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Code Issues Actions 9 Packages Projects Releases Wiki Activity

Merge pull request #1734 from PX4/ros_messagelayer_merge_attctrl_posctrl

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Ros messagelayer merge attctrl posctrl
This commit is contained in:
Thomas Gubler
2015-02-01 11:58:37 +01:00
parent d74b81ba4f 84ff3c671d
commit e547176ba1
213 changed files with 7669 additions and 5590 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+2
View File
@@ -40,6 +40,8 @@ tags
.ropeproject
*.orig
src/modules/uORB/topics/*
src/platforms/nuttx/px4_messages/*
src/platforms/ros/px4_messages/*
Firmware.zip
unittests/build
*.generated.h
.travis.yml
+11 -26
View File
@@ -52,20 +52,17 @@ script:
- echo -en 'travis_fold:end:script.3\\r'
- zip Firmware.zip Images/*.px4
# We use an encrypted env variable to ensure this only executes when artifacts are uploaded.
#after_script:
# - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT
# - git log -n1 > $PX4_REPORT
# - echo " " >> $PX4_REPORT
# - echo "Files available at:" >> $PX4_REPORT
# - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT
# - echo "Description of desired tests is available at:" >> $PX4_REPORT
# - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT
# - echo " " >> $PX4_REPORT
# - echo "Thanks for testing!" >> $PX4_REPORT
# - echo " " >> $PX4_REPORT
# - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT"
# - s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/
after_script:
- git clone git://github.com/PX4/CI-Tools.git
- ./CI-Tools/s3cmd-configure
# upload newest build for this branch with s3 index
- ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
# archive newest build by date with s3 index
- ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/`date "+%Y-%m-%d"`-$TRAVIS_BUILD_ID/
- ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
# upload top level index.html and timestamp.html
- ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
- ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
deploy:
provider: releases
@@ -78,18 +75,6 @@ deploy:
all_branches: true
repo: PX4/Firmware
addons:
artifacts:
paths:
- "Firmware.zip"
key:
secure: j4y9x9KXUiarGrnpFBLPIkEKIH8X6oSRUO61TwxTOamsE0eEKnIaCz1Xq83q7DoqzomHBD3qXAFPV9dhLr1zdKEPJDIyV45GVD4ClIQIzh/P3Uc7kDNxKzdmxY12SH6D0orMpC4tCf1sNK7ETepltWfcnjaDk1Rjs9+TVY7LuzM=
secret:
secure: CJC7VPGtEhJu8Pix85iPF8xUvMPZvTgnHyd9MrSlPKCFFMrlgz9eMT0WWW/TPQ+s4LPwJIfEQx2Q0BRT5tOXuvsTLuOG68mplVddhTWbHb0m0qTQErXFHEppvW4ayuSdeLJ4TjTWphBVainL0mcLLRwQfuAJJDDs/sGan3WrG+Y=
bucket: px4-travis
region: us-east-1
endpoint: s3-website-us-east-1.amazonaws.com
notifications:
webhooks:
urls:
CMakeLists.txt
+39 -3
View File
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -68,6 +69,11 @@ add_message_files(
actuator_armed.msg
parameter_update.msg
vehicle_status.msg
vehicle_local_position.msg
position_setpoint.msg
position_setpoint_triplet.msg
vehicle_local_position_setpoint.msg
vehicle_global_velocity_setpoint.msg
)
## Generate services in the 'srv' folder
@@ -116,6 +122,7 @@ catkin_package(
include_directories(
${catkin_INCLUDE_DIRS}
src/platforms
src/platforms/ros/px4_messages
src/include
src/modules
src/
@@ -123,6 +130,16 @@ include_directories(
${EIGEN_INCLUDE_DIRS}
)
## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library
add_library(px4
src/platforms/ros/px4_ros_impl.cpp
@@ -131,7 +148,7 @@ add_library(px4
src/lib/mathlib/math/Limits.cpp
src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(px4
${catkin_LIBRARIES}
@@ -141,7 +158,7 @@ target_link_libraries(px4
add_executable(publisher
src/examples/publisher/publisher_main.cpp
src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
${catkin_LIBRARIES}
px4
@@ -151,7 +168,7 @@ target_link_libraries(publisher
add_executable(subscriber
src/examples/subscriber/subscriber_main.cpp
src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
${catkin_LIBRARIES}
px4
@@ -168,6 +185,16 @@ target_link_libraries(mc_att_control
px4
)
## MC Position Control
add_executable(mc_pos_control
src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_pos_control
${catkin_LIBRARIES}
px4
)
## Attitude Estimator dummy
add_executable(attitude_estimator
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
@@ -177,6 +204,15 @@ target_link_libraries(attitude_estimator
px4
)
## Position Estimator dummy
add_executable(position_estimator
src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(position_estimator
${catkin_LIBRARIES}
px4
)
## Manual input
add_executable(manual_input
src/platforms/ros/nodes/manual_input/manual_input.cpp)
Debug/Nuttx.py
+39 -49
View File
@@ -1,7 +1,10 @@
# GDB/Python functions for dealing with NuttX
from __future__ import print_function
import gdb, gdb.types
parse_int = lambda x: int(str(x), 0)
class NX_register_set(object):
"""Copy of the registers for a given context"""
@@ -155,7 +158,7 @@ class NX_task(object):
result = []
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
entry = pidhash_value[i]
pid = int(entry['pid'])
pid = parse_int(entry['pid'])
if pid is not -1:
result.append(pid)
return result
@@ -184,7 +187,7 @@ class NX_task(object):
self.__dict__['stack_used'] = 0
else:
stack_limit = self._tcb['adj_stack_size']
for offset in range(0, int(stack_limit)):
for offset in range(0, parse_int(stack_limit)):
if stack_base[offset] != 0xff:
break
self.__dict__['stack_used'] = stack_limit - offset
@@ -244,7 +247,7 @@ class NX_task(object):
filearray = filelist['fl_files']
result = dict()
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
inode = int(filearray[i]['f_inode'])
inode = parse_int(filearray[i]['f_inode'])
if inode != 0:
result[i] = inode
return result
@@ -299,7 +302,7 @@ class NX_show_task (gdb.Command):
super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
def invoke(self, arg, from_tty):
t = NX_task.for_pid(int(arg))
t = NX_task.for_pid(parse_int(arg))
if t is not None:
my_fmt = 'PID:{pid} name:{name} state:{state}\n'
my_fmt += ' stack used {stack_used} of {stack_limit}\n'
@@ -435,12 +438,12 @@ class NX_tcb(object):
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
return [t for t in tcb_list if parse_int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
@@ -469,12 +472,12 @@ class NX_check_stack_order(gdb.Command):
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
return [t for t in tcb_list if parse_int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
@@ -488,7 +491,7 @@ class NX_check_stack_order(gdb.Command):
def getSPfromTask(self,tcb):
regmap = NX_register_set.v7em_regmap
a =tcb['xcp']['regs']
return int(a[regmap['SP']])
return parse_int(a[regmap['SP']])
def find_closest(self,list,val):
tmp_list = [abs(i-val) for i in list]
@@ -525,8 +528,8 @@ class NX_check_stack_order(gdb.Command):
for t in tcb:
p = [];
#print(t.name,t._tcb['stack_alloc_ptr'])
p.append(int(t['stack_alloc_ptr']))
p.append(int(t['adj_stack_ptr']))
p.append(parse_int(t['stack_alloc_ptr']))
p.append(parse_int(t['adj_stack_ptr']))
p.append(self.getSPfromTask(t))
stackadresses[str(t['name'])] = p;
address = int("0x30000000",0)
@@ -594,12 +597,12 @@ class NX_search_tcb(gdb.Command):
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
return [t for t in tcb_list if parse_int(t['pid'])<2000]
def invoke(self,args,sth):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
@@ -612,7 +615,7 @@ class NX_search_tcb(gdb.Command):
# filter for tasks that are listed twice
tasks_filt = {}
for t in tasks:
pid = int(t['pid']);
pid = parse_int(t['pid']);
if not pid in tasks_filt.keys():
tasks_filt[pid] = t['name'];
print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
@@ -653,62 +656,49 @@ class NX_my_bt(gdb.Command):
tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
return tcb_ptr.dereference()
def print_instruction_at(self,addr,stack_percentage):
def resolve_file_line_func(self,addr,stack_percentage):
gdb.write(str(round(stack_percentage,2))+":")
str_to_eval = "info line *"+hex(addr)
#gdb.execute(str_to_eval)
res = gdb.execute(str_to_eval,to_string = True)
# get information from results string:
words = res.split()
valid = False
if words[0] == 'No':
#no line info...
pass
else:
valid = True
if words[0] != 'No':
line = int(words[1])
idx = words[3].rfind("/"); #find first backslash
if idx>0:
name = words[3][idx+1:];
path = words[3][:idx];
else:
name = words[3];
path = "";
block = gdb.block_for_pc(addr)
func = block.function
if str(func) == "None":
func = block.superblock.function
if valid:
print("Line: ",line," in ",path,"/",name,"in ",func)
return name,path,line,func
return words[3].strip('"'), line, func
def invoke(self,args,sth):
addr_dec = int(args[2:],16)
_tcb = self.get_tcb_from_address(addr_dec)
try:
addr_dec = parse_int(args) # Trying to interpret the input as TCB address
except ValueError:
for task in NX_task.tasks(): # Interpreting as a task name
if task.name == args:
_tcb = task._tcb
break
else:
_tcb = self.get_tcb_from_address(addr_dec)
print("found task with PID: ",_tcb["pid"])
up_stack = int(_tcb['adj_stack_ptr'])
curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer
other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer
stacksize = int(_tcb['adj_stack_size']) # other stack pointer
up_stack = parse_int(_tcb['adj_stack_ptr'])
curr_sp = parse_int(_tcb['xcp']['regs'][0]) #curr stack pointer
other_sp = parse_int(_tcb['xcp']['regs'][8]) # other stack pointer
stacksize = parse_int(_tcb['adj_stack_size']) # other stack pointer
print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
if curr_sp == up_stack:
sp = other_sp
else:
sp = curr_sp;
while(sp < up_stack):
item = 0
for sp in range(other_sp if curr_sp == up_stack else curr_sp, up_stack, 4):
mem = self.readmem(sp)
#print(hex(sp)," : ",hex(mem))
if self.is_in_bounds(mem):
# this is a potential instruction ptr
stack_percentage = (up_stack-sp)/stacksize
name,path,line,func = self.print_instruction_at(mem,stack_percentage)
sp = sp + 4; # jump up one word
filename,line,func = self.resolve_file_line_func(mem, stack_percentage)
print('#%-2d ' % item, '0x%08x in ' % mem, func, ' at ', filename, ':', line, sep='')
item += 1
NX_my_bt()
Debug/poor-mans-profiler.sh
Executable
+260
View File
@@ -0,0 +1,260 @@
#!/bin/bash
#
# Poor man's sampling profiler for NuttX.
#
# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
# have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
# interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
#
# Requirements: ARM GDB with Python support
#
set -e
root=$(dirname $0)/..
function die()
{
echo "$@"
exit 1
}
function usage()
{
echo "Invalid usage. Supported options:"
cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
exit 1
}
which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
#
# Parsing the arguments. Read this section for usage info.
#
nsamples=0
sleeptime=0.1 # Doctors recommend 7-8 hours a day
taskname=
elf=$root/Build/px4fmu-v2_default.build/firmware.elf
append=0
fgfontsize=10
fgwidth=1900
for i in "$@"
do
case $i in
--nsamples=*)
nsamples="${i#*=}"
;;
--sleeptime=*)
sleeptime="${i#*=}"
;;
--taskname=*)
taskname="${i#*=}"
;;
--elf=*)
elf="${i#*=}"
;;
--append)
append=1
;;
--fgfontsize=*)
fgfontsize="${i#*=}"
;;
--fgwidth=*)
fgwidth="${i#*=}"
;;
*)
usage
;;
esac
shift
done
#
# Temporary files
#
stacksfile=/tmp/pmpn-stacks.log
foldfile=/tmp/pmpn-folded.txt
graphfile=/tmp/pmpn-flamegraph.svg
gdberrfile=/tmp/pmpn-gdberr.log
#
# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
#
cd $root
if [[ $nsamples > 0 ]]
then
[[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
echo "Sampling the task '$taskname'..."
for x in $(seq 1 $nsamples)
do
if [[ "$taskname" = "" ]]
then
arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
2> $gdberrfile \
| sed -n 's/\(#.*\)/\1/p' \
>> $stacksfile
else
arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
-ex "source $root/Debug/Nuttx.py" \
-ex "show mybt $taskname" \
2> $gdberrfile \
| sed -n 's/0\.0:\(#.*\)/\1/p' \
>> $stacksfile
fi
echo -e '\n\n' >> $stacksfile
echo -ne "\r$x/$nsamples"
sleep $sleeptime
done
echo
echo "Stacks saved to $stacksfile"
else
echo "Sampling skipped - set 'nsamples' to re-sample."
fi
#
# Folding the stacks.
#
[ -f $stacksfile ] || die "Where are the stack samples?"
cat << 'EOF' > /tmp/pmpn-folder.py
#
# This stack folder correctly handles C++ types.
#
from __future__ import print_function, division
import fileinput, collections, os, sys
def enforce(x, msg='Invalid input'):
if not x:
raise Exception(msg)
def split_first_part_with_parens(line):
LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
QUOTES = set(['"', "'"])
quotes = collections.defaultdict(bool)
braces = collections.defaultdict(int)
out = ''
for ch in line:
out += ch
# escape character cancels further processing
if ch == '\\':
continue
# special cases
if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'): # gotta love c++
braces['<>'] += 1
if out.endswith('operator<') or out.endswith('operator<<'):
braces['<>'] -= 1
# switching quotes
if ch in QUOTES:
quotes[ch] = not quotes[ch]
# counting parens only when outside quotes
if sum(quotes.values()) == 0:
if ch in LBRACES.keys():
braces[LBRACES[ch]] += 1
if ch in RBRACES.keys():
braces[RBRACES[ch]] -= 1
# sanity check
for v in braces.values():
enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
# termination condition
if ch == ' ' and sum(braces.values()) == 0:
break
out = out.strip()
return out, line[len(out):]
def parse(line):
def take_path(line, output):
line = line.strip()
if line.startswith('at '):
line = line[3:].strip()
if line:
output['file_full_path'] = line.rsplit(':', 1)[0].strip()
output['file_base_name'] = os.path.basename(output['file_full_path'])
output['line'] = int(line.rsplit(':', 1)[1])
return output
def take_args(line, output):
line = line.lstrip()
if line[0] == '(':
output['args'], line = split_first_part_with_parens(line)
return take_path(line.lstrip(), output)
def take_function(line, output):
output['function'], line = split_first_part_with_parens(line.lstrip())
return take_args(line.lstrip(), output)
def take_mem_loc(line, output):
line = line.lstrip()
if line.startswith('0x'):
end = line.find(' ')
num = line[:end]
output['memloc'] = int(num, 16)
line = line[end:].lstrip()
end = line.find(' ')
enforce(line[:end] == 'in')
line = line[end:].lstrip()
return take_function(line, output)
def take_frame_num(line, output):
line = line.lstrip()
enforce(line[0] == '#')
end = line.find(' ')
num = line[1:end]
output['frame_num'] = int(num)
return take_mem_loc(line[end:], output)
return take_frame_num(line, {})
stacks = collections.defaultdict(int)
current = ''
stack_tops = collections.defaultdict(int)
num_stack_frames = 0
for idx,line in enumerate(fileinput.input()):
try:
line = line.strip()
if line:
inf = parse(line)
fun = inf['function']
current = (fun + ';' + current) if current else fun
if inf['frame_num'] == 0:
num_stack_frames += 1
stack_tops[fun] += 1
elif current:
stacks[current] += 1
current = ''
except Exception, ex:
print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
for s, f in sorted(stacks.items(), key=lambda (s, f): s):
print(s, f)
print('Total stack frames:', num_stack_frames, file=sys.stderr)
print('Top consumers (distribution of the stack tops):', file=sys.stderr)
for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:10]:
print('% 5.1f%% ' % (100 * num / num_stack_frames), name, file=sys.stderr)
EOF
cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
echo "Folded stacks saved to $foldfile"
#
# Graphing.
#
cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
echo "FlameGraph saved to $graphfile"
# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
# The current implementation is hackish and stupid. Somebody, please do something about it.
opener=xdg-open
which firefox > /dev/null && opener=firefox
which google-chrome > /dev/null && opener=google-chrome
$opener $graphfile
Documentation/px4_block_diagram.odg
BIN
View File
Binary file not shown.
Makefile
+19 -10
View File
@@ -169,16 +169,18 @@ ifneq ($(filter archives,$(MAKECMDGOALS)),)
.NOTPARALLEL:
endif
J?=1
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
$(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) $(MAKE) -r -j$(J) -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) $(MAKE) -r -j$(J) -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))
@@ -195,11 +197,11 @@ 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) $(MAKE) -r -j$(J) -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) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
@@ -225,20 +227,27 @@ updatesubmodules:
$(Q) (git submodule update)
MSG_DIR = $(PX4_BASE)msg
MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
TOPICS_TEMPORARY_DIR = $(BUILD_DIR)topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
.PHONY: generateuorbtopicheaders
generateuorbtopicheaders:
@$(ECHO) "Generating uORB topic headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR))
-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
# clean up temporary files
$(Q) (rm -r $(TOPICS_TEMPORARY_DIR))
$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
#
# Testing targets
NuttX
+1 -1
Submodule NuttX updated: 3d8171f6ea...37cbc3e8ae
README.md
+3 -2
View File
@@ -1,6 +1,6 @@
## PX4 Flight Control Stack and Middleware ##
[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware)
[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
@@ -21,7 +21,8 @@ Please refer to the [user documentation](https://pixhawk.org/users/start) for fl
### Developers ###
Contributing guide:
http://px4.io/dev/contributing
* [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
* [PX4 Contribution Guide](http://px4.io/dev/contributing)
Developer guide:
http://px4.io/dev/
ROMFS/px4fmu_common/init.d/rc.fw_apps
+9
View File
@@ -13,3 +13,12 @@ ekf_att_pos_estimator start
#
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
#
land_detector start fixedwing
#
# Misc apps
#
ROMFS/px4fmu_common/init.d/rc.logging
+1 -1
View File
@@ -8,7 +8,7 @@ then
if ver hwcmp PX4FMU_V1
then
echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 4 -t
sdlog2 start -r 40 -a -b 3 -t
else
echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 22 -t
ROMFS/px4fmu_common/init.d/rc.mc_apps
+12 -1
View File
@@ -14,4 +14,15 @@ else
# try the multiplatform version
mc_att_control_m start
fi
mc_pos_control start
if mc_pos_control start
then
else
# try the multiplatform version
mc_pos_control_m start
fi
#
# Start Land Detector
#
land_detector start multicopter
ROMFS/px4fmu_common/init.d/rcS
+5 -21
View File
@@ -5,6 +5,11 @@
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#
# Start CDC/ACM serial driver
#
sercon
#
# Default to auto-start mode.
#
@@ -43,29 +48,8 @@ else
fi
unset FRC
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
if sercon
then
echo "[i] USB interface connected"
fi
echo "[i] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
echo "[i] AUTOSTART mode"
#
# Start CDC/ACM serial driver
#
sercon
# Try to get an USB console
nshterm /dev/ttyACM0 &
ROMFS/px4fmu_test/init.d/rcS
+7
View File
@@ -97,6 +97,13 @@ else
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi
if uorb test
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
fi
if hmc5883 -I start
then
# This is an FMUv3
Tools/make_color.sh
Executable
+36
View File
@@ -0,0 +1,36 @@
#!/bin/sh
# make_color.sh
#
# Author: Simon Wilks (simon@uaventure.com)
#
# A compiler color coder.
#
# To invoke this script everytime you run make simply create the alias:
#
# alias make='<your-firmware-directory>/Tools/make_color.sh'
#
# Color codes:
#
# white "\033[1,37m"
# yellow "\033[1,33m"
# green "\033[1,32m"
# blue "\033[1,34m"
# cyan "\033[1,36m"
# red "\033[1,31m"
# magenta "\033[1,35m"
# black "\033[1,30m"
# darkwhite "\033[0,37m"
# darkyellow "\033[0,33m"
# darkgreen "\033[0,32m"
# darkblue "\033[0,34m"
# darkcyan "\033[0,36m"
# darkred "\033[0,31m"
# darkmagenta "\033[0,35m"
# off "\033[0,0m"
#
OFF="\o033[0m"
WARN="\o033[1;33m"
ERROR="\o033[1;31m"
INFO="\o033[0;37m"
make ${@} 2>&1 | sed "s/make\[[0-9]\].*/$INFO & $OFF/;s/.*: warning: .*/$WARN & $OFF/;s/.*: error: .*/$ERROR & $OFF/"
Tools/px_generate_uorb_topic_headers.py
+16 -6
View File
@@ -60,7 +60,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header
"""
print("Generating uORB headers from {0}".format(filename))
print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
@@ -85,16 +85,21 @@ def convert_dir(inputdir, outputdir, templatedir):
includepath)
def copy_changed(inputdir, outputdir):
def copy_changed(inputdir, outputdir, prefix=''):
"""
Copies files from inputdir to outputdir if they don't exist in
ouputdir or if their content changed
"""
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
if os.path.isfile(fni):
# Check if f exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, f)
fno = os.path.join(outputdir, prefix + f)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
print("{0}: new header file".format(f))
@@ -108,7 +113,8 @@ def copy_changed(inputdir, outputdir):
print("{0}: unchanged".format(f))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir):
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
@@ -117,7 +123,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir):
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir)
copy_changed(temporarydir, outputdir, prefix)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
@@ -132,6 +138,9 @@ if __name__ == "__main__":
help='output directory for header files')
parser.add_argument('-t', dest='temporarydir',
help='temporary directory')
parser.add_argument('-p', dest='prefix', default='',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
@@ -146,4 +155,5 @@ if __name__ == "__main__":
args.dir,
args.outputdir,
args.templatedir,
args.temporarydir)
args.temporarydir,
args.prefix)
Tools/px_uploader.py
+28 -21
View File
@@ -266,18 +266,19 @@ class uploader(object):
self.__getSync()
return value
def __drawProgressBar(self, progress, maxVal):
def __drawProgressBar(self, label, progress, maxVal):
if maxVal < progress:
progress = maxVal
percent = (float(progress) / float(maxVal)) * 100.0
sys.stdout.write("\rprogress:[%-20s] %.2f%%" % ('='*int(percent/5.0), percent))
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
sys.stdout.flush()
# send the CHIP_ERASE command and wait for the bootloader to become ready
def __erase(self):
def __erase(self, label):
print("\n", end='')
self.__send(uploader.CHIP_ERASE
+ uploader.EOC)
@@ -288,15 +289,14 @@ class uploader(object):
#Draw progress bar (erase usually takes about 9 seconds to complete)
estimatedTimeRemaining = deadline-time.time()
if estimatedTimeRemaining >= 9.0:
self.__drawProgressBar(20.0-estimatedTimeRemaining, 9.0)
self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
else:
self.__drawProgressBar(10.0, 10.0)
self.__drawProgressBar(label, 10.0, 10.0)
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) )
sys.stdout.flush()
if self.__trySync():
self.__drawProgressBar(10.0, 10.0)
sys.stdout.write("\nerase complete!\n")
self.__drawProgressBar(label, 10.0, 10.0)
return;
raise RuntimeError("timed out waiting for erase")
@@ -350,7 +350,8 @@ class uploader(object):
return [seq[i:i+length] for i in range(0, len(seq), length)]
# upload code
def __program(self, fw):
def __program(self, label, fw):
print("\n", end='')
code = fw.image
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
@@ -361,31 +362,40 @@ class uploader(object):
#Print upload progress (throttled, so it does not delay upload progress)
uploadProgress += 1
if uploadProgress % 256 == 0:
self.__drawProgressBar(uploadProgress, len(groups))
self.__drawProgressBar(100, 100)
print("\nprogram complete!")
self.__drawProgressBar(label, uploadProgress, len(groups))
self.__drawProgressBar(label, 100, 100)
# verify code
def __verify_v2(self, fw):
def __verify_v2(self, label, fw):
print("\n", end='')
self.__send(uploader.CHIP_VERIFY
+ uploader.EOC)
self.__getSync()
code = fw.image
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
verifyProgress = 0
for bytes in groups:
verifyProgress += 1
if verifyProgress % 256 == 0:
self.__drawProgressBar(label, verifyProgress, len(groups))
if (not self.__verify_multi(bytes)):
raise RuntimeError("Verification failed")
self.__drawProgressBar(label, 100, 100)
def __verify_v3(self, fw):
def __verify_v3(self, label, fw):
print("\n", end='')
self.__drawProgressBar(label, 1, 100)
expect_crc = fw.crc(self.fw_maxsize)
self.__send(uploader.GET_CRC
+ uploader.EOC)
report_crc = self.__recv_int()
self.__getSync()
verifyProgress = 0
if report_crc != expect_crc:
print("Expected 0x%x" % expect_crc)
print("Got 0x%x" % report_crc)
raise RuntimeError("Program CRC failed")
self.__drawProgressBar(label, 100, 100)
# get basic data about the board
def identify(self):
@@ -439,19 +449,16 @@ class uploader(object):
except Exception:
# ignore bad character encodings
pass
print("erase...")
self.__erase()
print("program...")
self.__program(fw)
self.__erase("Erase ")
self.__program("Program", fw)
print("verify...")
if self.bl_rev == 2:
self.__verify_v2(fw)
self.__verify_v2("Verify ", fw)
else:
self.__verify_v3(fw)
self.__verify_v3("Verify ", fw)
print("done, rebooting.")
print("\nRebooting.\n")
self.__reboot()
self.port.close()
launch/multicopter.launch
+2
View File
@@ -6,7 +6,9 @@
<node pkg="px4" name="commander" type="commander"/>
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="position_estimator" type="position_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
</group>
</launch>
makefiles/config_px4fmu-v1_default.mk
+1
View File
@@ -62,6 +62,7 @@ MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/gpio_led
MODULES += modules/land_detector
#
# Estimation modules (EKF / other filters)
makefiles/config_px4fmu-v2_default.mk
+1
View File
@@ -71,6 +71,7 @@ MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/gpio_led
MODULES += modules/uavcan
MODULES += modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
makefiles/config_px4fmu-v2_multiplatform.mk
+4 -1
View File
@@ -87,7 +87,10 @@ MODULES += modules/position_estimator_inav
#MODULES += modules/fw_att_control
# MODULES += modules/mc_att_control
MODULES += modules/mc_att_control_multiplatform
MODULES += modules/mc_pos_control
MODULES += examples/subscriber
MODULES += examples/publisher
# MODULES += modules/mc_pos_control
MODULES += modules/mc_pos_control_multiplatform
MODULES += modules/vtol_att_control
#
makefiles/config_px4fmu-v2_test.mk
+1
View File
@@ -32,6 +32,7 @@ MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/ver
MODULES += systemcmds/top
#
# System commands
makefiles/setup.mk
+1
View File
@@ -82,6 +82,7 @@ export ECHO = echo
export UNZIP_CMD = unzip
export PYTHON = python
export OPENOCD = openocd
export GREP = grep
#
# Host-specific paths, hacks and fixups
makefiles/toolchain_gnu-arm-eabi.mk
+15 -8
View File
@@ -80,13 +80,20 @@ ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
-march=armv7-m \
-mfloat-abi=soft
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
-ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
-ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
# Enabling stack checks if OS was build with them
#
TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
ifeq ("$(ENABLE_STACK_CHECKS)","0")
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions -ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
else
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 =
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
endif
# Pick the right set of flags for the architecture.
#
@@ -105,7 +112,7 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
# optimisation flags
#
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-g \
-g3 \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
msg/actuator_controls_1.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_2.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_3.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_virtual_fw.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/fw_virtual_rates_setpoint.msg
+6
View File
@@ -0,0 +1,6 @@
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/position_setpoint.msg
+35
View File
@@ -0,0 +1,35 @@
# this file is only used in the position_setpoint triple as a dependency
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
float32 x # local position setpoint in m in NED
float32 y # local position setpoint in m in NED
float32 z # local position setpoint in m in NED
bool position_valid # true if local position setpoint valid
float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid # true if yaw setpoint valid
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
float32 loiter_radius # loiter radius (only for fixed wing), in m
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
float32 a_x # acceleration x setpoint
float32 a_y # acceleration y setpoint
float32 a_z # acceleration z setpoint
bool acceleration_valid # true if acceleration setpoint is valid/should be used
bool acceleration_is_force # interprete acceleration as force
msg/position_setpoint_triplet.msg
+8
View File
@@ -0,0 +1,8 @@
# Global position setpoint triplet in WGS84 coordinates.
# This are the three next waypoints (or just the next two or one).
px4/position_setpoint previous
px4/position_setpoint current
px4/position_setpoint next
uint8 nav_state # report the navigation state
msg/templates/px4/ros/msg.h.template
+95
View File
@@ -0,0 +1,95 @@
@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# This file generates the multiplatform wrapper
@#
@# EmPy template for generating <msg>.h files
@# Based on the original template for ROS
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 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.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
cpp_class = 'px4_%s'%spec.short_name
native_type = spec.short_name
topic_name = spec.short_name
}@
#pragma once
@##############################
@# Generic Includes
@##############################
#include "px4/@(topic_name).h"
#include "platforms/px4_message.h"
@##############################
@# Class
@##############################
namespace px4
{
class @(cpp_class) :
public PX4Message<@(native_type)>
{
public:
@(cpp_class)() :
PX4Message<@(native_type)>()
{}
@(cpp_class)(@(native_type) msg) :
PX4Message<@(native_type)>(msg)
{}
~@(cpp_class)() {}
static PX4TopicHandle handle() {return "@(topic_name)";}
};
};
msg/templates/px4/uorb/msg.h.template
+95
View File
@@ -0,0 +1,95 @@
@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# This file generates the multiplatform wrapper
@#
@# EmPy template for generating <msg>.h files
@# Based on the original template for ROS
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 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.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
cpp_class = 'px4_%s'%spec.short_name
native_type = '%s_s'%spec.short_name
topic_name = spec.short_name
}@
#pragma once
@##############################
@# Generic Includes
@##############################
#include <uORB/topics/@(topic_name).h>
#include "platforms/px4_message.h"
@##############################
@# Class
@##############################
namespace px4
{
class __EXPORT @(cpp_class) :
public PX4Message<@(native_type)>
{
public:
@(cpp_class)() :
PX4Message<@(native_type)>()
{}
@(cpp_class)(@(native_type) msg) :
PX4Message<@(native_type)>(msg)
{}
~@(cpp_class)() {}
static PX4TopicHandle handle() {return ORB_ID(@(topic_name));}
};
};
msg/templates/msg.h.template → msg/templates/uorb/msg.h.template
+34 -12
View File
@@ -16,7 +16,7 @@
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2015 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
@@ -47,17 +47,14 @@
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace
cpp_class = '%s_'%spec.short_name
cpp_full_name = '%s%s'%(cpp_namespace,cpp_class)
cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name)
cpp_msg_definition = gencpp.escape_message_definition(msg_definition)
uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
}@
#pragma once
@@ -66,7 +63,7 @@ cpp_msg_definition = gencpp.escape_message_definition(msg_definition)
@# Generic Includes
@##############################
#include <stdint.h>
#include "../uORB.h"
#include <uORB/uORB.h>
@##############################
@# Includes for dependencies
@@ -80,10 +77,13 @@ for field in spec.parsed_fields():
print('#include <uORB/topics/%s.h>'%(name))
}@
@# Constants
@# Constants c style
#ifndef __cplusplus
@[for constant in spec.constants]@
#define @(constant.name) @(int(constant.val))
@[end for]
#endif
/**
* @@addtogroup topics
@@ -104,8 +104,10 @@ type_map = {'int8': 'int8_t',
'uint32': 'uint32_t',
'uint64': 'uint64_t',
'float32': 'float',
'float64': 'double',
'bool': 'bool',
'fence_vertex': 'fence_vertex'}
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint'}
# Function to print a standard ros type
def print_field_def(field):
@@ -136,13 +138,33 @@ def print_field_def(field):
print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
}
struct @(spec.short_name)_s {
#ifdef __cplusplus
@#class @(uorb_struct) {
struct __EXPORT @(uorb_struct) {
@#public:
#else
struct @(uorb_struct) {
#endif
@{
# loop over all fields and print the type and name
for field in spec.parsed_fields():
if (not field.is_header):
print_field_def(field)
}@
#ifdef __cplusplus
@# Constants again c++-ified
@{
for constant in spec.constants:
type = constant.type
if type in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};
/**
@@ -150,4 +172,4 @@ for field in spec.parsed_fields():
*/
/* register this as object request broker structure */
ORB_DECLARE(@(spec.short_name));
ORB_DECLARE(@(topic_name));
msg/vehicle_attitude.msg
-17
View File
@@ -16,20 +16,3 @@ float32[4] q # Quaternion (NED)
float32[3] g_comp # Compensated gravity vector
bool R_valid # Rotation matrix valid
bool q_valid # Quaternion valid
# secondary attitude for VTOL
float32 roll_sec # Roll angle (rad, Tait-Bryan, NED)
float32 pitch_sec # Pitch angle (rad, Tait-Bryan, NED)
float32 yaw_sec # Yaw angle (rad, Tait-Bryan, NED)
float32 rollspeed_sec # Roll angular speed (rad/s, Tait-Bryan, NED)
float32 pitchspeed_sec # Pitch angular speed (rad/s, Tait-Bryan, NED)
float32 yawspeed_sec # Yaw angular speed (rad/s, Tait-Bryan, NED)
float32 rollacc_sec # Roll angular accelration (rad/s, Tait-Bryan, NED)
float32 pitchacc_sec # Pitch angular acceleration (rad/s, Tait-Bryan, NED)
float32 yawacc_sec # Yaw angular acceleration (rad/s, Tait-Bryan, NED)
float32[3] rate_offsets_sec # Offsets of the body angular rates from zero
float32[9] R_sec # Rotation matrix, body to world, (Tait-Bryan, NED)
float32[4] q_sec # Quaternion (NED)
float32[3] g_comp_sec # Compensated gravity vector
bool R_valid_sec # Rotation matrix valid
bool q_valid_sec # Quaternion valid
msg/vehicle_global_velocity_setpoint.msg
+4
View File
@@ -0,0 +1,4 @@
# Velocity setpoint in NED frame
float32 vx # in m/s NED
float32 vy # in m/s NED
float32 vz # in m/s NED
msg/vehicle_local_position.msg
+36
View File
@@ -0,0 +1,36 @@
# Fused local position in NED.
uint64 timestamp # Time of this estimate, in microseconds since system start
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid
bool v_z_valid # true if vz is valid
# Position in local NED frame
float32 x # X position in meters in NED earth-fixed frame
float32 y # X position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
# Velocity in NED frame
float32 vx # Ground X Speed (Latitude), m/s in NED
float32 vy # Ground Y Speed (Longitude), m/s in NED
float32 vz # Ground Z Speed (Altitude), m/s in NED
# Heading
float32 yaw
# Reference position in GPS / WGS84 frame
bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
bool z_global # true if z is valid and has valid global reference (ref_alt)
uint64 ref_timestamp # Time when reference position was set
float64 ref_lat # Reference point latitude in degrees
float64 ref_lon # Reference point longitude in degrees
float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
# Distance to surface
float32 dist_bottom # Distance to bottom surface (ground)
float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
uint64 surface_bottom_timestamp # Time when new bottom surface found
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph
float32 epv
msg/vehicle_local_position_setpoint.msg
+7
View File
@@ -0,0 +1,7 @@
# Local position in NED frame
uint64 timestamp # timestamp of the setpoint
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 yaw # in radians NED -PI..+PI
nuttx-configs/aerocore/nsh/Make.defs
+3 -2
View File
@@ -62,8 +62,9 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
nuttx-configs/aerocore/nsh/defconfig
+1 -1
View File
@@ -94,7 +94,7 @@ CONFIG_ARCH_HAVE_MPU=y
# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
CONFIG_ARMV7M_STACKCHECK=y
CONFIG_ARMV7M_STACKCHECK=n
CONFIG_SERIAL_TERMIOS=y
#
nuttx-configs/px4fmu-v1/nsh/Make.defs
+3 -2
View File
@@ -62,8 +62,9 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
nuttx-configs/px4fmu-v1/nsh/defconfig
+4 -4
View File
@@ -92,7 +92,7 @@ CONFIG_ARCH_HAVE_MPU=y
#
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
CONFIG_ARMV7M_STACKCHECK=y
CONFIG_ARMV7M_STACKCHECK=n
CONFIG_SERIAL_TERMIOS=y
#
@@ -417,7 +417,7 @@ CONFIG_PREALLOC_TIMERS=50
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=3500
CONFIG_USERMAIN_STACKSIZE=3000
CONFIG_USERMAIN_STACKSIZE=2600
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
@@ -719,11 +719,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SCHED_WORKSTACKSIZE=1800
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=2048
CONFIG_SCHED_LPWORKSTACKSIZE=1800
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
nuttx-configs/px4fmu-v2/nsh/Make.defs
+3 -2
View File
@@ -62,8 +62,9 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
nuttx-configs/px4fmu-v2/nsh/defconfig
+4 -4
View File
@@ -117,7 +117,7 @@ CONFIG_ARCH_HAVE_MPU=y
#
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
CONFIG_ARMV7M_STACKCHECK=y
CONFIG_ARMV7M_STACKCHECK=n
CONFIG_SERIAL_TERMIOS=y
CONFIG_SDIO_DMA=y
CONFIG_SDIO_DMAPRIO=0x00010000
@@ -451,7 +451,7 @@ CONFIG_PREALLOC_TIMERS=50
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=3500
CONFIG_USERMAIN_STACKSIZE=3000
CONFIG_USERMAIN_STACKSIZE=2600
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
@@ -797,11 +797,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=2000
CONFIG_SCHED_WORKSTACKSIZE=1800
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=2000
CONFIG_SCHED_LPWORKSTACKSIZE=1800
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
nuttx-configs/px4io-v1/nsh/Make.defs
+5
View File
@@ -58,6 +58,11 @@ ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# use our linker script
LDSCRIPT = ld.script
nuttx-configs/px4io-v1/nsh/defconfig
+1 -1
View File
@@ -93,7 +93,7 @@ CONFIG_ARCH_DMA=y
CONFIG_ARCH_MATH_H=y
CONFIG_ARMV7M_CMNVECTOR=y
# CONFIG_ARMV7M_STACKCHECK is not set
CONFIG_ARMV7M_STACKCHECK=n
#
# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
nuttx-configs/px4io-v2/nsh/Make.defs
+5
View File
@@ -58,6 +58,11 @@ ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# use our linker script
LDSCRIPT = ld.script
nuttx-configs/px4io-v2/nsh/defconfig
+1 -1
View File
@@ -89,7 +89,7 @@ CONFIG_ARCH_DMA=y
CONFIG_ARCH_MATH_H=y
CONFIG_ARMV7M_CMNVECTOR=y
CONFIG_ARMV7M_STACKCHECK=n
#
# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
#
src/drivers/ardrone_interface/ardrone_interface.c
+4
View File
@@ -55,6 +55,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
src/drivers/ardrone_interface/ardrone_motor_control.c
+3 -2
View File
@@ -339,7 +339,8 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor
outputs.output[3] = motor4;
static orb_advert_t pub = 0;
if (pub == 0) {
pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs);
/* advertise to channel 0 / primary */
pub = orb_advertise(ORB_ID(actuator_outputs), &outputs);
}
if (hrt_absolute_time() - last_motor_time > min_motor_interval) {
@@ -350,7 +351,7 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor
fsync(ardrone_fd);
/* publish just written values */
orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs);
orb_publish(ORB_ID(actuator_outputs), pub, &outputs);
if (ret == sizeof(buf)) {
return OK;

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