ -248,14 +262,14 @@ then
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the Commander (needs to be this early for in-air-restarts)
@@ -282,6 +296,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU as primary output"
@@ -293,7 +308,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@@ -305,6 +320,7 @@ then
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
@@ -326,7 +342,8 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
@@ -366,7 +383,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@@ -384,54 +401,47 @@ then
#
# MAVLink
#
set EXIT_ON_END no
if [ $HIL == yes ]
if [ $MAVLINK_FLAGS == default ]
then
sleep 1
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
usleep 5000
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
set MAVLINK_FLAGS "-r 1000"
fi
fi
#
# Start the datamanager
#
dataman start
#
# Start the navigator
#
navigator start
mavlink start $MAVLINK_FLAGS
#
# Sensors, Logging, GPS
#
echo "[init] Start sensors"
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
echo "[init] Start GPS"
gps start
fi
if [ $GPS == yes ]
then
echo "[init] Start GPS"
if [ $GPS_FAKE == yes ]
then
echo "[init] Faking GPS"
gps start -f
else
gps start
fi
fi
#
# Start up ARDrone Motor interface
#
@@ -465,7 +475,10 @@ then
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
fi
#
@@ -495,7 +508,7 @@ then
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
if [ $MIXER == FMU_hexa_cox ]
then
set MAV_TYPE 13
fi
@@ -521,9 +534,22 @@ then
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
# Start the datamanager
#
dataman start
#
# Start the navigator
#
navigator start
#
# Generic setup (autostart ID not found)
#
@@ -539,11 +565,12 @@ then
echo "[init] Starting addons script: $EXTRAS_FILE"
sh $EXTRAS_FILE
else
echo "[init] Addons script not found: $EXTRAS_FILE"
echo "[init] No addons script: $EXTRAS_FILE"
fi
if [ $EXIT_ON_END == yes ]
then
echo "[init] Exit from nsh"
exit
fi
ROMFS/px4fmu_common/mixers/hexa_cox.mix → ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
View File
ROMFS/px4fmu_common/mixers/easystar.mix
+31
View File
@@ -0,0 +1,31 @@
EASYSTAR / EASYSTAR II MIXER
============================
Aileron mixer
-------------
One output - would be easy to add support for 2 servos
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Elevator mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Rudder mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
Motor speed mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Tools/.gitignore
+2
View File
@@ -0,0 +1,2 @@
parameters.wiki
parameters.xml
Tools/fetch_log.py
+133
View File
@@ -0,0 +1,133 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012, 2013 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.
#
############################################################################
#
# Log fetcher
#
# Print list of logs:
# python fetch_log.py
#
# Fetch log:
# python fetch_log.py sess001/log001.bin
#
import serial, time, sys, os
def wait_for_string(ser, s, timeout=1.0, debug=False):
t0 = time.time()
buf = []
res = []
n = 0
while (True):
c = ser.read()
if debug:
sys.stderr.write(c)
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
n += 1
if n % 10000 == 0:
sys.stderr.write(str(n) + "\n")
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout)
return wait_for_string(ser, "nsh> \x1b[K", timeout)
def ls_dir(ser, dir, timeout=1.0):
res = []
for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def list_logs(ser):
logs_dir = "/fs/microsd/log"
res = []
for d in ls_dir(ser, logs_dir):
if d[2]:
sess_dir = d[0][:-1]
for f in ls_dir(ser, logs_dir + "/" + sess_dir):
log_file = f[0]
log_size = f[1]
res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
return "\n".join(res)
def fetch_log(ser, fn, timeout):
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout, True)
res = wait_for_string(ser, "\n", timeout, True)
data = []
if res.startswith("OK"):
size = int(res.split()[1])
n = 0
print "Reading data:"
while (n < size):
buf = ser.read(min(size - n, 8192))
data.append(buf)
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
print
else:
raise Exception("Error reading log")
wait_for_string(ser, "nsh> \x1b[K", timeout)
return "".join(data)
def main():
dev = "/dev/tty.usbmodem1"
ser = serial.Serial(dev, "115200", timeout=0.2)
if len(sys.argv) < 2:
print list_logs(ser)
else:
log_file = sys.argv[1]
data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
try:
os.mkdir(log_file.split("/")[0])
except:
pass
fout = open(log_file, "wb")
fout.write(data)
fout.close()
ser.close()
if __name__ == "__main__":
main()
Tools/fix_code_style.sh
+2 -1
View File
@@ -16,5 +16,6 @@ astyle \
--ignore-exclude-errors-x \
--lineend=linux \
--exclude=EASTL \
--add-brackets \
--add-brackets \
--max-code-length=120 \
$*
Tools/px4params/.gitignore
-4
View File
@@ -1,4 +0,0 @@
parameters.wiki
parameters.xml
parameters.wikirpc.xml
cookies.txt
Tools/px4params/README.md
+1 -9
View File
@@ -1,9 +1 @@
h1. PX4 Parameters Processor
It's designed to scan PX4 source codes, find declarations of tunable parameters,
and generate the list in various formats.
Currently supported formats are:
* XML for the parametric UI generator
* Human-readable description in DokuWiki format
This folder contains a python library used by px_process_params.py
Tools/px4params/__init__.py
+1
View File
@@ -0,0 +1 @@
__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"]
Tools/px4params/dokuwikiout.py
+44
View File
@@ -0,0 +1,44 @@
from xml.sax.saxutils import escape
import codecs
class DokuWikiTablesOutput():
def __init__(self, groups):
result = ("====== Parameter Reference ======\n"
"<note>**This list is auto-generated from the source code** and contains the most recent parameter documentation.</note>\n"
"\n")
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 25% 45% 10% 10% 10% >|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^\n"
result += "^ ::: ^ Comment ^^^^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
min_val = param.GetFieldValue("min")
max_val = param.GetFieldValue("max")
def_val = param.GetFieldValue("default")
long_desc = param.GetFieldValue("long_desc")
if name == code:
name = ""
else:
name = name.replace("\n", " ")
name = name.replace("|", "%%|%%")
name = name.replace("^", "%%^%%")
result += "| **%s** |" % code
result += " %s |" % name
result += " %s |" % (min_val or "")
result += " %s |" % (max_val or "")
result += " %s |" % (def_val or "")
result += "\n"
if long_desc is not None:
result += "| ::: | <div>%s</div> ||||\n" % long_desc
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
Tools/px4params/dokuwikirpc.py
+16
View File
@@ -0,0 +1,16 @@
try:
import xmlrpclib
except ImportError:
import xmlrpc.client as xmlrpclib
# See https://www.dokuwiki.org/devel:xmlrpc for a list of available functions!
# Usage example:
# xmlrpc = dokuwikirpc.get_xmlrpc(url, username, password)
# print(xmlrpc.dokuwiki.getVersion())
def get_xmlrpc(url, username, password):
#proto, url = url.split("://")
#url = proto + "://" + username + ":" + password + "@" + url + "/lib/exe/xmlrpc.php"
url += "/lib/exe/xmlrpc.php?u=" + username + "&p=" + password
return xmlrpclib.ServerProxy(url)
Tools/px4params/output_dokuwiki_listings.py
-31
View File
@@ -1,31 +0,0 @@
import codecs
class DokuWikiListingsOutput():
def __init__(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
self.output = result
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
Tools/px4params/output_dokuwiki_tables.py
-76
View File
@@ -1,76 +0,0 @@
from xml.sax.saxutils import escape
import codecs
class DokuWikiTablesOutput():
def __init__(self, groups):
result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n"
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n"
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
min_val = param.GetFieldValue("min")
max_val = param.GetFieldValue("max")
def_val = param.GetFieldValue("default")
long_desc = param.GetFieldValue("long_desc")
name = name.replace("\n", " ")
result += "| %s | %s |" % (code, name)
if min_val is not None:
result += " %s |" % min_val
else:
result += " |"
if max_val is not None:
result += " %s |" % max_val
else:
result += " |"
if def_val is not None:
result += " %s |" % def_val
else:
result += " |"
if long_desc is not None:
long_desc = long_desc.replace("\n", " ")
result += " %s |" % long_desc
else:
result += " |"
result += "\n"
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
def SaveRpc(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write("""<?xml version='1.0'?>
<methodCall>
<methodName>wiki.putPage</methodName>
<params>
<param>
<value>
<string>:firmware:parameters</string>
</value>
</param>
<param>
<value>
<string>""")
f.write(escape(self.output))
f.write("""</string>
</value>
</param>
<param>
<value>
<name>sum</name>
<string>Updated parameters automagically from code.</string>
</value>
</param>
</params>
</methodCall>""")
Tools/px4params/srcparser.py
+3 -2
View File
@@ -44,6 +44,7 @@ class Parameter(object):
"default": 6,
"min": 5,
"max": 4,
"unit": 3,
# all others == 0 (sorted alphabetically)
}
@@ -71,7 +72,7 @@ class Parameter(object):
"""
return self.fields.get(code)
class Parser(object):
class SourceParser(object):
"""
Parses provided data and stores all found parameters internally.
"""
@@ -86,7 +87,7 @@ class Parser(object):
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
valid_tags = set(["min", "max", "group"])
valid_tags = set(["group", "min", "max", "unit"])
# Order of parameter groups
priority = {
Tools/px4params/scanner.py → Tools/px4params/srcscanner.py
+3 -8
View File
@@ -2,26 +2,21 @@ import os
import re
import codecs
class Scanner(object):
class SourceScanner(object):
"""
Traverses directory tree, reads all source files, and passes their contents
to the Parser.
"""
re_file_extension = re.compile(r'\.([^\.]+)$')
def ScanDir(self, srcdir, parser):
"""
Scans provided path and passes all found contents to the parser using
parser.Parse method.
"""
extensions = set(parser.GetSupportedExtensions())
extensions = tuple(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
m = self.re_file_extension.search(filename)
if m:
ext = m.group(1)
if ext in extensions:
if filename.endswith(extensions):
path = os.path.join(dirname, filename)
self.ScanFile(path, parser)
Tools/px4params/output_xml.py → Tools/px4params/xmlout.py
View File
Tools/px4params/xmlrpc.sh
-5
View File
@@ -1,5 +0,0 @@
python px_process_params.py
rm cookies.txt
curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php"

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