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Merge remote-tracking branch 'upstream/master' into new_state_machine

Browse Source 
Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c
This commit is contained in:
Julian Oes
2013-05-17 11:24:02 +02:00
parent 80e8eeab29 fa816d0fd6
commit f5c157e74d
807 changed files with 29830 additions and 4208 deletions
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.gitignore
+6 -1
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@@ -1,4 +1,5 @@
.built
.context
*.context
*.bdat
*.pdat
@@ -43,7 +44,6 @@ nuttx/nuttx.hex
.settings
Firmware.sublime-workspace
.DS_Store
nsh_romfsimg.h
cscope.out
.configX-e
nuttx-export.zip
@@ -55,3 +55,8 @@ mavlink/include/mavlink/v0.9/
core
.gdbinit
mkdeps
Archives
Build
!ROMFS/*/*.d
!ROMFS/*/*/*.d
!ROMFS/*/*/*/*.d
Documentation/control_flow.graffle
+16650
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File diff suppressed because it is too large Load Diff
Makefile
+164 -118
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@@ -1,43 +1,53 @@
#
# 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.
#
#
# Top-level Makefile for building PX4 firmware images.
#
#
# Note that this is a transitional process; the eventual goal is for this
# project to slim down and simply generate PX4 link kits via the NuttX
# 'make export' mechanism.
#
#
#
# Some useful paths.
# Get path and tool configuration
#
export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
export NUTTX_SRC = $(PX4BASE)/nuttx
export NUTTX_APPS = $(PX4BASE)/apps
export MAVLINK_SRC = $(PX4BASE)/mavlink
export ROMFS_SRC = $(PX4BASE)/ROMFS
export IMAGE_DIR = $(PX4BASE)/Images
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Tools
# Canned firmware configurations that we build.
#
MKFW = $(PX4BASE)/Tools/px_mkfw.py
UPLOADER = $(PX4BASE)/Tools/px_uploader.py
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
#
# What are we currently configured for?
# Boards that we build NuttX export kits for.
#
CONFIGURED = $(PX4BASE)/.configured
ifneq ($(wildcard $(CONFIGURED)),)
export TARGET := $(shell cat $(CONFIGURED))
endif
#
# What we will build
#
FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4
FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin
FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
#
# Debugging
@@ -45,120 +55,156 @@ FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
MQUIET = --no-print-directory
#MQUIET = --print-directory
all: $(FIRMWARE_BUNDLE)
################################################################################
# No user-serviceable parts below
################################################################################
#
# Generate a wrapped .px4 file from the built binary
# If the user has listed a config as a target, strip it out and override CONFIGS.
#
$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
@echo Generating $@
@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
--git_identity $(PX4BASE) \
--image $(FIRMWARE_BINARY) > $@
FIRMWARE_GOAL = firmware
EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_CONFIGS),)
CONFIGS := $(EXPLICIT_CONFIGS)
.PHONY: $(EXPLICIT_CONFIGS)
$(EXPLICIT_CONFIGS): all
#
# Build the firmware binary.
# If the user has asked to upload, they must have also specified exactly one
# config.
#
.PHONY: $(FIRMWARE_BINARY)
$(FIRMWARE_BINARY): setup_$(TARGET) configure-check
@echo Building $@ for $(TARGET)
@make -C $(NUTTX_SRC) -r $(MQUIET) all
@cp $(NUTTX_SRC)/nuttx.bin $@
#
# The 'configure' targets select one particular firmware configuration
# and makes it current.
#
configure_px4fmu:
@echo Configuring for px4fmu
@make -C $(PX4BASE) distclean
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
@echo px4fmu > $(CONFIGURED)
configure_px4io:
@echo Configuring for px4io
@make -C $(PX4BASE) distclean
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
@echo px4io > $(CONFIGURED)
configure-check:
ifeq ($(wildcard $(CONFIGURED)),)
@echo
@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
@echo
@exit 1
ifneq ($(filter upload,$(MAKECMDGOALS)),)
ifneq ($(words $(EXPLICIT_CONFIGS)),1)
$(error In order to upload, exactly one board config must be specified)
endif
FIRMWARE_GOAL = upload
.PHONY: upload
upload:
@:
endif
endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
#
# Per-configuration additional targets
# Copy FIRMWARES into the image directory.
#
.PHONY: px4fmu_setup
setup_px4fmu:
@echo Generating ROMFS
@make -C $(ROMFS_SRC) all
setup_px4io:
# fake target to make configure-check happy if TARGET is not set
setup_:
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@echo %% Copying $@
$(Q) $(COPY) $< $@
#
# Firmware uploading.
# Generate FIRMWARES.
#
.PHONY: $(FIRMWARES)
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@echo %%%%
@echo %%%% Building $(config) in $(work_dir)
@echo %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
# serial port defaults by operating system.
SYSTYPE = $(shell uname)
ifeq ($(SYSTYPE),Darwin)
SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
endif
ifeq ($(SYSTYPE),Linux)
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
endif
ifeq ($(SERIAL_PORTS),)
SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
#
# Build the NuttX export archives.
#
# Note that there are no explicit dependencies extended from these
# archives. If NuttX is updated, the user is expected to rebuild the
# archives/build area manually. Likewise, when the 'archives' target is
# invoked, all archives are always rebuilt.
#
# XXX Should support fetching/unpacking from a separate directory to permit
# downloads of the prebuilt archives as well...
#
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
#
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
.PHONY: archives
archives: $(NUTTX_ARCHIVES)
# We cannot build these parallel; note that we also force -j1 for the
# sub-make invocations.
ifneq ($(filter archives,$(MAKECMDGOALS)),)
.NOTPARALLEL:
endif
upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
$(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
#
# JTAG firmware uploading with OpenOCD
#
ifeq ($(JTAGCONFIG),)
JTAGCONFIG=interface/olimex-jtag-tiny.cfg
endif
upload-jtag-px4fmu:
@echo Attempting to flash PX4FMU board via JTAG
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
upload-jtag-px4io: all
@echo Attempting to flash PX4IO board via JTAG
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
#
# Hacks and fixups
#
ifeq ($(SYSTYPE),Darwin)
# PATH inherited by Eclipse may not include toolchain install location
export PATH := $(PATH):/usr/local/bin
endif
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh)
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
@echo %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@echo %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
$(Q) mkdir -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
#
# Cleanup targets. 'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything
# that's generated leaving only files that are in source control.
#
.PHONY: clean upload-jtag-px4fmu
.PHONY: clean
clean:
@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
@make -C $(ROMFS_SRC) -r $(MQUIET) clean
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
.PHONY: distclean
distclean:
@rm -f $(CONFIGURED)
@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
#
# Print some help text
#
.PHONY: help
help:
@echo ""
@echo " PX4 firmware builder"
@echo " ===================="
@echo ""
@echo " Available targets:"
@echo " ------------------"
@echo ""
@echo " archives"
@echo " Build the NuttX RTOS archives that are used by the firmware build."
@echo ""
@echo " all"
@echo " Build all firmware configs: $(CONFIGS)"
@echo " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@echo ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
done
@echo " clean"
@echo " Remove all firmware build pieces."
@echo ""
@echo " distclean"
@echo " Remove all compilation products, including NuttX RTOS archives."
@echo ""
@echo " upload"
@echo " When exactly one config is being built, add this target to upload the"
@echo " firmware to the board when the build is complete. Not supported for"
@echo " all configurations."
@echo ""
@echo " Common options:"
@echo " ---------------"
@echo ""
@echo " V=1"
@echo " If V is set, more verbose output is printed during the build. This can"
@echo " help when diagnosing issues with the build or toolchain."
@echo ""
ROMFS/.gitignore
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@@ -1 +0,0 @@
/img
ROMFS/Makefile
-122
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@@ -1,122 +0,0 @@
#
# Makefile to generate a PX4FMU ROMFS image.
#
# In normal use, 'make install' will generate a new ROMFS header and place it
# into the px4fmu configuration in the appropriate location.
#
#
# Directories of interest
#
SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST)))
BUILDROOT ?= $(SRCROOT)/img
ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
#
# List of files to install in the ROMFS, specified as <source>~<destination>
#
ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
$(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
$(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
$(SRCROOT)/logging/logconv.m~logging/logconv.m
# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
# to ROMFS.
ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
#
# Add the PX4IO firmware to the spec if someone has dropped it into the
# source directory, or otherwise specified its location.
#
# Normally this is only something you'd do when working on PX4IO; most
# users will upgrade with firmware off the microSD card.
#
PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin
ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin
endif
################################################################################
# No user-serviceable parts below
################################################################################
#
# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
# exist
#
ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
#
# Just the destination directories from the ROMFS spec
#
ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
#
# Intermediate products
#
ROMFS_IMG = $(BUILDROOT)/romfs.img
ROMFS_WORKDIR = $(BUILDROOT)/romfs
#
# Convenience target for rebuilding the ROMFS header
#
all: $(ROMFS_HEADER)
$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
@echo Generating the ROMFS header...
@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@
$(ROMFS_IMG): $(ROMFS_WORKDIR)
@echo Generating the ROMFS image...
@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
@echo Rebuilding the ROMFS work area...
@rm -rf $(ROMFS_WORKDIR)
@mkdir -p $(ROMFS_WORKDIR)
@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
@for spec in $(ROMFS_FSSPEC) ; do \
echo $$spec | sed -e 's%^.*~% %' ;\
`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
done
$(BUILDROOT):
@mkdir -p $(BUILDROOT)
clean:
@rm -rf $(BUILDROOT)
distclean: clean
@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
.PHONY: all install clean distclean
#
# Hacks and fixups
#
SYSTYPE = $(shell uname)
ifeq ($(SYSTYPE),Darwin)
# PATH inherited by Eclipse may not include toolchain install location
export PATH := $(PATH):/usr/local/bin
endif
ROMFS/logging/logconv.m
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@@ -1,224 +0,0 @@
% This Matlab Script can be used to import the binary logged values of the
% PX4FMU into data that can be plotted and analyzed.
% Clear everything
clc
clear all
close all
% Set the path to your sysvector.bin file here
filePath = 'sysvector.bin';
% Work around a Matlab bug (not related to PX4)
% where timestamps from 1.1.1970 do not allow to
% read the file's size
if ismac
system('touch -t 201212121212.12 sysvector.bin');
end
%%%%%%%%%%%%%%%%%%%%%%%
% SYSTEM VECTOR
%
% //All measurements in NED frame
%
% uint64_t timestamp; //[us]
% float gyro[3]; //[rad/s]
% float accel[3]; //[m/s^2]
% float mag[3]; //[gauss]
% float baro; //pressure [millibar]
% float baro_alt; //altitude above MSL [meter]
% float baro_temp; //[degree celcius]
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
% float vbat; //battery voltage in [volt]
% float bat_current - current drawn from battery at this time instant
% float bat_discharged - discharged energy in mAh
% float adc[4]; //ADC ports [volt]
% float local_position[3]; //tangent plane mapping into x,y,z [m]
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
% float attitude[3]; //pitch, roll, yaw [rad]
% float rotMatrix[9]; //unitvectors
% float actuator_control[4]; //unitvector
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
% float diff_pressure; - pressure difference in millibar
% float ind_airspeed;
% float true_airspeed;
% Definition of the logged values
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
% First get length of one line
columns = length(logFormat);
lineLength = 0;
for i=1:columns
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
end
if exist(filePath, 'file')
fileInfo = dir(filePath);
fileSize = fileInfo.bytes;
elements = int64(fileSize./(lineLength));
fid = fopen(filePath, 'r');
offset = 0;
for i=1:columns
% using fread with a skip speeds up the import drastically, do not
% import the values one after the other
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
fid, ...
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
logFormat{i}.machineformat) ...
);
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
fseek(fid, offset,'bof');
end
% shot the flight time
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
time_s = time_us*1e-6;
time_m = time_s/60;
% close the logfile
fclose(fid);
disp(['end log2matlab conversion' char(10)]);
else
disp(['file: ' filePath ' does not exist' char(10)]);
end
%% Plot GPS RAW measurements
% Only plot GPS data if available
if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
figure('units','normalized','outerposition',[0 0 1 1])
plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
end
%% Plot optical flow trajectory
flow_sz = size(sysvector.timestamp);
flow_elements = flow_sz(1);
xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
%calc dt
dt = zeros(flow_elements,1);
for i = 1:flow_elements-1
dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s]
end
dt(1,1) = mean(dt);
global_speed = zeros(flow_elements,3);
%calc global speed (with rot matrix)
for i = 1:flow_elements
rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
speedX = sysvector.optical_flow(i,3);
speedY = sysvector.optical_flow(i,4);
relSpeed = [-speedY,speedX,0];
global_speed(i,:) = relSpeed * rotM;
end
px = zeros(flow_elements,1);
py = zeros(flow_elements,1);
distance = 0;
last_vx = 0;
last_vy = 0;
elem_cnt = 0;
% Very basic accumulation, stops on bad flow quality
for i = 1:flow_elements
if sysvector.optical_flow(i,6) > 5
px(i,1) = global_speed(i,1)*dt(i,1);
py(i,1) = global_speed(i,2)*dt(i,1);
distance = distance + norm([px(i,1) py(i,1)]);
last_vx = px(i,1);
last_vy = py(i,1);
else
px(i,1) = last_vx;
py(i,1) = last_vy;
last_vx = last_vx*0.95;
last_vy = last_vy*0.95;
end
end
px_sum = cumsum(px);
py_sum = cumsum(py);
time = cumsum(dt);
figure()
set(gca, 'Units','normal');
plot(py_sum, px_sum, '-blue', 'LineWidth',2);
axis equal;
% set title and axis captions
xlabel('X position (meters)','fontsize',14)
ylabel('Y position (meters)','fontsize',14)
% mark begin and end
hold on
plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
'MarkerEdgeColor','k',...
'MarkerFaceColor','g',...
'MarkerSize',10)
hold on
plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
'MarkerEdgeColor','k',...
'MarkerFaceColor','b',...
'MarkerSize',10)
% add total length as annotation
set(gca,'fontsize',13);
legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
title('Optical Flow Position Integration', 'fontsize', 15);
figure()
plot(time, sysvector.optical_flow(:,5), 'blue');
axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
xlabel('seconds','fontsize',14);
ylabel('m','fontsize',14);
set(gca,'fontsize',13);
title('Ultrasound Altitude', 'fontsize', 15);
figure()
plot(time, global_speed(:,2), 'red');
hold on;
plot(time, global_speed(:,1), 'blue');
legend('y velocity (m/s)', 'x velocity (m/s)');
xlabel('seconds','fontsize',14);
ylabel('m/s','fontsize',14);
set(gca,'fontsize',13);
title('Optical Flow Velocity', 'fontsize', 15);
ROMFS/scripts/rc.FMU_quad_x → ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
+3 -3
View File
@@ -20,10 +20,10 @@ uorb start
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/parameters
param load /fs/microsd/params
fi
#
ROMFS/px4fmu_common/init.d/rc.IO_QUAD
+107
View File
@@ -0,0 +1,107 @@
#!nsh
# Disable USB and autostart
set USB no
set MODE quad
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
multirotor_att_control start
#
# Start logging
#
#sdlog start -s 4
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
ROMFS/px4fmu_common/init.d/rc.PX4IO
+107
View File
@@ -0,0 +1,107 @@
#!nsh
# Disable USB and autostart
set USB no
set MODE camflyer
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
#sdlog start -s 4
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
ROMFS/scripts/rc.PX4IOAR → ROMFS/px4fmu_common/init.d/rc.PX4IOAR
+19 -18
View File
@@ -2,10 +2,10 @@
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
@@ -17,21 +17,26 @@ echo "[init] doing PX4IOAR startup..."
uorb start
#
# Init the parameter storage
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/parameters
param load /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
@@ -54,11 +59,6 @@ commander start
#
attitude_estimator_ekf start
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the multi rotor attitude controller
#
@@ -68,17 +68,17 @@ multirotor_att_control start
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start GPS capture
#
gps start
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
@@ -95,4 +95,5 @@ fi
# use the same UART for telemetry
#
echo "[init] startup done"
exit
exit
ROMFS/scripts/rc.boarddetect → ROMFS/px4fmu_common/init.d/rc.boarddetect
View File
ROMFS/scripts/rc.hil → ROMFS/px4fmu_common/init.d/rc.hil
+14 -3
View File
@@ -17,10 +17,10 @@ hil mode_pwm
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/parameters
param load /fs/microsd/params
fi
#
@@ -35,6 +35,17 @@ param set MAV_TYPE 1
#
commander start
#
# Check if we got an IO
#
if [ px4io start ]
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
end
#
# Start the sensors (depends on orb, px4io)
#
ROMFS/scripts/rc.jig → ROMFS/px4fmu_common/init.d/rc.jig
View File
ROMFS/scripts/rc.logging → ROMFS/px4fmu_common/init.d/rc.logging
View File
ROMFS/scripts/rc.sensors → ROMFS/px4fmu_common/init.d/rc.sensors
+8
View File
@@ -7,6 +7,14 @@
# Start sensor drivers here.
#
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
ms5611 start
adc start
ROMFS/scripts/rc.standalone → ROMFS/px4fmu_common/init.d/rc.standalone
View File
ROMFS/scripts/rc.usb → ROMFS/px4fmu_common/init.d/rc.usb
View File
ROMFS/scripts/rcS → ROMFS/px4fmu_common/init.d/rcS
+6 -2
View File
@@ -21,9 +21,9 @@ set MODE autostart
set USB autoconnect
#
# Start playing the startup tune
#
tone_alarm start
#
# Try to mount the microSD card.
@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
fi
#
ROMFS/px4fmu_common/logging/logconv.m
+586
View File
File diff suppressed because it is too large Load Diff
ROMFS/mixers/FMU_AERT.mix → ROMFS/px4fmu_common/mixers/FMU_AERT.mix
View File
ROMFS/mixers/FMU_AET.mix → ROMFS/px4fmu_common/mixers/FMU_AET.mix
View File
ROMFS/mixers/FMU_Q.mix → ROMFS/px4fmu_common/mixers/FMU_Q.mix
View File
ROMFS/mixers/FMU_RET.mix → ROMFS/px4fmu_common/mixers/FMU_RET.mix
View File
ROMFS/mixers/FMU_X5.mix → ROMFS/px4fmu_common/mixers/FMU_X5.mix
View File
ROMFS/px4fmu_common/mixers/FMU_delta.mix
+50
View File
@@ -0,0 +1,50 @@
Delta-wing mixer for PX4FMU
===========================
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 3000 5000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 3000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/mixers/FMU_hex_+.mix → ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
View File
ROMFS/mixers/FMU_hex_x.mix → ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
View File
ROMFS/mixers/FMU_octo_+.mix → ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
View File
ROMFS/mixers/FMU_octo_x.mix → ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
View File
ROMFS/mixers/FMU_pass.mix → ROMFS/px4fmu_common/mixers/FMU_pass.mix
View File
ROMFS/mixers/FMU_quad_+.mix → ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
View File
ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
+7
View File
@@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in the V configuration. All controls
are mixed 100%.
R: 4v 10000 10000 10000 0
ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
+6
View File
@@ -0,0 +1,6 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
R: 4w 10000 10000 10000 0
ROMFS/mixers/FMU_quad_x.mix → ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
View File
ROMFS/mixers/README → ROMFS/px4fmu_common/mixers/README
View File
ROMFS/scripts/rc.PX4IO
-80
View File
@@ -1,80 +0,0 @@
#!nsh
# Disable USB and autostart
set USB no
set MODE camflyer
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator
#
kalman_demo start
#
# Start PX4IO interface
#
px4io start
#
# Load mixer and start controllers
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog start -s 10
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
Tools/px_uploader.py
+294 -293
View File
File diff suppressed because it is too large Load Diff
apps/drivers/l3gd20/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Makefile to build the L3GD20 driver.
#
APPNAME = l3gd20
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/drivers/mpu6000/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Makefile to build the BMA180 driver.
#
APPNAME = mpu6000
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
apps/drivers/stm32/adc/Makefile
-43
View File
@@ -1,43 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# STM32 ADC driver
#
APPNAME = adc
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
apps/drivers/stm32/tone_alarm/Makefile
-43
View File
@@ -1,43 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Tone alarm driver
#
APPNAME = tone_alarm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
apps/examples/Makefile
-1
View File
@@ -38,7 +38,6 @@
# Sub-directories
SUBDIRS = adc can cdcacm nsh
SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app
#SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
#SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
apps/examples/control_demo/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Basic example application
#
APPNAME = control_demo
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/examples/kalman_demo/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Basic example application
#
APPNAME = kalman_demo
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/examples/nsh/Makefile
+2
View File
@@ -64,6 +64,8 @@ ROOTDEPPATH = --dep-path .
VPATH =
MAXOPTIMIZATION = -Os
all: .built
.PHONY: clean depend distclean
apps/examples/px4_deamon_app/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Basic example application
#
APPNAME = px4_deamon_app
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/examples/px4_mavlink_debug/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Basic example application
#
APPNAME = px4_mavlink_debug
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/examples/px4_simple_app/Makefile
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Basic example application
#
APPNAME = px4_simple_app
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/fixedwing_att_control/Makefile
-45
View File
@@ -1,45 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Fixedwing Control application
#
APPNAME = fixedwing_att_control
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
include $(APPDIR)/mk/app.mk
apps/fixedwing_pos_control/Makefile
-45
View File
@@ -1,45 +0,0 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
#
# Fixedwing Control application
#
APPNAME = fixedwing_pos_control
PRIORITY = SCHED_PRIORITY_MAX - 30
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
include $(APPDIR)/mk/app.mk

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