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boards: start enabling multi-EKF by default on F7/H7

release/1.12
Daniel Agar 4 years ago committed by Lorenz Meier
parent
b3257c0bf2
commit
763c3b8fda
21 changed files with 116 additions and 8 deletions
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  1. 8
      .ci/Jenkinsfile-hardware
  2. 4
      boards/av/x-v1/init/rc.board_defaults
  3. 6
      boards/cuav/nora/init/rc.board_defaults
  4. 6
      boards/cuav/x7pro/init/rc.board_defaults
  5. 6
      boards/cubepilot/cubeorange/init/rc.board_defaults
  6. 4
      boards/cubepilot/cubeyellow/init/rc.board_defaults
  7. 6
      boards/holybro/durandal-v1/init/rc.board_defaults
  8. 6
      boards/holybro/pix32v5/init/rc.board_defaults
  9. 4
      boards/modalai/fc-v1/init/rc.board_defaults
  10. 4
      boards/mro/ctrl-zero-f7/init/rc.board_defaults
  11. 6
      boards/mro/pixracerpro/init/rc.board_defaults
  12. 6
      boards/mro/x21-777/init/rc.board_defaults
  13. 4
      boards/px4/fmu-v4pro/init/rc.board_defaults
  14. 14
      boards/px4/fmu-v5/init/rc.board_defaults
  15. 4
      boards/px4/fmu-v5x/init/rc.board_defaults
  16. 6
      boards/px4/fmu-v6x/init/rc.board_defaults
  17. 6
      posix-configs/rpi/pilotpi_mc.config
  18. 6
      posix-configs/rpi/px4.config
  19. 6
      posix-configs/rpi/px4_fw.config
  20. 6
      posix-configs/rpi/px4_hil.config
  21. 6
      posix-configs/rpi/px4_test.config

8
.ci/Jenkinsfile-hardware
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@ -102,6 +102,7 @@ pipeline { @@ -102,6 +102,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@ -175,6 +176,7 @@ pipeline { @@ -175,6 +176,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
@ -247,6 +249,7 @@ pipeline { @@ -247,6 +249,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@ -320,6 +323,7 @@ pipeline { @@ -320,6 +323,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@ -471,6 +475,7 @@ pipeline { @@ -471,6 +475,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
@ -620,6 +625,7 @@ pipeline { @@ -620,6 +625,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true' // reboot to apply
@ -694,6 +700,7 @@ pipeline { @@ -694,6 +700,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
@ -770,6 +777,7 @@ pipeline { @@ -770,6 +777,7 @@ pipeline {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply

4
boards/av/x-v1/init/rc.board_defaults
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@ -8,7 +8,9 @@ param set CBRK_SUPPLY_CHK 894281 @@ -8,7 +8,9 @@ param set CBRK_SUPPLY_CHK 894281
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
fi
set LOGGER_BUF 64

6
boards/cuav/nora/init/rc.board_defaults
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@ -31,6 +31,12 @@ then @@ -31,6 +31,12 @@ then
param set BAT1_A_PER_V 24
param set BAT2_A_PER_V 24
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
# Enable IMU thermal control
param set SENS_EN_THERMAL 1
fi

6
boards/cuav/x7pro/init/rc.board_defaults
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@ -31,6 +31,12 @@ then @@ -31,6 +31,12 @@ then
param set BAT1_A_PER_V 24
param set BAT2_A_PER_V 24
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
# Enable IMU thermal control
param set SENS_EN_THERMAL 1
fi

6
boards/cubepilot/cubeorange/init/rc.board_defaults
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@ -31,6 +31,12 @@ then @@ -31,6 +31,12 @@ then
param set BAT1_A_PER_V 17
param set BAT2_A_PER_V 17
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
# Disable IMU thermal control
param set SENS_EN_THERMAL 0
fi

4
boards/cubepilot/cubeyellow/init/rc.board_defaults
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@ -14,6 +14,10 @@ then @@ -14,6 +14,10 @@ then
param set BAT1_A_PER_V 17
param set BAT2_A_PER_V 17
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
# Disable IMU thermal control
param set SENS_EN_THERMAL 0
fi

6
boards/holybro/durandal-v1/init/rc.board_defaults
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@ -24,6 +24,12 @@ unset BL_FILE @@ -24,6 +24,12 @@ unset BL_FILE
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
# Enable IMU thermal control
param set SENS_EN_THERMAL 1
fi

6
boards/holybro/pix32v5/init/rc.board_defaults
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@ -6,7 +6,11 @@ @@ -6,7 +6,11 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
fi
set LOGGER_BUF 64

4
boards/modalai/fc-v1/init/rc.board_defaults
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@ -26,6 +26,10 @@ then @@ -26,6 +26,10 @@ then
# V110 - J1011 pin 5
#
param set CBRK_IO_SAFETY 22027
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
fi
#

4
boards/mro/ctrl-zero-f7/init/rc.board_defaults
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@ -6,7 +6,9 @@ @@ -6,7 +6,9 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
fi
set LOGGER_BUF 64

6
boards/mro/pixracerpro/init/rc.board_defaults
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@ -29,6 +29,12 @@ then @@ -29,6 +29,12 @@ then
param set BAT_A_PER_V 17
param set BAT1_A_PER_V 17
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
fi
set LOGGER_BUF 64

6
boards/mro/x21-777/init/rc.board_defaults
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@ -6,7 +6,11 @@ @@ -6,7 +6,11 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
fi
set LOGGER_BUF 64

4
boards/px4/fmu-v4pro/init/rc.board_defaults
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@ -6,7 +6,9 @@ @@ -6,7 +6,9 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
fi
set LOGGER_BUF 64

14
boards/px4/fmu-v5/init/rc.board_defaults
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@ -6,7 +6,19 @@ @@ -6,7 +6,19 @@
if [ $AUTOCNF = yes ]
then
if ver hwtypecmp V550 V560
then
# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
# Multi-EKF (IMUs only)
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
else
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
fi
fi
# disable px4io on HolyBro mini (V540) and CUAV V5nano (V560)

4
boards/px4/fmu-v5x/init/rc.board_defaults
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@ -6,7 +6,9 @@ @@ -6,7 +6,9 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
fi
set LOGGER_BUF 64

6
boards/px4/fmu-v6x/init/rc.board_defaults
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@ -6,7 +6,11 @@ @@ -6,7 +6,11 @@
if [ $AUTOCNF = yes ]
then
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
fi
set LOGGER_BUF 64

6
posix-configs/rpi/pilotpi_mc.config
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@ -14,6 +14,12 @@ param set CBRK_SUPPLY_CHK 894281 @@ -14,6 +14,12 @@ param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
param set MAV_TYPE 2
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
dataman start
load_mon start

6
posix-configs/rpi/px4.config
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@ -17,6 +17,12 @@ param set MAV_BROADCAST 1 @@ -17,6 +17,12 @@ param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
dataman start
load_mon start

6
posix-configs/rpi/px4_fw.config
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@ -17,6 +17,12 @@ param set SYS_AUTOSTART 2100 @@ -17,6 +17,12 @@ param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set IMU_GYRO_RATEMAX 400
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
dataman start
load_mon start

6
posix-configs/rpi/px4_hil.config
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@ -18,6 +18,12 @@ param set SYS_AUTOSTART 1001 @@ -18,6 +18,12 @@ param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
dataman start
load_mon start

6
posix-configs/rpi/px4_test.config
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@ -17,6 +17,12 @@ param set MAV_BROADCAST 1 @@ -17,6 +17,12 @@ param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set SENS_MAG_MODE 0
dataman start
load_mon start

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