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NcerzzkNcerzzk
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fix to match with latest PX4
Signed-off-by: ncerzzk <huangcmzzk@gmail.com>
1 parent e6edae1 commit e5bccaf

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14 files changed

+328
-1181
lines changed

14 files changed

+328
-1181
lines changed

‎ROMFS/px4fmu_common/init.d/airframes/3001_generic_wing_with_2rotors‎

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,27 @@
1+
#!/bin/sh
2+
#
3+
# @name Generic Flying Wing
4+
#
5+
# @type Flying Wing
6+
# @class Plane
7+
#
8+
# @board bitcraze_crazyflie exclude
9+
#
10+
11+
. ${R}etc/init.d/rc.fw_defaults
12+
13+
param set-default CA_AIRFRAME 1
14+
15+
param set-default CA_ROTOR_COUNT 2
16+
param set-default CA_ROTOR0_PX -0.15
17+
param set-default CA_ROTOR0_PY -0.15
18+
param set-default CA_ROTOR1_PX -0.15
19+
param set-default CA_ROTOR1_PY 0.15
20+
21+
param set-default CA_SV_CS_COUNT 2
22+
param set-default CA_SV_CS0_TYPE 5
23+
param set-default CA_SV_CS0_TRQ_P 0.5
24+
param set-default CA_SV_CS0_TRQ_R -0.5
25+
param set-default CA_SV_CS1_TYPE 6
26+
param set-default CA_SV_CS1_TRQ_P 0.5
27+
param set-default CA_SV_CS1_TRQ_R 0.5

‎ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@ px4_add_romfs_files(
4949

5050
# [3000, 3999] Flying wing"
5151
3000_generic_wing
52+
3001_generic_wing_with_2rotors
5253

5354
# [4000, 4999] Quadrotor x"
5455
4001_quad_x

‎boards/autopilotpi/v3s/default.px4board‎

Lines changed: 13 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,21 @@
11
CONFIG_PLATFORM_POSIX=y
2-
CONFIG_BOARD_LINUX=y
2+
CONFIG_BOARD_LINUX_TARGET=y
33
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
44
CONFIG_BOARD_ARCHITECTURE="cortex-a7"
55
CONFIG_BOARD_TESTING=y
66
CONFIG_DRIVERS_ADC_ADS1115=y
7+
CONFIG_COMMON_BAROMETERS=y
78
CONFIG_DRIVERS_BATT_SMBUS=y
89
CONFIG_COMMON_DISTANCE_SENSOR=y
910
CONFIG_DRIVERS_GPS=y
11+
CONFIG_COMMON_IMU=y
1012
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
1113
CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
14+
CONFIG_COMMON_MAGNETOMETER=y
1215
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
1316
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
14-
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
17+
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
1518
CONFIG_DRIVERS_FPGA_SPI_PWM_OUT=y
16-
CONFIG_DRIVERS_FPGA_I2C_PWM_OUT=y
17-
CONFIG_DRIVERS_PWM_OUT_SIM=n
1819
CONFIG_DRIVERS_RC_INPUT=y
1920
CONFIG_DRIVERS_RPI_RC_IN=y
2021
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -23,14 +24,17 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
2324
CONFIG_MODULES_BATTERY_STATUS=y
2425
CONFIG_MODULES_CAMERA_FEEDBACK=y
2526
CONFIG_MODULES_COMMANDER=y
27+
CONFIG_MODULES_CONTROL_ALLOCATOR=y
2628
CONFIG_MODULES_DATAMAN=y
2729
CONFIG_MODULES_EKF2=y
2830
CONFIG_MODULES_ESC_BATTERY=y
2931
CONFIG_MODULES_EVENTS=y
3032
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
3133
CONFIG_MODULES_FW_ATT_CONTROL=y
3234
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
33-
CONFIG_MODULES_FW_POS_CONTROL_L1=y
35+
CONFIG_MODULES_FW_POS_CONTROL=y
36+
CONFIG_MODULES_FW_RATE_CONTROL=y
37+
CONFIG_MODULES_GIMBAL=y
3438
CONFIG_MODULES_GYRO_CALIBRATION=y
3539
CONFIG_MODULES_GYRO_FFT=y
3640
CONFIG_MODULES_LAND_DETECTOR=y
@@ -46,28 +50,22 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
4650
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
4751
CONFIG_MODULES_MC_POS_CONTROL=y
4852
CONFIG_MODULES_MC_RATE_CONTROL=y
49-
CONFIG_MODULES_CONTROL_ALLOCATOR=y
5053
CONFIG_MODULES_NAVIGATOR=y
5154
CONFIG_MODULES_RC_UPDATE=y
5255
CONFIG_MODULES_ROVER_POS_CONTROL=y
5356
CONFIG_MODULES_SENSORS=y
54-
CONFIG_MODULES_SIH=y
57+
CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
58+
CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
59+
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
5560
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
5661
CONFIG_MODULES_UUV_ATT_CONTROL=y
5762
CONFIG_MODULES_UUV_POS_CONTROL=y
58-
CONFIG_MODULES_VMOUNT=y
5963
CONFIG_MODULES_VTOL_ATT_CONTROL=y
64+
CONFIG_SYSTEMCMDS_BSONDUMP=y
6065
CONFIG_SYSTEMCMDS_DYN=y
61-
CONFIG_I2C=y
62-
CONFIG_SPI=y
63-
CONFIG_SYSTEMCMDS_ESC_CALIB=y
6466
CONFIG_SYSTEMCMDS_LED_CONTROL=y
65-
CONFIG_SYSTEMCMDS_MIXER=y
66-
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
67-
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
6867
CONFIG_SYSTEMCMDS_PARAM=y
6968
CONFIG_SYSTEMCMDS_PERF=y
70-
CONFIG_SYSTEMCMDS_PWM=y
7169
CONFIG_SYSTEMCMDS_SD_BENCH=y
7270
CONFIG_SYSTEMCMDS_SHUTDOWN=y
7371
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -80,10 +78,7 @@ CONFIG_EXAMPLES_DYN_HELLO=y
8078
CONFIG_EXAMPLES_FAKE_GPS=y
8179
CONFIG_EXAMPLES_FAKE_IMU=y
8280
CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
83-
CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
8481
CONFIG_EXAMPLES_HELLO=y
8582
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
8683
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
87-
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
88-
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
8984
CONFIG_EXAMPLES_WORK_ITEM=y

‎posix-configs/autopilotpi/v3s.config‎

Lines changed: 16 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -3,50 +3,30 @@
33
# (px4-alias.sh is expected to be in the PATH)
44
. px4-alias.sh
55

6+
# navio config for FW
67

7-
if [ -f eeprom/parameters ]
8-
then
9-
param load eeprom/parameters
10-
fi
11-
param set SYS_AUTOCONFIG 0
12-
param select eeprom/parameters
8+
param select parameters.bson
9+
param import
10+
# system_power not implemented
1311
param set CBRK_SUPPLY_CHK 894281
14-
param set SYS_AUTOSTART 4001
15-
param set MAV_TYPE 2
1612

17-
param set COM_FLTMODE1 8
18-
param set COM_FLTMODE2 8
19-
param set COM_FLTMODE3 8
20-
param set COM_FLTMODE4 8
21-
param set COM_FLTMODE5 8
22-
param set COM_FLTMODE6 8
23-
param set COM_RC_LOSS_T 15
13+
param set-default BAT1_V_DIV 5.7
14+
15+
# always keep current config
16+
param set SYS_AUTOCONFIG 0
17+
# useless but required for parameter completeness
18+
param set MAV_TYPE 2
19+
param set SYS_AUTOSTART 4001
2420

2521
# Multi-EKF
2622
param set EKF2_MULTI_IMU 2
2723
param set SENS_IMU_MODE 0
28-
param set PWM_MAIN_RATE 8000
29-
30-
param set PWM_MAIN_MAX1 10000
31-
param set PWM_MAIN_MAX2 10000
32-
param set PWM_MAIN_MAX3 10000
33-
param set PWM_MAIN_MAX4 10000
34-
35-
36-
param set PWM_MAIN_MIN1 0
37-
param set PWM_MAIN_MIN2 0
38-
param set PWM_MAIN_MIN3 0
39-
param set PWM_MAIN_MIN4 0
40-
41-
42-
param set PWM_MAIN_DIS1 0
43-
param set PWM_MAIN_DIS2 0
44-
param set PWM_MAIN_DIS3 0
45-
param set PWM_MAIN_DIS4 0
4624

4725
dataman start
4826
load_mon start
4927

28+
battery_status start
29+
5030
spl06 -X -a 0x77 start
5131
qmc5883l -X start
5232
icm20602 -s start
@@ -65,11 +45,11 @@ mc_att_control start
6545
mc_rate_control start
6646

6747
mavlink start -x -d /dev/ttyS1
68-
mavlink start -u 14556 -p
48+
mavlink start -x -u 14556 -p
6949

7050
rc_input start -d /dev/ttyS2
71-
fpga_i2c_pwm_out start
72-
mixer load /dev/pwm_output etc/mixers/quad_x.main.mix
51+
fpga_pwm_out start -b 0 -s 2
52+
control_allocator start
7353
logger start -t -b 200
7454

7555
mavlink boot_complete

‎posix-configs/autopilotpi/wing.config‎

Lines changed: 19 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -4,63 +4,49 @@
44
. px4-alias.sh
55

66

7-
if [ -f eeprom/parameters ]
8-
then
9-
param load eeprom/parameters
10-
fi
11-
param set SYS_AUTOCONFIG 0
12-
param select eeprom/parameters
7+
param select parameters.bson
8+
param import
9+
# system_power not implemented
1310
param set CBRK_SUPPLY_CHK 894281
14-
param set SYS_AUTOSTART 3000
15-
param set MAV_TYPE 1
1611

17-
param set COM_FLTMODE1 8
18-
param set COM_FLTMODE2 8
19-
param set COM_FLTMODE3 8
20-
param set COM_FLTMODE4 8
21-
param set COM_FLTMODE5 8
22-
param set COM_FLTMODE6 8
23-
param set COM_RC_LOSS_T 15
24-
param set CBRK_AIRSPD_CHK 162128
25-
param set COM_DISARM_PRELT -1
12+
param set-default BAT1_V_DIV 5.7
13+
14+
# always keep current config
15+
param set SYS_AUTOCONFIG 0
16+
param set SYS_AUTOSTART 3001
17+
param set MAV_TYPE 1
2618

2719
# Multi-EKF
2820
param set EKF2_MULTI_IMU 2
2921
param set SENS_IMU_MODE 0
30-
param set PWM_MAIN_RATE 200
31-
param set PWM_AUX_RATE 10000
32-
param set PWM_AUX_OUT 26
33-
param set PWM_AUX_MAX2 10000
34-
param set PWM_AUX_MAX6 10000
35-
param set PWM_AUX_MIN2 0
36-
param set PWM_AUX_MIN6 0
37-
param set PWM_AUX_DIS2 0
38-
param set PWM_AUX_DIS6 0
22+
23+
. etc/init.d/airframes/3001_generic_wing_with_2rotors
3924

4025
dataman start
4126
load_mon start
4227

28+
battery_status start
29+
4330
spl06 -X -a 0x77 start
4431
qmc5883l -X start
45-
icm20602 -s -m 0 start
32+
icm20602 -m 0 -s start
4633

4734
rc_update start
4835
sensors start
4936
commander start
5037
navigator start
5138
ekf2 start
52-
#land_detector start multicopter
53-
#mc_hover_thrust_estimator start
5439
flight_mode_manager start
5540
manual_control start
5641
fw_att_control start
42+
fw_pos_control start
43+
fw_rate_control start
5744

58-
#mavlink start -x -d /dev/ttyS1
59-
mavlink start -u 14556
45+
mavlink start -x -u 14556 -p
6046

6147
rc_input start -d /dev/ttyS1
62-
fpga_pwm_out -s -m 0 -p 4 start
63-
mixer load /dev/pwm_output0 etc/mixers/my_wing.main.mix
48+
fpga_pwm_out start -b 0 -s 2
49+
control_allocator start
6450
logger start -t -b 200
6551

6652
mavlink boot_complete

‎src/drivers/fpga_spi_pwm_out/CMakeLists.txt‎

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -35,13 +35,10 @@ px4_add_module(
3535
MAIN fpga_pwm_out
3636
COMPILE_FLAGS
3737
SRCS
38-
#main.cpp
39-
#fpga_i2c_pwm_out.cpp
4038
fpga_spi_pwm_out.cpp
41-
fpga_pwm_main.cpp
39+
main.cpp
4240
MODULE_CONFIG
4341
module.yaml
4442
DEPENDS
45-
mixer
4643
mixer_module
4744
)

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