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changes to rpi2 configs

sbg
Mohammed Kabir 9 years ago committed by Lorenz Meier
parent
4351eb147c
commit
37ffb61afd
4 changed files with 81 additions and 83 deletions
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  1. 3
      Makefile
  2. 43
      cmake/configs/posix_rpi2_default.cmake
  3. 47
      cmake/configs/posix_rpi2_release.cmake
  4. 71
      posix-configs/rpi2/init/rcS_navio

3
Makefile
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@ -174,6 +174,9 @@ posix_eagle_default: @@ -174,6 +174,9 @@ posix_eagle_default:
posix_rpi2_default:
$(call cmake-build,$@)
posix_rpi2_release:
$(call cmake-build,$@)
posix: posix_sitl_default
sitl_deprecation:

43
cmake/configs/posix_rpi2_default.cmake
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@ -4,25 +4,44 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.c @@ -4,25 +4,44 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.c
set(config_module_list
drivers/device
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/param
systemcmds/mixer
systemcmds/ver
modules/mavlink
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/uORB
modules/systemlib/mixer
modules/sensors
modules/mavlink
modules/attitude_estimator_q
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/commander
modules/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
)

47
cmake/configs/posix_rpi2_release.cmake
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@ -0,0 +1,47 @@ @@ -0,0 +1,47 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/mavlink
modules/attitude_estimator_q
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/commander
modules/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
)

71
posix-configs/rpi2/init/rcS_navio
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@ -1,71 +0,0 @@ @@ -1,71 +0,0 @@
uorb start
simulator start -s
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set MIS_TAKEOFF_ALT 5.0
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_HOLD_Z_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
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