From 4d288512b5e2324de8a35d967bac944562af789e Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 9 Mar 2021 11:16:44 -0500 Subject: [PATCH] add board architecture specific init defaults --- ROMFS/CMakeLists.txt | 26 ++++++++++++++++++- ROMFS/cannode/init.d/rcS | 11 ++++++++ ROMFS/px4fmu_common/init.d/rc.logging | 6 ----- ROMFS/px4fmu_common/init.d/rcS | 11 ++++++++ .../airmind/mindpx-v2/init/rc.board_defaults | 7 ----- boards/ark/can-flow/init/rc.board_defaults | 9 ------- boards/av/x-v1/init/rc.board_defaults | 8 +----- .../bitcraze/crazyflie/init/rc.board_defaults | 3 ++- .../crazyflie21/init/rc.board_defaults | 2 +- boards/cuav/can-gps-v1/init/rc.board_defaults | 6 ----- boards/cuav/nora/init/rc.board_defaults | 11 -------- boards/cuav/x7pro/init/rc.board_defaults | 11 -------- .../cubeorange/init/rc.board_defaults | 12 +-------- .../cubeyellow/init/rc.board_defaults | 10 +------ .../holybro/can-gps-v1/init/rc.board_defaults | 2 +- .../durandal-v1/init/rc.board_defaults | 11 -------- .../holybro/kakutef7/init/rc.board_defaults | 2 +- boards/holybro/pix32v5/init/rc.board_defaults | 13 +--------- boards/modalai/fc-v1/init/rc.board_defaults | 10 +------ .../ctrl-zero-f7-oem/init/rc.board_defaults | 15 +---------- .../mro/ctrl-zero-f7/init/rc.board_defaults | 12 +-------- .../ctrl-zero-h7-oem/init/rc.board_defaults | 12 +-------- .../mro/ctrl-zero-h7/init/rc.board_defaults | 10 ------- boards/mro/pixracerpro/init/rc.board_defaults | 14 +--------- boards/nxp/fmuk66-e/init/rc.board_defaults | 8 +----- boards/nxp/fmuk66-v3/init/rc.board_defaults | 8 +----- .../nxp/fmurt1062-v1/init/rc.board_defaults | 10 +------ boards/nxp/ucans32k146/init/rc.board_defaults | 8 +----- boards/omnibus/f4sd/init/rc.board_defaults | 9 +------ boards/px4/fmu-v2/init/rc.board_defaults | 2 +- boards/px4/fmu-v3/init/rc.board_defaults | 2 +- boards/px4/fmu-v4/init/rc.board_defaults | 20 +++++--------- boards/px4/fmu-v4pro/init/rc.board_defaults | 7 ++--- boards/px4/fmu-v5/init/rc.board_defaults | 7 +---- boards/px4/fmu-v5x/init/rc.board_defaults | 11 +------- boards/px4/fmu-v6u/init/rc.board_defaults | 13 +--------- boards/px4/fmu-v6x/init/rc.board_defaults | 13 +--------- .../spracing/h7extreme/init/rc.board_defaults | 8 +----- boards/uvify/core/init/rc.board_defaults | 5 +--- .../nuttx/init/imxrt/rc.board_arch_defaults | 4 ++- .../nuttx/init/kinetis/rc.board_arch_defaults | 18 +++++++++++++ .../nuttx/init/s32k1xx/rc.board_arch_defaults | 12 +++++++++ .../nuttx/init/stm32/rc.board_arch_defaults | 18 +++++++++++++ .../nuttx/init/stm32f7/rc.board_arch_defaults | 14 ++++++++++ .../nuttx/init/stm32h7/rc.board_arch_defaults | 8 +++--- 45 files changed, 151 insertions(+), 288 deletions(-) delete mode 100644 boards/airmind/mindpx-v2/init/rc.board_defaults delete mode 100644 boards/ark/can-flow/init/rc.board_defaults rename boards/mro/x21/init/rc.board_defaults => platforms/nuttx/init/imxrt/rc.board_arch_defaults (67%) create mode 100644 platforms/nuttx/init/kinetis/rc.board_arch_defaults create mode 100644 platforms/nuttx/init/s32k1xx/rc.board_arch_defaults create mode 100644 platforms/nuttx/init/stm32/rc.board_arch_defaults create mode 100644 platforms/nuttx/init/stm32f7/rc.board_arch_defaults rename boards/mro/x21-777/init/rc.board_defaults => platforms/nuttx/init/stm32h7/rc.board_arch_defaults (69%) diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt index 4159170aaa..25add7e336 100644 --- a/ROMFS/CMakeLists.txt +++ b/ROMFS/CMakeLists.txt @@ -83,7 +83,7 @@ if (px4_constrained_flash_build) endif() if(PX4_ETHERNET) set(added_arguments ${added_arguments} --ethernet) -endif() +endif() # create list of relative romfs file names set(romfs_copy_files_relative) foreach(romfs_file IN LISTS romfs_copy_files) @@ -158,6 +158,30 @@ if(config_build_bootloader) ) endif() + +# optional board architecture defaults +set(board_arch_rc_file "rc.board_arch_defaults") +if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}") + message(STATUS "ROMFS: Adding ${board_arch_rc_file}") + + add_custom_command( + OUTPUT + ${romfs_gen_root_dir}/init.d/${board_arch_rc_file} + ${board_arch_rc_file}.stamp + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file} + COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp + DEPENDS + ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} + romfs_copy.stamp + COMMENT "ROMFS: copying ${board_arch_rc_file}" + ) + + list(APPEND extras_dependencies + ${board_arch_rc_file}.stamp + ) +endif() + + set(OPTIONAL_BOARD_RC) list(APPEND OPTIONAL_BOARD_RC rc.board_defaults diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS index 89b99211f1..2269a97cf2 100644 --- a/ROMFS/cannode/init.d/rcS +++ b/ROMFS/cannode/init.d/rcS @@ -49,6 +49,17 @@ then param reset_all fi +# +# Optional board architecture defaults: rc.board_arch_defaults +# +set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults +if [ -f $BOARD_ARCH_RC_DEFAULTS ] +then + echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}" + . $BOARD_ARCH_RC_DEFAULTS +fi +unset BOARD_ARCH_RC_DEFAULTS + # # Optional board defaults: rc.board_defaults # diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 404ea6a138..86fc1e0421 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -4,12 +4,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -if param greater -s UAVCAN_ENABLE 1 -then - # Reduce logger buffer to free up some RAM for UAVCAN servers. - set LOGGER_BUF 6 -fi - ############################################################################### # End Setup for board specific configurations. # ############################################################################### diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index be9c9e3ee6..f4057b465f 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -180,6 +180,17 @@ else set AUTOCNF yes fi + # + # Optional board architecture defaults: rc.board_arch_defaults + # + set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults + if [ -f $BOARD_ARCH_RC_DEFAULTS ] + then + echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}" + . $BOARD_ARCH_RC_DEFAULTS + fi + unset BOARD_ARCH_RC_DEFAULTS + # # Optional board defaults: rc.board_defaults # diff --git a/boards/airmind/mindpx-v2/init/rc.board_defaults b/boards/airmind/mindpx-v2/init/rc.board_defaults deleted file mode 100644 index 82e1fb82a5..0000000000 --- a/boards/airmind/mindpx-v2/init/rc.board_defaults +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -# -# Airmind Mindpx-v2 specific board defaults -#------------------------------------------------------------------------------ - -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 diff --git a/boards/ark/can-flow/init/rc.board_defaults b/boards/ark/can-flow/init/rc.board_defaults deleted file mode 100644 index d65267f186..0000000000 --- a/boards/ark/can-flow/init/rc.board_defaults +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/sh -# -# board specific defaults -#------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi diff --git a/boards/av/x-v1/init/rc.board_defaults b/boards/av/x-v1/init/rc.board_defaults index 1fdf1ecb34..661ad24816 100644 --- a/boards/av/x-v1/init/rc.board_defaults +++ b/boards/av/x-v1/init/rc.board_defaults @@ -1,13 +1,7 @@ #!/bin/sh # -# av_x1-v1 specific board init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 - -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -set LOGGER_BUF 64 diff --git a/boards/bitcraze/crazyflie/init/rc.board_defaults b/boards/bitcraze/crazyflie/init/rc.board_defaults index a6e185fce0..7eb60550b6 100644 --- a/boards/bitcraze/crazyflie/init/rc.board_defaults +++ b/boards/bitcraze/crazyflie/init/rc.board_defaults @@ -1,10 +1,11 @@ #!/bin/sh # -# Bitcraze Crazyflie specific board sensors init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 + param set-default SYS_AUTOSTART 4900 # don't probe external I2C diff --git a/boards/bitcraze/crazyflie21/init/rc.board_defaults b/boards/bitcraze/crazyflie21/init/rc.board_defaults index a3db1fcefb..a1cd8b6a52 100644 --- a/boards/bitcraze/crazyflie21/init/rc.board_defaults +++ b/boards/bitcraze/crazyflie21/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Bitcraze Crazyflie specific board sensors init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable diff --git a/boards/cuav/can-gps-v1/init/rc.board_defaults b/boards/cuav/can-gps-v1/init/rc.board_defaults index e5e2c570d2..42645aeb39 100644 --- a/boards/cuav/can-gps-v1/init/rc.board_defaults +++ b/boards/cuav/can-gps-v1/init/rc.board_defaults @@ -3,12 +3,6 @@ # board specific defaults #------------------------------------------------------------------------------ -if [ $AUTOCNF = yes ] -then - -fi - neopixel start safety_button start tone_alarm start - diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults index 41fd9c03eb..5967c4421e 100644 --- a/boards/cuav/nora/init/rc.board_defaults +++ b/boards/cuav/nora/init/rc.board_defaults @@ -30,19 +30,8 @@ param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 param set-default BAT2_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults index 433c3d8f57..40c6301156 100644 --- a/boards/cuav/x7pro/init/rc.board_defaults +++ b/boards/cuav/x7pro/init/rc.board_defaults @@ -30,19 +30,8 @@ param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 param set-default BAT2_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults index f697cafd89..444a67d244 100644 --- a/boards/cubepilot/cubeorange/init/rc.board_defaults +++ b/boards/cubepilot/cubeorange/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ # @@ -30,17 +30,7 @@ param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 param set-default BAT2_A_PER_V 17 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Disable IMU thermal control param set-default SENS_EN_THERMAL 0 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults index e5cf535699..d5e3382247 100644 --- a/boards/cubepilot/cubeyellow/init/rc.board_defaults +++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ @@ -12,15 +12,7 @@ param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 param set-default BAT2_A_PER_V 17 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - # Disable IMU thermal control param set-default SENS_EN_THERMAL 0 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/holybro/can-gps-v1/init/rc.board_defaults b/boards/holybro/can-gps-v1/init/rc.board_defaults index 35be49d5b9..3882c0a242 100644 --- a/boards/holybro/can-gps-v1/init/rc.board_defaults +++ b/boards/holybro/can-gps-v1/init/rc.board_defaults @@ -3,4 +3,4 @@ # board specific defaults #------------------------------------------------------------------------------ -rgbled_ncp5623c -I -b 1 -a 0x39 start +rgbled_ncp5623c -I -b 1 -a 0x39 start diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults index 7dddf07bf4..b820665a9c 100644 --- a/boards/holybro/durandal-v1/init/rc.board_defaults +++ b/boards/holybro/durandal-v1/init/rc.board_defaults @@ -23,16 +23,5 @@ fi unset BL_FILE -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults index 3fc24b2e0a..ca65d4cf35 100644 --- a/boards/holybro/kakutef7/init/rc.board_defaults +++ b/boards/holybro/kakutef7/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# KakuteF7 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults index 47fd0057ba..3b99b63eb3 100644 --- a/boards/holybro/pix32v5/init/rc.board_defaults +++ b/boards/holybro/pix32v5/init/rc.board_defaults @@ -1,18 +1,7 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 2 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 2 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults index 22338fde80..c57ef07ac1 100644 --- a/boards/modalai/fc-v1/init/rc.board_defaults +++ b/boards/modalai/fc-v1/init/rc.board_defaults @@ -1,7 +1,6 @@ #!/bin/sh # -# ModalAI FC-v1 specific board defaults -# Maintainer: travis@modalai.com +# board specific defaults #------------------------------------------------------------------------------ # @@ -24,12 +23,6 @@ # V110 - J1011 pin 5 param set-default CBRK_IO_SAFETY 22027 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - # # Stand Alone configuration # @@ -98,6 +91,5 @@ then fi fi -set LOGGER_BUF 64 safety_button start diff --git a/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults b/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults index 73371f9d92..9c542a7730 100644 --- a/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults @@ -1,19 +1,6 @@ #!/bin/sh # -# mRo Control Zero specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - # Multi-EKF - param set EKF2_MULTI_IMU 3 - param set SENS_IMU_MODE 0 - - param set UAVCAN_ENABLE 2 -fi - -set LOGGER_BUF 64 -set MIXER_AUX none - safety_button start diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_defaults b/boards/mro/ctrl-zero-f7/init/rc.board_defaults index 1bf534d976..9c542a7730 100644 --- a/boards/mro/ctrl-zero-f7/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-f7/init/rc.board_defaults @@ -1,16 +1,6 @@ #!/bin/sh # -# mRo Control Zero specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 -set MIXER_AUX none - safety_button start diff --git a/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults b/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults index 98136ea19e..b3701ff52c 100644 --- a/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults @@ -6,7 +6,7 @@ # # Bootloader upgrade # -set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin +set BL_FILE /etc/extras/mro_ctrl-zero-h7-oem_bootloader.bin if [ -f $BL_FILE ] then if param compare SYS_BL_UPDATE 1 @@ -28,15 +28,5 @@ param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 safety_button start diff --git a/boards/mro/ctrl-zero-h7/init/rc.board_defaults b/boards/mro/ctrl-zero-h7/init/rc.board_defaults index 98136ea19e..a85ece0156 100644 --- a/boards/mro/ctrl-zero-h7/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-h7/init/rc.board_defaults @@ -28,15 +28,5 @@ param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 safety_button start diff --git a/boards/mro/pixracerpro/init/rc.board_defaults b/boards/mro/pixracerpro/init/rc.board_defaults index 71f4c01d76..52491421d3 100644 --- a/boards/mro/pixracerpro/init/rc.board_defaults +++ b/boards/mro/pixracerpro/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ # @@ -27,15 +27,3 @@ param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 - -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 -set MIXER_AUX none diff --git a/boards/nxp/fmuk66-e/init/rc.board_defaults b/boards/nxp/fmuk66-e/init/rc.board_defaults index b304023452..3b99b63eb3 100644 --- a/boards/nxp/fmuk66-e/init/rc.board_defaults +++ b/boards/nxp/fmuk66-e/init/rc.board_defaults @@ -1,13 +1,7 @@ #!/bin/sh # -# NXP fmuk66-e specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - rgbled_pwm start safety_button start diff --git a/boards/nxp/fmuk66-v3/init/rc.board_defaults b/boards/nxp/fmuk66-v3/init/rc.board_defaults index 1345753002..750f120673 100644 --- a/boards/nxp/fmuk66-v3/init/rc.board_defaults +++ b/boards/nxp/fmuk66-v3/init/rc.board_defaults @@ -1,14 +1,8 @@ #!/bin/sh # -# NXP fmuk66-v3 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - rgbled_pwm start safety_button start diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_defaults b/boards/nxp/fmurt1062-v1/init/rc.board_defaults index 1c2544dba8..3b99b63eb3 100644 --- a/boards/nxp/fmurt1062-v1/init/rc.board_defaults +++ b/boards/nxp/fmurt1062-v1/init/rc.board_defaults @@ -1,15 +1,7 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/nxp/ucans32k146/init/rc.board_defaults b/boards/nxp/ucans32k146/init/rc.board_defaults index 02e94dee80..5bccf6aa10 100644 --- a/boards/nxp/ucans32k146/init/rc.board_defaults +++ b/boards/nxp/ucans32k146/init/rc.board_defaults @@ -1,12 +1,6 @@ #!/bin/sh # -# board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - pwm_out mode_pwm1 start diff --git a/boards/omnibus/f4sd/init/rc.board_defaults b/boards/omnibus/f4sd/init/rc.board_defaults index ca88eae463..97bbcd6ee6 100644 --- a/boards/omnibus/f4sd/init/rc.board_defaults +++ b/boards/omnibus/f4sd/init/rc.board_defaults @@ -1,18 +1,11 @@ #!/bin/sh # -# Omnibus F4SD specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 -# transition from LPE+Q to Q estimator (2019-06-05) -if param compare SYS_MC_EST_GROUP 1 -then - param set SYS_MC_EST_GROUP 3 -fi - - # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults index 9d81e1ef47..7a4c20fe16 100644 --- a/boards/px4/fmu-v2/init/rc.board_defaults +++ b/boards/px4/fmu-v2/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# PX4 FMUv2 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults index 80652e6b92..7a4c20fe16 100644 --- a/boards/px4/fmu-v3/init/rc.board_defaults +++ b/boards/px4/fmu-v3/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# PX4 FMUv3 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ diff --git a/boards/px4/fmu-v4/init/rc.board_defaults b/boards/px4/fmu-v4/init/rc.board_defaults index b11850f4f9..d08737ebc2 100644 --- a/boards/px4/fmu-v4/init/rc.board_defaults +++ b/boards/px4/fmu-v4/init/rc.board_defaults @@ -1,21 +1,15 @@ #!/bin/sh # -# PX4 FMUv4 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -if [ $AUTOCNF = yes ] +# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe. +if ! param compare SYS_AUTOSTART 4250 then - # Disable safety switch by default - param set-default CBRK_IO_SAFETY 22027 - - # start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe. - if ! param compare SYS_AUTOSTART 4250 - then - param set-default MAV_2_CONFIG 301 - param set-default MAV_2_RATE 20000 - param set-default SER_WIFI_BAUD 921600 - fi + param set-default MAV_2_CONFIG 301 + param set-default MAV_2_RATE 20000 + param set-default SER_WIFI_BAUD 921600 fi if param compare SER_WIFI_BAUD 1 @@ -30,5 +24,5 @@ then fi fi -safety_button start +safety_button start diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults index 2771f37326..f881b43a5c 100644 --- a/boards/px4/fmu-v4pro/init/rc.board_defaults +++ b/boards/px4/fmu-v4pro/init/rc.board_defaults @@ -1,13 +1,10 @@ #!/bin/sh # -# PX4 FMUv4pro specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # Multi-EKF -param set-default EKF2_MULTI_IMU 3 +param set-default EKF2_MULTI_IMU 2 param set-default SENS_IMU_MODE 0 -param set-default UAVCAN_ENABLE 2 - - set LOGGER_BUF 64 diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults index 5d24859549..98a8edb101 100644 --- a/boards/px4/fmu-v5/init/rc.board_defaults +++ b/boards/px4/fmu-v5/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ @@ -18,10 +18,5 @@ else param set-default SENS_MAG_MODE 0 fi -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults index 88e273b039..9c542a7730 100644 --- a/boards/px4/fmu-v5x/init/rc.board_defaults +++ b/boards/px4/fmu-v5x/init/rc.board_defaults @@ -1,15 +1,6 @@ #!/bin/sh # -# PX4 FMUv5X specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/px4/fmu-v6u/init/rc.board_defaults b/boards/px4/fmu-v6u/init/rc.board_defaults index 055a18f9b1..9c542a7730 100644 --- a/boards/px4/fmu-v6u/init/rc.board_defaults +++ b/boards/px4/fmu-v6u/init/rc.board_defaults @@ -1,17 +1,6 @@ #!/bin/sh # -# PX4 FMUv6U specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults index f5e857c2f3..9c542a7730 100644 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ b/boards/px4/fmu-v6x/init/rc.board_defaults @@ -1,17 +1,6 @@ #!/bin/sh # -# PX4 FMUv6X specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults index b3a7308d44..1d809acc3e 100644 --- a/boards/spracing/h7extreme/init/rc.board_defaults +++ b/boards/spracing/h7extreme/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# SP Racing H7 EXTREME specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable @@ -9,9 +9,6 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 - # use the Q attitude estimator, it works w/o mag or GPS. param set-default SYS_MC_EST_GROUP 3 param set-default ATT_ACC_COMP 0 @@ -21,6 +18,3 @@ param set-default ATT_W_GYRO_BIAS 0.0000 param set-default SYS_HAS_MAG 0 param set-default DSHOT_CONFIG 600 - - -set LOGGER_BUF 64 diff --git a/boards/uvify/core/init/rc.board_defaults b/boards/uvify/core/init/rc.board_defaults index 61ca5a1272..df7abbbbef 100644 --- a/boards/uvify/core/init/rc.board_defaults +++ b/boards/uvify/core/init/rc.board_defaults @@ -1,10 +1,7 @@ #!/bin/sh # -# UVify Core specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 - # don't probe external I2C param set-default SENS_EXT_I2C_PRB 0 diff --git a/boards/mro/x21/init/rc.board_defaults b/platforms/nuttx/init/imxrt/rc.board_arch_defaults similarity index 67% rename from boards/mro/x21/init/rc.board_defaults rename to platforms/nuttx/init/imxrt/rc.board_arch_defaults index 63a0baaa17..588022d654 100644 --- a/boards/mro/x21/init/rc.board_defaults +++ b/platforms/nuttx/init/imxrt/rc.board_arch_defaults @@ -1,4 +1,6 @@ #!/bin/sh # -# mRo x21 specific board defaults +# imxrt specific defaults #------------------------------------------------------------------------------ + +set LOGGER_BUF 32 diff --git a/platforms/nuttx/init/kinetis/rc.board_arch_defaults b/platforms/nuttx/init/kinetis/rc.board_arch_defaults new file mode 100644 index 0000000000..d13ffa2fdc --- /dev/null +++ b/platforms/nuttx/init/kinetis/rc.board_arch_defaults @@ -0,0 +1,18 @@ +#!/bin/sh +# +# Kinetis specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (off by default) +param set-default EKF2_MULTI_IMU 0 +param set-default SENS_IMU_MODE 1 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults b/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults new file mode 100644 index 0000000000..9342373d48 --- /dev/null +++ b/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults @@ -0,0 +1,12 @@ +#!/bin/sh +# +# S32K1XX specific defaults +#------------------------------------------------------------------------------ + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/stm32/rc.board_arch_defaults b/platforms/nuttx/init/stm32/rc.board_arch_defaults new file mode 100644 index 0000000000..b584f97526 --- /dev/null +++ b/platforms/nuttx/init/stm32/rc.board_arch_defaults @@ -0,0 +1,18 @@ +#!/bin/sh +# +# STM32 (STM32F4) specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (off by default) +param set-default EKF2_MULTI_IMU 0 +param set-default SENS_IMU_MODE 1 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults new file mode 100644 index 0000000000..ee4a38ffda --- /dev/null +++ b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults @@ -0,0 +1,14 @@ +#!/bin/sh +# +# STM32F7 specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (across IMUs only) +param set-default EKF2_MULTI_IMU 3 +param set-default SENS_IMU_MODE 0 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +param set-default UAVCAN_ENABLE 2 + +set LOGGER_BUF 64 diff --git a/boards/mro/x21-777/init/rc.board_defaults b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults similarity index 69% rename from boards/mro/x21-777/init/rc.board_defaults rename to platforms/nuttx/init/stm32h7/rc.board_arch_defaults index f13e765146..c4b76aec20 100644 --- a/boards/mro/x21-777/init/rc.board_defaults +++ b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults @@ -1,16 +1,14 @@ #!/bin/sh # -# Board specific defaults +# STM32H7 specific defaults #------------------------------------------------------------------------------ - # Multi-EKF -param set-default EKF2_MULTI_IMU 2 +param set-default EKF2_MULTI_IMU 3 param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 2 +param set-default EKF2_MULTI_MAG 3 param set-default SENS_MAG_MODE 0 param set-default UAVCAN_ENABLE 2 - set LOGGER_BUF 64