Merge pull request #2 from PX4/master

合并主分支
PX4 · Mar 21, 2017 · 1ba268a · 1ba268a
2 parents a7d9e1d + 8f1e851
commit 1ba268a
Show file tree

Hide file tree

Showing 172 changed files with 2,943 additions and 2,883 deletions.
diff --git a/Debug/poor-mans-profiler.sh b/Debug/poor-mans-profiler.sh
@@ -1,12 +1,20 @@
 #!/bin/bash
 #
+# Author: Pavel Kirienko <[email protected]>
+#
 # 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.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
+#
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
 #
-# Requirements: ARM GDB with Python support
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
 #
 
 set -e
@@ -33,7 +41,7 @@ which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
 nsamples=0
 sleeptime=0.1    # Doctors recommend 7-8 hours a day
 taskname=
-elf=$root/Build/px4fmu-v2_default.build/firmware.elf
+elf=
 append=0
 fgfontsize=10
 fgwidth=1900
@@ -69,6 +77,8 @@ do
     shift
 done
 
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
 #
 # Temporary files
 #
@@ -237,8 +247,8 @@ for s, f in sorted(stacks.items(), key=lambda (s, f): s):
 
 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)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
 EOF
 
 cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile

diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -25,4 +25,5 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
+set MIXER quad_x_can
 set OUTPUT_MODE uavcan_esc
diff --git a/ROMFS/px4fmu_common/mixers/quad_x_can.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_can.main.mix
@@ -0,0 +1 @@
+R: 4x 10000 10000 10000 0
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
@@ -8,7 +8,7 @@ uorb start
 
 if rgbled start
 then
-	rgbled rgb 20 20 255
+	led_control on -c blue
 fi
 
 if sercon
@@ -122,11 +122,11 @@ if tests all
 then
 	echo
 	echo "All Unit Tests PASSED"
-	rgbled rgb 20 255 20
+	led_control on -c green
 else
 	echo
 	echo "Some Unit Tests FAILED"
-	rgbled rgb 255 20 20
+	led_control on -c red
 fi
 
 free
diff --git a/Tools/jMAVSim b/Tools/jMAVSim
diff --git a/Tools/sdlog2/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py
@@ -4,7 +4,9 @@
 
 """Dump binary log generated by PX4's sdlog2 or APM as CSV
     
-Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
+Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[_field1,field2,...]]
+
+Example Usage: python sdlog2_dump.py log.bin -m GPS_Lat,Lng -m AHR2_Roll,Pitch,Yaw
     
     -v  Use plain debug output instead of CSV.
     
@@ -14,9 +16,10 @@
     
     -n  Use "null" as placeholder for empty values in CSV. Default is empty.
     
-    -m MSG[.field1,field2,...]
+    -m MSG[_field1,field2,...]
         Dump only messages of specified type, and only specified fields.
-        Multiple -m options allowed."""
+        Multiple -m options allowed.
+	"""
 
 __author__  = "Anton Babushkin"
 __version__ = "1.2"
@@ -273,12 +276,12 @@ def __parseMsg(self, msg_descr):
 
 def _main():
     if len(sys.argv) < 2:
-        print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
+        print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[_field1,field2,...]] [-t TIME_MSG_NAME]\n")
         print("\t-v\tUse plain debug output instead of CSV.\n")
         print("\t-e\tRecover from errors.\n")
         print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
         print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
-        print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
+        print("\t-m MSG[_field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
         print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
         print("\t-fPrint to file instead of stdout")
         return

diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -57,6 +57,7 @@ set(config_module_list
 	systemcmds/config
 	systemcmds/dumpfile
 	systemcmds/esc_calib
+	systemcmds/led_control
 	systemcmds/mixer
 	systemcmds/hardfault_log
 	systemcmds/motor_ramp
@@ -140,6 +141,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery

diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -64,6 +64,7 @@ set(config_module_list
 	systemcmds/perf
 	systemcmds/pwm
 	systemcmds/esc_calib
+	systemcmds/led_control
 	systemcmds/hardfault_log
 	systemcmds/reboot
 	systemcmds/topic_listener
@@ -145,6 +146,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery

diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -116,6 +116,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery

diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -143,6 +143,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery

diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -141,6 +141,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery

diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -64,6 +64,7 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/esc_calib
 	systemcmds/hardfault_log
+	systemcmds/led_control
 	systemcmds/mixer
 	systemcmds/motor_ramp
 	systemcmds/mtd
@@ -146,16 +147,19 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/launchdetection
+	lib/led
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
@@ -168,28 +172,33 @@ set(config_module_list
 	#
 	examples/rover_steering_control
 
+	#
+	# Segway
+	#
+	examples/segway
+
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
+	examples/px4_daemon_app
 
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
+	examples/px4_mavlink_debug
 
 	# Tutorial code from
 	# https://px4.io/dev/example_fixedwing_control
 	examples/fixedwing_control
 
 	# Hardware test
-	#examples/hwtest
+	examples/hwtest
 
 	# EKF
 	examples/ekf_att_pos_estimator

diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -58,6 +58,7 @@ set(config_module_list
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/led_control
 	systemcmds/mixer
 	systemcmds/param
 	systemcmds/perf
@@ -146,6 +147,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/led
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+1 −1		README.md
+1 −1		jMAVlib
+10 −10		src/me/drton/jmavsim/MAVLinkHILSystem.java