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linux boards (ocpoc, bbblue, navio2) replace custom adc drivers with simple px4_arch implementation

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This commit is contained in:
Daniel Agar
2020-01-07 11:08:37 -05:00
parent fc9df31653
commit d19f18d40b
38 changed files with 528 additions and 1065 deletions
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posix-configs/bbblue/px4.config
+4 -11
View File
@@ -46,9 +46,6 @@ param set BAT_CNT_V_VOLT 0.0004394531
# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
param set BAT_V_DIV 11.0
#param set BAT_CNT_V_CURR 0.001
#param set BAT_A_PER_V 15.391030303
dataman start
bmp280 -I start
@@ -59,8 +56,9 @@ df_mpu9250_wrapper start
gps start -d /dev/ttyS2 -s -p ubx
#rgbled start -b 1
bbblue_adc start
bbblue_adc test
adc start
battery_status start
rc_update start
sensors start
@@ -72,8 +70,6 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
#fw_att_control start
#fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface,
@@ -81,10 +77,6 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
linux_sbus start -d /dev/ttyS4 -c 16
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
@@ -93,4 +85,5 @@ linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete
posix-configs/bbblue/px4_fw.config
+5 -13
View File
@@ -46,9 +46,6 @@ param set BAT_CNT_V_VOLT 0.0004394531
# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
param set BAT_V_DIV 11.0
#param set BAT_CNT_V_CURR 0.001
#param set BAT_A_PER_V 15.391030303
dataman start
bmp280 -I start
@@ -59,19 +56,17 @@ df_mpu9250_wrapper start
gps start -d /dev/ttyS2 -s -p ubx
#rgbled start -b 1
bbblue_adc start
bbblue_adc test
adc start
battery_status start
rc_update start
sensors start
commander start
navigator start
ekf2 start
#land_detector start multicopter
land_detector start fixedwing
#mc_pos_control start
#mc_att_control start
#mc_rate_control start
fw_att_control start
fw_pos_control_l1 start
@@ -81,10 +76,6 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
linux_sbus start -d /dev/ttyS4 -c 16
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
@@ -93,4 +84,5 @@ linux_sbus start -d /dev/ttyS4 -c 16
linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete
posix-configs/ocpoc/px4.config
+4 -1
View File
@@ -19,7 +19,10 @@ df_mpu9250_wrapper start_without_mag -R 10
hmc5883 start
ms5611 start
rgbled start -b 1
ocpoc_adc start
adc start
battery_status start
gps start -d /dev/ttyS3 -s
rc_update start
sensors start
posix-configs/rpi/px4.config
+11 -7
View File
@@ -4,7 +4,9 @@
. px4-alias.sh
# navio config for a quad
uorb start
if [ -f eeprom/parameters ]
then
param load
@@ -13,15 +15,18 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
rc_update start
sensors start
@@ -32,18 +37,17 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
fi
navio_sysfs_rc_in start
linux_pwm_out start
logger start -t -b 200
mavlink boot_complete
posix-configs/rpi/px4_fw.config
+17 -9
View File
@@ -6,22 +6,27 @@
# navio config for FW
uorb start
param load
if [ -f eeprom/parameters ]
then
param load
fi
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
ms4525_airspeed start
rc_update start
@@ -29,17 +34,20 @@ sensors start
commander start
navigator start
ekf2 start
land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 20
mavlink stream -u 14556 -s ATTITUDE -r 20
mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
fi
navio_sysfs_rc_in start
linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
logger start -t -b 200
mavlink boot_complete
posix-configs/rpi/px4_hil.config
+10 -1
View File
@@ -8,11 +8,17 @@
# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
uorb start
param load
if [ -f eeprom/parameters ]
then
param load
fi
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
dataman start
rc_update start
sensors start -hil
commander start -hil
@@ -22,10 +28,13 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14577 -r 1000000
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete
posix-configs/rpi/px4_no_shield.config
-38
View File
@@ -1,38 +0,0 @@
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
# config for a quad without any shield:
# - u-blox GPS connected via UART
# - PWM output using PCA9685 via I2C
# - RC input via shared memory from ppmdecode (https://github.com/crossa/raspberry-pi-ppm-rc-in),
# GPIO input
uorb start
param load
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
sleep 1
param set MAV_TYPE 2
df_mpu9250_wrapper start -R 10
ms5611 start
gps start -d /dev/ttyACM0 -i uart -p ubx
rc_update start
sensors start
commander start
ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
#mavlink start -x -d /dev/ttyUSB0
#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
rpi_rc_in start
linux_pwm_out start -p pca9685
logger start -t
mavlink boot_complete
posix-configs/rpi/px4_test.config
+12 -8
View File
@@ -3,8 +3,10 @@
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
# navio config for a quad
# navio config for simple testing
uorb start
if [ -f eeprom/parameters ]
then
param load
@@ -13,15 +15,18 @@ param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set BAT_CNT_V_VOLT 0.001
param set BAT_V_DIV 10.9176300578
param set BAT_CNT_V_CURR 0.001
param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
ms5611 start
navio_rgbled start
navio_adc start
adc start
battery_status start
gps start -d /dev/spidev0.0 -i spi -p ubx
rc_update start
sensors start
@@ -31,20 +36,19 @@ ekf2 start
land_detector start multicopter
mc_pos_control start
mc_att_control start
mavlink start -x -u 14556 -r 1000000
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
if [ -f /dev/ttyUSB0 ]
then
mavlink start -x -d /dev/ttyUSB0
mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
fi
navio_sysfs_rc_in start
linux_pwm_out start
logger start -t -b 200
mavlink boot_complete
sleep 5