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px4_autopilot/ROMFS/px4fmu_common/init.d-posix/rcS

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posix-configs shell scripts use /bin/sh to maximize compatibility (#10292) - fix ocpoc line endings
7 years ago
#!/bin/sh
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
init.d-posix: exit on error This fixes a case where the px4 startup is not stopped when the px4 process is killled using -SIGKILL against the px4 deamon. In that case, the currently executing command/client is killed and properly shutting down with result -1, however, the next command is started anyway. This means that the next time we try to run the simulation we get a "PX4 daemon already running for instance 0" error and PX4 doesn't start properly. By adding exit on error, we properly exit in the case where the startup script gets stopped/killed.
3 years ago
set -e
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
Tools: add run-shellcheck.sh to statically analyze startup scripts Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.
7 years ago
# shellcheck disable=SC1091
init.d-posix/rcS replace bashism 'source' with '.'
7 years ago
. px4-alias.sh
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
4 years ago
#search path for sourcing px4-rc.*
PATH="$PATH:${R}etc/init.d-posix"
Tools: add run-shellcheck.sh to statically analyze startup scripts Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.
7 years ago
SITL: move all models to unified rcS startup and remove old scripts
7 years ago
#
ekf2 replay: refactor to use unified rcS scripts
7 years ago
# Main SITL startup script
SITL: move all models to unified rcS startup and remove old scripts
7 years ago
#
ekf2 replay: refactor to use unified rcS scripts
7 years ago
# check for ekf2 replay
Tools: add run-shellcheck.sh to statically analyze startup scripts Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.
7 years ago
# shellcheck disable=SC2154
init.d-posix replace bashism '==' with '='
7 years ago
if [ "$replay_mode" = "ekf2" ]
ekf2 replay: refactor to use unified rcS scripts
7 years ago
then
ROMFS:Use . for (source) and ${R} for pathing init.d-posix:rcS Quiet Shell check warning
4 years ago
. ${R}etc/init.d-posix/rc.replay
ekf2 replay: refactor to use unified rcS scripts
7 years ago
exit 0
fi
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
# initialize script variables
set IO_PRESENT no
set MIXER none
set MIXER_AUX none
SITL: move all models to unified rcS startup and remove old scripts
7 years ago
set MIXER_FILE none
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
set OUTPUT_MODE sim
ROMFS: posix rcS set EXTRA_MIXER_MODE
4 years ago
set EXTRA_MIXER_MODE none
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
set PWM_OUT none
set SDCARD_MIXERS_PATH etc/mixers
set USE_IO no
set VEHICLE_TYPE none
sitl: use lockstep components API - avoids the need for ekf2_timestamp publications by q and lpe - adds logger to the lockstep cycle and makes it poll on ekf2_timestamps or vehicle_attitude. This avoids dropped samples (required for replay).
5 years ago
set LOGGER_ARGS ""
set LOGGER_BUF 1000
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
set RUN_MINIMAL_SHELL no
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
# Use the variable set by sitl_run.sh to choose the model settings.
init.d-posix replace bashism '==' with '='
7 years ago
if [ "$PX4_SIM_MODEL" = "shell" ]; then
SITL: handle 'make posix_sitl_shell' via unified rcS The command is now: 'make posix none_shell' which means: don't start a simulator and run a minimal shell only.
7 years ago
set RUN_MINIMAL_SHELL yes
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
else
posix rcS: automatically find the requested model instead of explicitly enumerating them
7 years ago
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
cmake add nuttx shellcheck helper
7 years ago
# TODO: unify with rc.autostart generation
# shellcheck disable=SC2012
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
4 years ago
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
posix rcS: automatically find the requested model instead of explicitly enumerating them
7 years ago
if [ -z "$REQUESTED_AUTOSTART" ]; then
platforms: px4 log build string then print (fputs)
4 years ago
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
rcS: fix exit value Shellcheck complained about returning -1 because that's essentially 255.
6 years ago
exit 1
moved posix airframe files to folder, same as in regullar init.d folder and add some debugging info when succeeded/fail to find air-frame file
4 years ago
else
platforms: px4 log build string then print (fputs)
4 years ago
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
posix rcS: automatically find the requested model instead of explicitly enumerating them
7 years ago
fi
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
fi
SITL: create a parameter file for each airframe
5 years ago
# Load parameters
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
param select $PARAM_FILE
if [ -f $PARAM_FILE ]
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
then
SITL: create a parameter file for each airframe
5 years ago
if param load
then
Revert "platforms: px4 log build string then print (fputs)" This reverts commit 9e112dd48bd9f5a2df559263bd1b8e5c636d68a9.
4 years ago
echo "[param] Loaded: $PARAM_FILE"
SITL: create a parameter file for each airframe
5 years ago
else
Revert "platforms: px4 log build string then print (fputs)" This reverts commit 9e112dd48bd9f5a2df559263bd1b8e5c636d68a9.
4 years ago
echo "[param] FAILED loading $PARAM_FILE"
SITL: create a parameter file for each airframe
5 years ago
fi
else
Revert "platforms: px4 log build string then print (fputs)" This reverts commit 9e112dd48bd9f5a2df559263bd1b8e5c636d68a9.
4 years ago
echo "[param] parameter file not found, creating $PARAM_FILE"
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
fi
SITL: handle 'make posix_sitl_shell' via unified rcS The command is now: 'make posix none_shell' which means: don't start a simulator and run a minimal shell only.
7 years ago
# exit early when the minimal shell is requested
init.d-posix replace bashism '==' with '='
7 years ago
[ $RUN_MINIMAL_SHELL = yes ] && exit 0
SITL: handle 'make posix_sitl_shell' via unified rcS The command is now: 'make posix none_shell' which means: don't start a simulator and run a minimal shell only.
7 years ago
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
# Use environment variable PX4_ESTIMATOR to choose estimator.
SYS_MC_EST_GROUP: add q estimator only option and activate on omnibus
6 years ago
if [ "$PX4_ESTIMATOR" = "q" ]; then
param set SYS_MC_EST_GROUP 3
elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
param set SYS_MC_EST_GROUP 2
init.d-posix replace bashism '==' with '='
7 years ago
elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
param set SYS_MC_EST_GROUP 1
init.d-posix replace bashism '==' with '='
7 years ago
elif [ "$PX4_ESTIMATOR" = "inav" ]; then
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
param set SYS_MC_EST_GROUP 0
fi
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
then
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
set AUTOCNF no
else
set AUTOCNF yes
SITL: add SYS_AUTOCONFIG support
5 years ago
param set SYS_AUTOCONFIG 1
fi
if param compare SYS_AUTOCONFIG 1
then
rcS: Keep Mag Cal with AUTOCONFIG param reset in rcS, deprecate rcS AUTOCNF param (#19693) * Deprecate the rcS AUTOCNF script param and associated logic. * Update posix rcS to match previous commit.
3 years ago
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
SITL: add SYS_AUTOCONFIG support
5 years ago
set AUTOCNF yes
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
fi
SITL: add multi-vehicle support to rcS This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see why it's needed and it adds noticeable CPU load.
7 years ago
# multi-instance setup
Tools: add run-shellcheck.sh to statically analyze startup scripts Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.
7 years ago
# shellcheck disable=SC2154
ROS multi-vehicle simulation: fixed udp port overlap issues
7 years ago
param set MAV_SYS_ID $((px4_instance+1))
Fix gcs udp port to support more vehicles in multivehicle sitl Limit remote udp port to 14549 Fix Cleanup port handling Fix bash syntax Fix
5 years ago
init.d-posix replace bashism '==' with '='
7 years ago
if [ $AUTOCNF = yes ]
posix shell: lots of cleanup and fixes - move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix allows for easier unification, only one symlink is required. - rcS: add AUTOCNF support. Update scripts to match with behavior of PX4 master (parameter values, some sitl driver got removed) - add alias to allow 'set variable value' syntax in scripts to px4-alias.sh - use px4_getopt - use separate argument for the test_data directory - append PATH from within the px4 binary: this simplifies the usage w/o the sitl_run.sh script. - add 'source px4-alias.sh' to all existing sitl startup scripts - move sitl mixers to ROMFS/px4fmu_common/mixers-sitl makes it easier to use existing mixers and sitl-specific ones. - remove unused rcS_gazebo_delta_wing
7 years ago
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
simulator: support accel/gyro instances and stuck failure - expand simulator to 3 accels and gyros - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
4 years ago
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
simulator: support accel/gyro instances and stuck failure - expand simulator to 3 accels and gyros - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
4 years ago
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
simulator: support accel/gyro instances and stuck failure - expand simulator to 3 accels and gyros - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
4 years ago
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081)
6 years ago
param set CAL_MAG0_ID 197388
simulator: publish 2 instances of accel/baro/gyro/mag
5 years ago
param set CAL_MAG1_ID 197644
simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081)
6 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
fi
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
delete deprecated BAT_* parameters
4 years ago
param set-default BAT1_N_CELLS 4
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
param set-default CBRK_AIRSPD_CHK 0
param set-default CBRK_SUPPLY_CHK 894281
Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
4 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
SITL: move all models to unified rcS startup and remove old scripts
7 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# Don't require RC calibration and configuration
param set-default COM_RC_IN_MODE 1
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5
posix rcS: always disable CPU load check
5 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default EKF2_MULTI_MAG 2
param set-default SENS_MAG_MODE 0
gyro_fft: support sensor_gyro (non-fifo)
4 years ago
param set-default IMU_GYRO_FFT_EN 1
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable - only enabled by default on boards that aren't memory constrained
3 years ago
param set-default -s MC_AT_EN 1
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# By default log from boot until first disarm.
param set-default SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set-default SDLOG_PROFILE 131
param set-default SDLOG_DIRS_MAX 7
param set-default TRIG_INTERFACE 3
posix rcS: always set IMU_INTEG_RATE If this is wrong, the startup just hangs.
5 years ago
SITL: enable failure command (SYS_FAILURE_EN=1)
3 years ago
param set-default SYS_FAILURE_EN 1
init.d-posix: raise timeouts for fast SITL When simulating with lockstep we can raise the speed by setting the env variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats from a ground station, or offboard controls via MAVLink are still at the normal speed which leads to timeouts getting detected in PX4. To work around this issue we can automatically multiply the timeout parameters by the speed factor.
6 years ago
# Adapt timeout parameters if simulation runs faster or slower than realtime.
posix rcS fix shellcheck SC2236
5 years ago
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
Revert "SITL shell: Do math using the shell" This reverts commit be35c4857be2483050d9a34987aeda3c6935b516. This would only work for integer math, so for simulation speed-up. For speeds slower than realtime we need floating point.
5 years ago
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
init.d-posix: raise timeouts for fast SITL When simulating with lockstep we can raise the speed by setting the env variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats from a ground station, or offboard controls via MAVLink are still at the normal speed which leads to timeouts getting detected in PX4. To work around this issue we can automatically multiply the timeout parameters by the speed factor.
6 years ago
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
commander: unify offboard timeouts The implementation before this change had two timeouts, a hard-coded timeout of 0.5 seconds as well as a by param configurable timeout with certain failsafe actions set. This change aims to fix two problems: 1. The hard-coded offboard timeout can be triggered easily with sped up lockstep simulation. Since i t is hard-coded it can't be adapted to the speed factor. 2. The offboard signal can time out but no action will be taken just yet. This means we end up in an in-between stage where no warning or failsafe action has happened yet, even though certain flags are set to a timeout state. This patch aims to fix this by unifying the two timeouts to the existing configurable param. The convoluted double timeout logic is replaced by a simple hysteresis. For anyone that has previously not changed the default timeout param (0), the param will now be changed to 0.5 seconds which reflects the previously hardcoded time. For anyone with a specific timeout configured, the behaviour should remain the same. Also, going forward, timeouts lower than 0.5 seconds should be possible.
5 years ago
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
init.d-posix: raise timeouts for fast SITL When simulating with lockstep we can raise the speed by setting the env variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats from a ground station, or offboard controls via MAVLink are still at the normal speed which leads to timeouts getting detected in PX4. To work around this issue we can automatically multiply the timeout parameters by the speed factor.
6 years ago
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
commander: unify offboard timeouts The implementation before this change had two timeouts, a hard-coded timeout of 0.5 seconds as well as a by param configurable timeout with certain failsafe actions set. This change aims to fix two problems: 1. The hard-coded offboard timeout can be triggered easily with sped up lockstep simulation. Since i t is hard-coded it can't be adapted to the speed factor. 2. The offboard signal can time out but no action will be taken just yet. This means we end up in an in-between stage where no warning or failsafe action has happened yet, even though certain flags are set to a timeout state. This patch aims to fix this by unifying the two timeouts to the existing configurable param. The convoluted double timeout logic is replaced by a simple hysteresis. For anyone that has previously not changed the default timeout param (0), the param will now be changed to 0.5 seconds which reflects the previously hardcoded time. For anyone with a specific timeout configured, the behaviour should remain the same. Also, going forward, timeouts lower than 0.5 seconds should be possible.
5 years ago
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
init.d-posix: raise timeouts for fast SITL When simulating with lockstep we can raise the speed by setting the env variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats from a ground station, or offboard controls via MAVLink are still at the normal speed which leads to timeouts getting detected in PX4. To work around this issue we can automatically multiply the timeout parameters by the speed factor.
6 years ago
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
init.d-posix: adjust COM_OBC_LOSS_T when using PX4_SIM_SPEED_FACTOR
4 years ago
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
init.d-posix: raise timeouts for fast SITL When simulating with lockstep we can raise the speed by setting the env variable `PX4_SIM_SPEED_FACTOR`. Some inputs like RC, MAVLink heartbeats from a ground station, or offboard controls via MAVLink are still at the normal speed which leads to timeouts getting detected in PX4. To work around this issue we can automatically multiply the timeout parameters by the speed factor.
6 years ago
fi
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
# Autostart ID
rcS: fix typhoon_h480 The typhoon has a 6011_typhoon_h480.post script that got matched as well. Now we exclude all files that contain a dot (apparently it's not so easy to do generic pattern matching in a portable way, but this works).
6 years ago
autostart_file=''
ROMFS:Use . for (source) and ${R} for pathing init.d-posix:rcS Quiet Shell check warning
4 years ago
# shellcheck disable=SC2231
for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
rcS: fix typhoon_h480 The typhoon has a 6011_typhoon_h480.post script that got matched as well. Now we exclude all files that contain a dot (apparently it's not so easy to do generic pattern matching in a portable way, but this works).
6 years ago
do
filename=$(basename "$f")
case "$filename" in
*\.*)
# ignore files that contain a dot (e.g. <vehicle>.post)
;;
*)
autostart_file="$f"
;;
esac
done
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
if [ ! -e "$autostart_file" ]; then
Revert "platforms: px4 log build string then print (fputs)" This reverts commit 9e112dd48bd9f5a2df559263bd1b8e5c636d68a9.
4 years ago
echo "Error: no autostart file found ($autostart_file)"
rcS: fix exit value Shellcheck complained about returning -1 because that's essentially 255.
6 years ago
exit 1
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
fi
ROMFS:Use . for (source) and ${R} for pathing init.d-posix:rcS Quiet Shell check warning
4 years ago
. "$autostart_file"
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
7 years ago
IMU_GYRO_RATEMAX set system default to 400 Hz - MC default is still 800 Hz
4 years ago
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
4 years ago
#user defined params for instances can be in PATH
. px4-rc.params
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
dataman start
replay: use lockstep scheduler
5 years ago
# only start the simulator if not in replay mode, as both control the lockstep time
if ! replay tryapplyparams
then
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
4 years ago
. px4-rc.simulator
replay: use lockstep scheduler
5 years ago
fi
load_mon: get mem_usage by reading /proc/meminfo on Linux
4 years ago
load_mon start
simulator: break out standalone battery simulator module - this is a small step towards unifying SITL & HITL
5 years ago
battery_simulator start
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
tone_alarm start
sensors split rc_update into new standalone module
5 years ago
rc_update start
ROMFS: start manual_control for SITL
4 years ago
manual_control start
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
sensors start
commander start
init adjustments to ensure used topics are advertised early (primarily for logging) - multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
3 years ago
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
navigator start
posix: start the microRTPS client in sim every time the module is available
4 years ago
# Try to start the micrortps_client with UDP transport if module exists
if px4-micrortps_client status > /dev/null 2>&1
then
init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP
4 years ago
. px4-rc.rtps
posix: start the microRTPS client in sim every time the module is available
4 years ago
fi
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
ROMFS: silently compare optional parameters - not all build configurations have these parameters/modules
4 years ago
if param greater -s MNT_MODE_IN -1
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
then
Rename vmount to gimbal
3 years ago
gimbal start
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
fi
enable silent compare of parameter (#12850) Remove false errors after comparing parameters that doesn't exists. as described in #12832
5 years ago
if param greater -s TRIG_MODE 0
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
then
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
camera_trigger start
camera_feedback start
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
fi
ROMFS: posix rcS add gyro_fft and gyro_calibration start
4 years ago
if param compare -s IMU_GYRO_FFT_EN 1
then
gyro_fft start
fi
if param compare -s IMU_GYRO_CAL_EN 1
then
gyro_calibration start
fi
ROMFS/px4fmu_common/init.d-posix/rcS: split and source data from files in PATH
4 years ago
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
ROMFS: start mavlink instance for gimbal
4 years ago
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
# execute autostart post script if any
ROMFS:Use . for (source) and ${R} for pathing init.d-posix:rcS Quiet Shell check warning
4 years ago
[ -e "$autostart_file".post ] && . "$autostart_file".post
sitl scripts: refactor to use existing rc.vehicle_setup from NuttX
7 years ago
init.d-posix: re-use rc.logging With this change the param SDLOG_MODE can be used for SITL as well.
6 years ago
# Run script to start logging
sitl: use lockstep components API - avoids the need for ekf2_timestamp publications by q and lpe - adds logger to the lockstep cycle and makes it poll on ekf2_timestamps or vehicle_attitude. This avoids dropped samples (required for replay).
5 years ago
if param compare SYS_MC_EST_GROUP 2
then
set LOGGER_ARGS "-p ekf2_timestamps"
else
set LOGGER_ARGS "-p vehicle_attitude"
fi
ROMFS:Use . for (source) and ${R} for pathing init.d-posix:rcS Quiet Shell check warning
4 years ago
. ${R}etc/init.d/rc.logging
add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
7 years ago
mavlink boot_complete
replay trystart