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add board specific airframes
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@dagar
dagar committed Aug 24, 2019
1 parent 2cb26dd commit ea08b5d
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Showing 34 changed files with 100 additions and 150 deletions.
9 changes: 4 additions & 5 deletions ROMFS/CMakeLists.txt
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Expand Up @@ -138,11 +138,10 @@ if(config_bl_file)
)
endif()

set(OPTIONAL_BOARD_RC)
list(APPEND OPTIONAL_BOARD_RC
rc.board_defaults
rc.board_sensors
rc.board_extras
# optional board RC files
file(GLOB_RECURSE OPTIONAL_BOARD_RC
RELATIVE ${PX4_BOARD_DIR}/init/
${PX4_BOARD_DIR}/init/*
)

foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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82 changes: 9 additions & 73 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Expand Up @@ -90,81 +90,17 @@ udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
udp_gcs_port_local=$((14570+px4_instance))

if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART

param set BAT_N_CELLS 3

param set CAL_ACC0_ID 1311244
param set CAL_ACC_PRIME 1311244

param set CAL_GYRO0_ID 2294028
param set CAL_GYRO_PRIME 2294028

param set CAL_MAG0_ID 197388
param set CAL_MAG_PRIME 197388

param set CAL_BARO_PRIME 6620172

param set CBRK_AIRSPD_CHK 0

param set COM_DISARM_LAND 0.1
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
param set COM_RC_IN_MODE 1

param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_GBIAS_INIT 0.01
# Speedup SITL startup
param set EKF2_REQ_GPS_H 0.5

# LPE: GPS only mode
param set LPE_FUSION 145

param set MIS_TAKEOFF_ALT 2.5

param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2

param set MPC_ALT_MODE 0
param set MPC_HOLD_MAX_Z 2
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.016

param set MPC_JERK_MIN 10
param set MPC_JERK_MAX 20
param set MPC_ACC_HOR_MAX 3

param set NAV_ACC_RAD 2
param set NAV_DLL_ACT 2

param set RTL_DESCEND_ALT 5
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30

# By default log from boot until first disarm.
param set SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set SDLOG_PROFILE 131
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2

param set TRIG_INTERFACE 3

#
# Optional board defaults: rc.board_defaults
#
set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
if [ -f $BOARD_RC_DEFAULTS ]
then
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
sh $BOARD_RC_DEFAULTS
fi
unset BOARD_RC_DEFAULTS

# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
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13 changes: 2 additions & 11 deletions ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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Expand Up @@ -39,7 +39,7 @@ px4_add_romfs_files(
1001_rc_quad_x.hil
1002_standard_vtol.hil
1100_rc_quad_x_sih.hil

# [2000, 2999] Standard planes"
2100_standard_plane
2105_maja
Expand Down Expand Up @@ -67,34 +67,25 @@ px4_add_romfs_files(
4010_dji_f330
4011_dji_f450
4012_quad_x_can
4013_bebop
4014_s500
4015_holybro_s500
4020_hk_micro_pcb
4030_3dr_solo
4031_3dr_quad
4040_reaper
4041_beta75x
4050_generic_250
4051_s250aq
4052_holybro_qav250
4053_holybro_kopis2
4060_dji_matrice_100
4070_aerofc
4071_ifo
4072_draco
4080_zmr250
4090_nanomind
4100_tiltquadrotor
4250_teal
4900_crazyflie

# [5000, 5999] Quadrotor +"
5001_quad_+

# [6000, 6999] Hexarotor x"
6001_hexa_x
6002_draco_r

# [7000, 7999] Hexarotor +"
7001_hexa_+
Expand Down Expand Up @@ -140,7 +131,7 @@ px4_add_romfs_files(
15001_coax_heli

16001_helicopter

24001_dodeca_cox

50000_generic_ground_vehicle
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7 changes: 0 additions & 7 deletions ...fmu_common/init.d/airframes/4090_nanomind → ...nd/mindpx-v2/init/airframes/4090_nanomind
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Expand Up @@ -5,13 +5,6 @@
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Henry Zhang <[email protected]>
#

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8 changes: 0 additions & 8 deletions ...mu_common/init.d/airframes/4900_crazyflie → ...e/crazyflie/init/airframes/4900_crazyflie
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Expand Up @@ -2,14 +2,6 @@
#
# @name Crazyflie 2
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @type Quadrotor x
# @class Copter
#
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2 changes: 0 additions & 2 deletions ...mmon/init.d/airframes/4053_holybro_kopis2 → ...kutef7/init/airframes/4053_holybro_kopis2
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Expand Up @@ -7,8 +7,6 @@
#
# @maintainer Beat Kueng <[email protected]>
#
# @board px4_fmu-v2 exclude
#

sh /etc/init.d/rc.mc_defaults

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7 changes: 0 additions & 7 deletions ...x4fmu_common/init.d/airframes/4070_aerofc → ...ntel/aerofc-v1/init/airframes/4070_aerofc
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Expand Up @@ -2,13 +2,6 @@
#
# @name Intel Aero Ready to Fly Drone
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
#
# @type Quadrotor x
# @class Copter
#
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8 changes: 0 additions & 8 deletions ...4fmu_common/init.d/airframes/4041_beta75x → .../omnibus/f4sd/init/airframes/4041_beta75x
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Expand Up @@ -5,14 +5,6 @@
# @type Quadrotor H
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
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8 changes: 0 additions & 8 deletions ...px4fmu_common/init.d/airframes/4013_bebop → ...ds/parrot/bebop/init/airframes/4013_bebop
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Expand Up @@ -5,14 +5,6 @@
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Michael Schaeuble
#

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0 ROMFS/px4fmu_common/init.d-posix/10016_iris → boards/px4/sitl/init/airframes/10016_iris
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0 ...S/px4fmu_common/init.d-posix/10020_if750a → boards/px4/sitl/init/airframes/10020_if750a
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0 ...mu_common/init.d-posix/1010_iris_opt_flow → ...x4/sitl/init/airframes/1010_iris_opt_flow
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0 ...mmon/init.d-posix/1010_iris_opt_flow.post → ...tl/init/airframes/1010_iris_opt_flow.post
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0 ...4fmu_common/init.d-posix/1011_iris_irlock → .../px4/sitl/init/airframes/1011_iris_irlock
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0 ...fmu_common/init.d-posix/1012_iris_rplidar → ...px4/sitl/init/airframes/1012_iris_rplidar
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0 ...4fmu_common/init.d-posix/1013_iris_vision → .../px4/sitl/init/airframes/1013_iris_vision
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0 ...common/init.d-posix/1013_iris_vision.post → ...sitl/init/airframes/1013_iris_vision.post
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0 ROMFS/px4fmu_common/init.d-posix/1014_solo → boards/px4/sitl/init/airframes/1014_solo
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0 ...u_common/init.d-posix/1015_iris_obs_avoid → ...4/sitl/init/airframes/1015_iris_obs_avoid
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0 ...mon/init.d-posix/1015_iris_obs_avoid.post → ...l/init/airframes/1015_iris_obs_avoid.post
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0 ...4fmu_common/init.d-posix/1020_hippocampus → .../px4/sitl/init/airframes/1020_hippocampus
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0 ROMFS/px4fmu_common/init.d-posix/1030_plane → boards/px4/sitl/init/airframes/1030_plane
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0 ...px4fmu_common/init.d-posix/1031_plane_cam → ...ds/px4/sitl/init/airframes/1031_plane_cam
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0 ...mu_common/init.d-posix/1040_standard_vtol → ...x4/sitl/init/airframes/1040_standard_vtol
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0 ...x4fmu_common/init.d-posix/1041_tailsitter → ...s/px4/sitl/init/airframes/1041_tailsitter
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0 ...px4fmu_common/init.d-posix/1042_tiltrotor → ...ds/px4/sitl/init/airframes/1042_tiltrotor
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0 ROMFS/px4fmu_common/init.d-posix/1060_rover → boards/px4/sitl/init/airframes/1060_rover
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0 ...fmu_common/init.d-posix/6011_typhoon_h480 → ...px4/sitl/init/airframes/6011_typhoon_h480
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0 ...ommon/init.d-posix/6011_typhoon_h480.post → ...itl/init/airframes/6011_typhoon_h480.post
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70 changes: 70 additions & 0 deletions boards/px4/sitl/init/rc.board_defaults
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@@ -0,0 +1,70 @@
#!/bin/sh
#
# PX4 SITL specific board defaults
#------------------------------------------------------------------------------

if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART

param set BAT_N_CELLS 3

param set CBRK_AIRSPD_CHK 0

param set COM_DISARM_LAND 0.1
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5
param set COM_RC_IN_MODE 1

param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_GBIAS_INIT 0.01
# Speedup SITL startup
param set EKF2_REQ_GPS_H 0.5

# LPE: GPS only mode
param set LPE_FUSION 145

param set MIS_TAKEOFF_ALT 2.5

param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2

param set MPC_ALT_MODE 0
param set MPC_HOLD_MAX_Z 2
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.016

param set MPC_JERK_MIN 10
param set MPC_JERK_MAX 20
param set MPC_ACC_HOR_MAX 3

param set NAV_ACC_RAD 2
param set NAV_DLL_ACT 2

param set RTL_DESCEND_ALT 5
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30

# By default log from boot until first disarm.
param set SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set SDLOG_PROFILE 131
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2

param set TRIG_INTERFACE 3

fi

15 changes: 15 additions & 0 deletions boards/px4/sitl/init/rc.board_sensors
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@@ -0,0 +1,15 @@
#!/bin/sh
#
# PX4 SITL specific board sensors init
#------------------------------------------------------------------------------

param set CAL_ACC0_ID 1311244
param set CAL_ACC_PRIME 1311244

param set CAL_GYRO0_ID 2294028
param set CAL_GYRO_PRIME 2294028

param set CAL_MAG0_ID 197388
param set CAL_MAG_PRIME 197388

param set CAL_BARO_PRIME 6620172
7 changes: 0 additions & 7 deletions ...S/px4fmu_common/init.d/airframes/4071_ifo → boards/uvify/core/init/airframes/4071_ifo
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Expand Up @@ -10,13 +10,6 @@
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Hyon Lim <[email protected]>
#

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7 changes: 0 additions & 7 deletions ...px4fmu_common/init.d/airframes/4072_draco → boards/uvify/core/init/airframes/4072_draco
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Expand Up @@ -10,13 +10,6 @@
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Hyon Lim <[email protected]>
#

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7 changes: 0 additions & 7 deletions ...4fmu_common/init.d/airframes/6002_draco_r → ...ds/uvify/core/init/airframes/6002_draco_r
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Expand Up @@ -12,13 +12,6 @@
# @output MAIN5 motor 5
# @output MAIN6 motor 6
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
#
Expand Down

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