[WIP]: add board specific airframe mechanism

ROMFS/CMakeLists.txt

@@ -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})

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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

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

@@ -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
@@ -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_+
@@ -140,7 +131,7 @@ px4_add_romfs_files(
 	15001_coax_heli
 
 	16001_helicopter
-	
+
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind → boards/airmind/mindpx-v2/init/airframes/4090_nanomind

@@ -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]>
 #
 

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie → boards/bitcraze/crazyflie/init/airframes/4900_crazyflie

@@ -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
 #

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 → boards/holybro/kakutef7/init/airframes/4053_holybro_kopis2

@@ -7,8 +7,6 @@
 #
 # @maintainer Beat Kueng <[email protected]>
 #
-# @board px4_fmu-v2 exclude
-#
 
 sh /etc/init.d/rc.mc_defaults
 

ROMFS/px4fmu_common/init.d/airframes/4070_aerofc → boards/intel/aerofc-v1/init/airframes/4070_aerofc

@@ -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
 #

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x → boards/omnibus/f4sd/init/airframes/4041_beta75x

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4013_bebop → boards/parrot/bebop/init/airframes/4013_bebop

@@ -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
 #
 

boards/px4/sitl/init/rc.board_defaults

@@ -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
+

boards/px4/sitl/init/rc.board_sensors

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4071_ifo → boards/uvify/core/init/airframes/4071_ifo

@@ -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]>
 #
 

ROMFS/px4fmu_common/init.d/airframes/4072_draco → boards/uvify/core/init/airframes/4072_draco

@@ -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]>
 #
 

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r → boards/uvify/core/init/airframes/6002_draco_r

@@ -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
 #