mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 16:56:25 +08:00
Merge remote-tracking branch 'upstream/master' into ros
Conflicts: makefiles/config_px4fmu-v2_test.mk
This commit is contained in:
Thomas Gubler
+30
-8
@@ -78,7 +78,7 @@ end
|
||||
################################################################################
|
||||
|
||||
define showfiles
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
|
||||
printf "%d files\n", $nfiles
|
||||
set $index = 0
|
||||
@@ -102,7 +102,7 @@ end
|
||||
################################################################################
|
||||
|
||||
define _showtask_oneline
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
|
||||
end
|
||||
|
||||
@@ -139,7 +139,7 @@ end
|
||||
# Print task registers for a NuttX v7em target with FPU enabled.
|
||||
#
|
||||
define _showtaskregs_v7em
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
set $regs = (uint32_t *)&($task->xcp.regs[0])
|
||||
|
||||
printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
|
||||
@@ -162,7 +162,7 @@ end
|
||||
define _showsemaphore
|
||||
printf "count %d ", $arg0->semcount
|
||||
if $arg0->holder.htcb != 0
|
||||
set $_task = (struct _TCB *)$arg0->holder.htcb
|
||||
set $_task = (struct tcb_s *)$arg0->holder.htcb
|
||||
printf "held by %s", $_task->name
|
||||
end
|
||||
printf "\n"
|
||||
@@ -172,7 +172,7 @@ end
|
||||
# Print information about a task's stack usage
|
||||
#
|
||||
define showtaskstack
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
|
||||
if $task == &g_idletcb
|
||||
printf "can't measure idle stack\n"
|
||||
@@ -189,7 +189,7 @@ end
|
||||
# Print details of a task
|
||||
#
|
||||
define showtask
|
||||
set $task = (struct _TCB *)$arg0
|
||||
set $task = (struct tcb_s *)$arg0
|
||||
|
||||
printf "%p %.2d ", $task, $task->pid
|
||||
_showtaskstate $task
|
||||
@@ -204,7 +204,7 @@ define showtask
|
||||
if $task->task_state != TSTATE_TASK_RUNNING
|
||||
_showtaskregs_v7em $task
|
||||
else
|
||||
_showcurrentregs_v7em
|
||||
_showtaskregs_v7em $task
|
||||
end
|
||||
|
||||
# XXX print registers here
|
||||
@@ -247,8 +247,10 @@ define showtasks
|
||||
_showtasklist &g_pendingtasks
|
||||
printf "RUNNABLE\n"
|
||||
_showtasklist &g_readytorun
|
||||
printf "WAITING\n"
|
||||
printf "WAITING for Semaphore\n"
|
||||
_showtasklist &g_waitingforsemaphore
|
||||
printf "WAITING for Signal\n"
|
||||
_showtasklist &g_waitingforsignal
|
||||
printf "INACTIVE\n"
|
||||
_showtasklist &g_inactivetasks
|
||||
end
|
||||
@@ -257,3 +259,23 @@ document showtasks
|
||||
. showtasks
|
||||
. Print a list of all tasks in the system, separated into their respective queues.
|
||||
end
|
||||
|
||||
define my_mem
|
||||
|
||||
set $start = $arg0
|
||||
set $end = $arg1
|
||||
set $cursor = $start
|
||||
|
||||
if $start < $end
|
||||
while $cursor != $end
|
||||
set *$cursor = 0x0000
|
||||
set $cursor = $cursor + 4
|
||||
printf "0x%x of 0x%x\n",$cursor,$end
|
||||
end
|
||||
else
|
||||
while $cursor != $end
|
||||
set *$cursor = 0x0000
|
||||
set $cursor = $cursor - 4
|
||||
end
|
||||
end
|
||||
end
|
||||
+386
-47
File diff suppressed because it is too large
Load Diff
Regular → Executable
+1
-1
Submodule NuttX updated: 5ee4b2b2c2...ec6b670f6d
@@ -1,14 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HILStar / X-Plane
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# HILStar
|
||||
# <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
echo "X Plane HIL starting.."
|
||||
|
||||
set HIL yes
|
||||
|
||||
set MIXER FMU_AERT
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Team Blacksheep Discovery Quadcopter
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# 3DR Iris Quadcopter
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,8 +2,7 @@
|
||||
#
|
||||
# Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# HIL Quadcopter X
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# HIL Quadcopter +
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,13 +2,11 @@
|
||||
#
|
||||
# HIL Rascal 110 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
echo "HIL Rascal 110 starting.."
|
||||
|
||||
set HIL yes
|
||||
|
||||
set MIXER FMU_AERT
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# HIL Malolo 1 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_cox
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -3,3 +3,6 @@
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER FMU_Q
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUTPUTS 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Phantom FPV Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -21,8 +21,6 @@ then
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.02
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Skywalker X5 Flying Wing
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
|
||||
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -19,10 +19,6 @@ then
|
||||
param set FW_PR_I 0
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_I 0
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Viper
|
||||
#
|
||||
# Simon Wilks <sjwilks@gmail.com>
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# TBS Caipirinha Flying Wing
|
||||
# TBS Caipirinha
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -22,10 +22,6 @@ then
|
||||
param set FW_PR_I 0
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 0
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_I 0
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Quad X geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -3,9 +3,6 @@
|
||||
# ARDrone
|
||||
#
|
||||
|
||||
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
|
||||
|
||||
# Just use the default multicopter settings.
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
#
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F330 Quadcopter
|
||||
# DJI Flame Wheel F330
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F450 Quadcopter
|
||||
# DJI Flame Wheel F450
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# F450-sized quadrotor with CAN
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Pavel Kirienko <pavel@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
# Hobbyking Micro Integrated PCB Quadcopter
|
||||
# with SimonK ESC firmware and Mystery A1510 motors
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
echo "HK Micro PCB Quad"
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Quad + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa X geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_x
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,12 +2,12 @@
|
||||
#
|
||||
# Generic 10" Hexa + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER FMU_hexa_+
|
||||
|
||||
# We only can run one channel group with one rate, so set all 8 channels
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUTPUTS 12345678
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo X geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10" Octo + geometry
|
||||
#
|
||||
# Anton Babushkin <anton.babushkin@me.com>
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
# AUTOSTART PARTITION:
|
||||
@@ -18,7 +17,7 @@
|
||||
# 12000 .. 12999 Octo Cox
|
||||
|
||||
#
|
||||
# Simulation setups
|
||||
# Simulation
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 901
|
||||
@@ -53,7 +52,7 @@ then
|
||||
fi
|
||||
|
||||
#
|
||||
# Standard plane
|
||||
# Plane
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 2100 100
|
||||
|
||||
@@ -10,7 +10,7 @@ then
|
||||
#
|
||||
set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
|
||||
|
||||
#Use the mixer file from the SD-card if it exists
|
||||
# Use the mixer file from the SD-card if it exists
|
||||
if [ -f $MIXERSD ]
|
||||
then
|
||||
set MIXER_FILE $MIXERSD
|
||||
@@ -54,7 +54,6 @@ then
|
||||
#
|
||||
if [ $PWM_RATE != none ]
|
||||
then
|
||||
echo "[init] Set PWM rate: $PWM_RATE"
|
||||
pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
|
||||
fi
|
||||
|
||||
@@ -63,17 +62,14 @@ then
|
||||
#
|
||||
if [ $PWM_DISARMED != none ]
|
||||
then
|
||||
echo "[init] Set PWM disarmed: $PWM_DISARMED"
|
||||
pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
|
||||
fi
|
||||
if [ $PWM_MIN != none ]
|
||||
then
|
||||
echo "[init] Set PWM min: $PWM_MIN"
|
||||
pwm min -c $PWM_OUTPUTS -p $PWM_MIN
|
||||
fi
|
||||
if [ $PWM_MAX != none ]
|
||||
then
|
||||
echo "[init] Set PWM max: $PWM_MAX"
|
||||
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Test jig startup script
|
||||
#
|
||||
|
||||
echo "[testing] doing production test.."
|
||||
|
||||
tests jig
|
||||
|
||||
echo "[testing] testing done"
|
||||
@@ -54,7 +54,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start airspeed sensors
|
||||
if meas_airspeed start
|
||||
then
|
||||
echo "[init] Using MEAS airspeed sensor"
|
||||
@@ -68,16 +67,12 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
# Check for flow sensor
|
||||
if px4flow start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensor collection task.
|
||||
# IMPORTANT: this also loads param offsets
|
||||
# ALWAYS start this task before the
|
||||
# preflight_check.
|
||||
# Start sensors -> preflight_check
|
||||
#
|
||||
if sensors start
|
||||
then
|
||||
|
||||
@@ -137,9 +137,7 @@ then
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# We can't be sure the defaults haven't changed, so
|
||||
# if someone requests a re-configuration, we do it
|
||||
# cleanly from scratch (except autostart / autoconfig)
|
||||
# Wipe out params
|
||||
param reset_nostart
|
||||
set DO_AUTOCONFIG yes
|
||||
else
|
||||
@@ -202,12 +200,10 @@ then
|
||||
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK"
|
||||
echo "PX4IO CRC OK" >> $LOG_FILE
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] Trying to update"
|
||||
echo "PX4IO Trying to update" >> $LOG_FILE
|
||||
|
||||
tone_alarm MLL32CP8MB
|
||||
@@ -217,18 +213,15 @@ then
|
||||
usleep 500000
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK, update successful"
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tone_alarm MLL8CDE
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
@@ -281,16 +274,12 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the datamanager (and do not abort boot if it fails)
|
||||
#
|
||||
# waypoint storage
|
||||
if dataman start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the Commander (needs to be this early for in-air-restarts)
|
||||
#
|
||||
# Needs to be this early for in-air-restarts
|
||||
commander start
|
||||
|
||||
#
|
||||
@@ -424,9 +413,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# MAVLink
|
||||
#
|
||||
if [ $MAVLINK_FLAGS == default ]
|
||||
then
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
@@ -454,15 +440,10 @@ then
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging in all modes, including HIL
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
if [ $GPS == yes ]
|
||||
then
|
||||
echo "[init] Start GPS"
|
||||
if [ $GPS_FAKE == yes ]
|
||||
then
|
||||
echo "[init] Faking GPS"
|
||||
|
||||
Regular → Executable
@@ -73,6 +73,7 @@ parser.add_argument("--version", action="store", help="set a version string")
|
||||
parser.add_argument("--summary", action="store", help="set a brief description")
|
||||
parser.add_argument("--description", action="store", help="set a longer description")
|
||||
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
|
||||
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
|
||||
parser.add_argument("--image", action="store", help="the firmware image")
|
||||
args = parser.parse_args()
|
||||
|
||||
@@ -101,6 +102,10 @@ if args.git_identity != None:
|
||||
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
|
||||
desc['git_identity'] = str(p.read().strip())
|
||||
p.close()
|
||||
if args.parameter_xml != None:
|
||||
f = open(args.parameter_xml, "rb")
|
||||
bytes = f.read()
|
||||
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
|
||||
if args.image != None:
|
||||
f = open(args.image, "rb")
|
||||
bytes = f.read()
|
||||
|
||||
Regular → Executable
@@ -458,7 +458,7 @@ if os.path.exists("/usr/sbin/ModemManager"):
|
||||
|
||||
# Load the firmware file
|
||||
fw = firmware(args.firmware)
|
||||
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
|
||||
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
|
||||
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
|
||||
|
||||
# Spin waiting for a device to show up
|
||||
|
||||
Executable
+28
@@ -0,0 +1,28 @@
|
||||
#!/bin/bash
|
||||
|
||||
EXEDIR=`pwd`
|
||||
BASEDIR=$(dirname $0)
|
||||
|
||||
SYSTYPE=`uname -s`
|
||||
|
||||
#
|
||||
# Serial port defaults.
|
||||
#
|
||||
# XXX The uploader should be smarter than this.
|
||||
#
|
||||
if [ $SYSTYPE = "Darwin" ];
|
||||
then
|
||||
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "Linux" ];
|
||||
then
|
||||
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "" ];
|
||||
then
|
||||
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"
|
||||
fi
|
||||
|
||||
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
|
||||
@@ -132,6 +132,9 @@ MODULES += lib/launchdetection
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
|
||||
@@ -40,14 +40,8 @@ MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/pca8574
|
||||
MODULES += drivers/px4flow
|
||||
|
||||
|
||||
# Needs to be burned to the ground and re-written; for now,
|
||||
# just don't build it.
|
||||
#MODULES += drivers/mkblctrl
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
@@ -61,7 +55,6 @@ MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
@@ -81,10 +74,8 @@ MODULES += modules/uavcan
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
@@ -100,12 +91,6 @@ MODULES += modules/mc_pos_control
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += modules/unit_test
|
||||
#MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
@@ -139,7 +124,7 @@ MODULES += modules/bottle_drop
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
@@ -156,6 +141,9 @@ MODULES += examples/px4_simple_app
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
|
||||
@@ -53,7 +53,14 @@ LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# Tests
|
||||
# Modules to test-build, but not useful for test environment
|
||||
#
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += drivers/pca8574
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += modules/unit_test
|
||||
MODULES += modules/mavlink/mavlink_tests
|
||||
|
||||
@@ -467,6 +467,7 @@ endif
|
||||
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
|
||||
PRODUCT_BIN = $(WORK_DIR)firmware.bin
|
||||
PRODUCT_ELF = $(WORK_DIR)firmware.elf
|
||||
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
|
||||
|
||||
.PHONY: firmware
|
||||
firmware: $(PRODUCT_BUNDLE)
|
||||
@@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
|
||||
|
||||
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
|
||||
@$(ECHO) %% Generating $@
|
||||
ifdef GEN_PARAM_XML
|
||||
python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||
--git_identity $(PX4_BASE) \
|
||||
--parameter_xml $(PRODUCT_PARAMXML) \
|
||||
--image $< > $@
|
||||
else
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||
--git_identity $(PX4_BASE) \
|
||||
--image $< > $@
|
||||
endif
|
||||
|
||||
$(PRODUCT_BIN): $(PRODUCT_ELF)
|
||||
$(call SYM_TO_BIN,$<,$@)
|
||||
|
||||
@@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 4.7
|
||||
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
|
||||
endif
|
||||
|
||||
|
||||
|
||||
Submodule mavlink/include/mavlink/v1.0 updated: 90383fac84...ad5e5a645d
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
MAXOPTIMIZATION = -Os
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
|
||||
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
MAXOPTIMIZATION = -Os
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user