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LorenzMeierLorenzMeier
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Merge branch 'beta' into stable
2 parents cc79299 + 7375192 commit f5efe0a

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‎.gitignore‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,8 @@ build/*
2222
build_*/
2323
core
2424
cscope.out
25+
cscope.in.out
26+
cscope.po.out
2527
Firmware.sublime-workspace
2628
user.sublime*
2729
Images/*.bin

‎.travis.yml‎

Lines changed: 14 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -60,9 +60,8 @@ before_install:
6060
elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
6161
brew tap PX4/homebrew-px4
6262
&& brew update; brew update
63-
&& brew install cmake ninja astyle gcc-arm-none-eabi
63+
&& brew install cmake ninja
6464
&& brew install genromfs
65-
&& brew install kconfig-frontends
6665
&& sudo easy_install pip
6766
&& sudo pip install pyserial empy
6867
;
@@ -93,24 +92,22 @@ env:
9392
- PX4_AWS_BUCKET=px4-travis
9493

9594
script:
96-
- git submodule update --init --recursive
97-
- make check_format
98-
- arm-none-eabi-gcc --version
95+
- git submodule update --quiet --init --recursive
9996
- echo 'Building POSIX Firmware..' && make posix_sitl_default
10097
- echo 'Running Tests..' && make posix_sitl_default test
10198
- echo 'Running Unittests..' && cd unittests && ./run_tests.sh
102-
- cd ..
103-
- echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
104-
- echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
105-
# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
106-
- echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
107-
- cd vectorcontrol
108-
- BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
109-
- ../Tools/uavcan_copy.sh
110-
- cd ..
111-
- echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
112-
- echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
113-
- echo 'Running Tests..' && make px4fmu-v2_default test
99+
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
100+
cd ${TRAVIS_BUILD_DIR}
101+
&& make check_format
102+
&& arm-none-eabi-gcc --version
103+
&& echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
104+
&& echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
105+
&& echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
106+
&& echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
107+
&& echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
108+
&& echo 'Running Tests..' && make px4fmu-v2_default test
109+
;
110+
fi
114111

115112
after_success:
116113
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then

‎Makefile‎

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -109,9 +109,8 @@ endif
109109
# describe how to build a cmake config
110110
define cmake-build
111111
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
112-
+git submodule init
113-
+Tools/check_submodules.sh
114-
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule init && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
112+
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
113+
+Tools/check_submodules.sh
115114
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
116115
endef
117116

@@ -155,7 +154,6 @@ posix_sitl_ekf2:
155154

156155
ros_sitl_default:
157156
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
158-
# $(call cmake-build,$@)
159157

160158
qurt_eagle_travis:
161159
$(call cmake-build,$@)
@@ -202,7 +200,7 @@ clean:
202200
# targets handled by cmake
203201
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
204202
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
205-
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
203+
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
206204
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
207205
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
208206

‎ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,9 +37,8 @@ then
3737
param set FW_RR_I 0.1
3838
param set FW_RR_IMAX 0.2
3939
param set FW_RR_P 0.3
40+
param set RWTO_TKOFF 1
4041
fi
4142

42-
param set RWTO_TKOFF 1
43-
4443
set HIL yes
4544
set MIXER AERT

‎ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik‎

Lines changed: 41 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,41 @@
1+
#!nsh
2+
#
3+
# @name Steadidrone MAVRIK
4+
#
5+
# @type Octo Coax Wide
6+
#
7+
# @maintainer Simon Wilks <[email protected]>
8+
#
9+
10+
sh /etc/init.d/rc.mc_defaults
11+
12+
if [ $AUTOCNF == yes ]
13+
then
14+
param set MC_PITCH_P 4.0
15+
param set MC_PITCHRATE_P 0.24
16+
param set MC_PITCHRATE_I 0.09
17+
param set MC_PITCHRATE_D 0.013
18+
param set MC_PITCHRATE_MAX 180.0
19+
20+
param set MC_ROLL_P 4.0
21+
param set MC_ROLLRATE_P 0.16
22+
param set MC_ROLLRATE_I 0.07
23+
param set MC_ROLLRATE_D 0.009
24+
param set MC_ROLLRATE_MAX 180.0
25+
26+
param set MC_YAW_P 3.0
27+
param set MC_YAWRATE_P 0.2
28+
param set MC_YAWRATE_I 0.1
29+
param set MC_YAWRATE_D 0.0
30+
param set MC_YAW_FF 0.5
31+
32+
param set MPC_HOLD_MAX_XY 0.25
33+
param set MPC_THR_MIN 0.15
34+
param set MPC_Z_VEL_MAX 2.0
35+
36+
param set BAT_N_CELLS 4
37+
fi
38+
39+
set MIXER octo_cox_w
40+
41+
set PWM_OUT 12345678

‎ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol‎

Lines changed: 27 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,14 +1,40 @@
11
#!nsh
22
#
3-
# @name Duorotor Tailsitter
3+
# @name Caipiroshka Duo Tailsitter
44
#
55
# @type VTOL Duo Tailsitter
66
#
7+
# @output MAIN1 motor left
8+
# @output MAIN2 motor right
9+
# @output MAIN5 elevon left
10+
# @output MAIN6 elevon right
11+
#
712
# @maintainer Roman Bapst <[email protected]>
813
#
914

1015
sh /etc/init.d/rc.vtol_defaults
1116

17+
if [ $AUTOCNF == yes ]
18+
then
19+
param set MC_ROLL_P 6.0
20+
param set MC_ROLLRATE_P 0.12
21+
param set MC_ROLLRATE_I 0.002
22+
param set MC_ROLLRATE_D 0.003
23+
param set MC_ROLLRATE_FF 0.0
24+
param set MC_PITCH_P 4.5
25+
param set MC_PITCHRATE_P 0.3
26+
param set MC_PITCHRATE_I 0.002
27+
param set MC_PITCHRATE_D 0.003
28+
param set MC_PITCHRATE_FF 0.0
29+
param set MC_YAW_P 3.8
30+
param set MC_YAW_FF 0.5
31+
param set MC_YAWRATE_P 0.22
32+
param set MC_YAWRATE_I 0.02
33+
param set MC_YAWRATE_D 0.0
34+
param set MC_YAWRATE_FF 0.0
35+
36+
fi
37+
1238
set MIXER caipirinha_vtol
1339

1440
set PWM_OUT 12

‎ROMFS/px4fmu_common/init.d/13002_firefly6‎

Lines changed: 3 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -14,12 +14,12 @@ then
1414
param set MC_ROLL_P 7.0
1515
param set MC_ROLLRATE_P 0.17
1616
param set MC_ROLLRATE_I 0.002
17-
param set MC_ROLLRATE_D 0.004
17+
param set MC_ROLLRATE_D 0.003
1818
param set MC_ROLLRATE_FF 0.0
1919
param set MC_PITCH_P 7.0
2020
param set MC_PITCHRATE_P 0.14
2121
param set MC_PITCHRATE_I 0.002
22-
param set MC_PITCHRATE_D 0.004
22+
param set MC_PITCHRATE_D 0.003
2323
param set MC_PITCHRATE_FF 0.0
2424
param set MC_YAW_P 3.8
2525
param set MC_YAW_FF 0.5
@@ -35,13 +35,9 @@ fi
3535

3636
set MIXER firefly6
3737
set PWM_OUT 12345678
38+
set PWM_RATE 400
3839

3940
set MIXER_AUX firefly6
40-
set PWM_AUX_RATE 50
41-
set PWM_AUX_OUT 1234
42-
set PWM_AUX_DISARMED 1000
43-
set PWM_AUX_MIN 1000
44-
set PWM_AUX_MAX 2000
4541

4642
set MAV_TYPE 21
4743

‎ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad‎

Lines changed: 22 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -14,34 +14,44 @@ then
1414
param set VT_TYPE 2
1515
param set VT_MOT_COUNT 4
1616
param set VT_TRANS_THR 0.75
17+
param set VT_ARSP_TRANS 12
18+
param set VT_ARSP_BLEND 6
1719

18-
param set MC_ROLL_P 7.0
19-
param set MC_ROLLRATE_P 0.15
20+
param set MC_ROLL_P 6.0
21+
param set MC_ROLLRATE_P 0.17
2022
param set MC_ROLLRATE_I 0.002
21-
param set MC_ROLLRATE_D 0.003
23+
param set MC_ROLLRATE_D 0.004
2224
param set MC_ROLLRATE_FF 0.0
23-
param set MC_PITCH_P 7.0
24-
param set MC_PITCHRATE_P 0.12
25+
param set MC_PITCH_P 6.0
26+
param set MC_PITCHRATE_P 0.19
2527
param set MC_PITCHRATE_I 0.002
26-
param set MC_PITCHRATE_D 0.003
28+
param set MC_PITCHRATE_D 0.004
2729
param set MC_PITCHRATE_FF 0.0
2830
param set MC_YAW_P 2.8
2931
param set MC_YAW_FF 0.5
3032
param set MC_YAWRATE_P 0.22
3133
param set MC_YAWRATE_I 0.02
3234
param set MC_YAWRATE_D 0.0
3335
param set MC_YAWRATE_FF 0.0
36+
37+
param set FW_PR_FF 0.5
38+
param set FW_PR_I 0.02
39+
param set FW_PR_IMAX 0.4
40+
param set FW_PR_P 0.08
41+
param set FW_RR_FF 0.6
42+
param set FW_RR_I 0.01
43+
param set FW_RR_IMAX 0.2
44+
param set FW_RR_P 0.05
45+
param set FW_THR_CRUISE 0.75
3446
fi
3547

3648
set MIXER vtol_quad_x
37-
set PWM_OUT 12345678
49+
set PWM_OUT 1234
50+
set PWM_RATE 400
3851

3952
set MIXER_AUX vtol_AAERT
40-
set PWM_AUX_RATE 50
41-
set PWM_AUX_OUT 1234
42-
set PWM_AUX_DISARMED 1000
43-
set PWM_AUX_MIN 1000
44-
set PWM_AUX_MAX 2000
53+
set PWM_ACHDIS 5
54+
set PWM_AUX_DISARMED 950
4555

4656
set MAV_TYPE 22
4757

‎ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -34,14 +34,12 @@ then
3434
fi
3535

3636
set MIXER vtol_quad_x
37-
set PWM_OUT 12345678
37+
set PWM_OUT 1234
38+
set PWM_RATE 400
3839

3940
set MIXER_AUX vtol_delta
40-
set PWM_AUX_RATE 50
41-
set PWM_AUX_OUT 1234
42-
set PWM_AUX_DISARMED 1000
43-
set PWM_AUX_MIN 1000
44-
set PWM_AUX_MAX 2000
41+
set PWM_ACHDIS 3
42+
set PWM_AUX_DISARMED 950
4543

4644
set MAV_TYPE 22
4745

‎ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad‎

Lines changed: 4 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -31,18 +31,15 @@ then
3131
param set MC_YAWRATE_I 0.02
3232
param set MC_YAWRATE_D 0.0
3333
param set MC_YAWRATE_FF 0.0
34-
3534
fi
3635

3736
set MIXER vtol_quad_x
38-
set PWM_OUT 12345678
37+
set PWM_OUT 1234
38+
set PWM_RATE 400
3939

4040
set MIXER_AUX vtol_AAVVT
41-
set PWM_AUX_RATE 50
42-
set PWM_AUX_OUT 1234
43-
set PWM_AUX_DISARMED 1000
44-
set PWM_AUX_MIN 1000
45-
set PWM_AUX_MAX 2000
41+
set PWM_ACHDIS 5
42+
set PWM_AUX_DISARMED 950
4643

4744
set MAV_TYPE 22
4845

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