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* Low impact changes from path_cleanup branch. This is a step towards minimizing the diff with path_cleanup branch. * Update ecl. * Revert matrix update. * Revert ecl and matrix. * Update sitl gazebo. * Revert sitl_gazebo and matrix changes.sbg
James Goppert
9 years ago
committed by
GitHub
54 changed files with 277 additions and 523 deletions
@ -1,3 +1,3 @@ |
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include(configs/posix_rpi_common) |
include(configs/posix_rpi_common) |
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake) |
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake) |
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@ -1,334 +0,0 @@ |
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cmake_minimum_required(VERSION 2.8.3) |
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project(px4) |
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") |
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add_definitions(-D__PX4_ROS) |
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add_definitions(-D__EXPORT=) |
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add_definitions(-DMAVLINK_DIALECT=common) |
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## Find catkin macros and libraries |
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) |
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## is used, also find other catkin packages |
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find_package(catkin REQUIRED COMPONENTS |
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roscpp |
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rospy |
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std_msgs |
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geometry_msgs |
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message_generation |
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cmake_modules |
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gazebo_msgs |
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sensor_msgs |
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mav_msgs |
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libmavconn |
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tf |
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) |
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find_package(Eigen REQUIRED) |
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## System dependencies are found with CMake's conventions |
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# find_package(Boost REQUIRED COMPONENTS system) |
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## Uncomment this if the package has a setup.py. This macro ensures |
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## modules and global scripts declared therein get installed |
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html |
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# catkin_python_setup() |
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################################################ |
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## Declare ROS messages, services and actions ## |
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################################################ |
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## To declare and build messages, services or actions from within this |
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## package, follow these steps: |
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## * Let MSG_DEP_SET be the set of packages whose message types you use in |
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). |
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## * In the file package.xml: |
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET |
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## * If MSG_DEP_SET isn't empty the following dependencies might have been |
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## pulled in transitively but can be declared for certainty nonetheless: |
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## * add a build_depend tag for "message_generation" |
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## * add a run_depend tag for "message_runtime" |
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## * In this file (CMakeLists.txt): |
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## * add "message_generation" and every package in MSG_DEP_SET to |
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## find_package(catkin REQUIRED COMPONENTS ...) |
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## * add "message_runtime" and every package in MSG_DEP_SET to |
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## catkin_package(CATKIN_DEPENDS ...) |
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## * uncomment the add_*_files sections below as needed |
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## and list every .msg/.srv/.action file to be processed |
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## * uncomment the generate_messages entry below |
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) |
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## Generate messages in the 'msg' folder |
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add_message_files( |
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FILES |
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actuator_armed.msg |
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actuator_controls.msg |
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commander_state.msg |
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control_state.msg |
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distance_sensor.msg |
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manual_control_setpoint.msg |
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mc_virtual_rates_setpoint.msg |
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offboard_control_mode.msg |
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parameter_update.msg |
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position_setpoint.msg |
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position_setpoint_triplet.msg |
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rc_channels.msg |
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ros/actuator_controls_0.msg |
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ros/actuator_controls_virtual_mc.msg |
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vehicle_attitude.msg |
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vehicle_attitude_setpoint.msg |
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vehicle_control_mode.msg |
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vehicle_force_setpoint.msg |
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vehicle_global_velocity_setpoint.msg |
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vehicle_local_position.msg |
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vehicle_local_position_setpoint.msg |
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vehicle_rates_setpoint.msg |
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vehicle_status.msg |
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) |
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## Generate services in the 'srv' folder |
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# add_service_files( |
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# FILES |
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# Service1.srv |
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# Service2.srv |
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# ) |
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## Generate actions in the 'action' folder |
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# add_action_files( |
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# FILES |
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# Action1.action |
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# Action2.action |
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# ) |
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## Generate added messages and services with any dependencies listed here |
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generate_messages( |
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DEPENDENCIES |
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std_msgs |
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gazebo_msgs |
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) |
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################################### |
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## catkin specific configuration ## |
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################################### |
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## The catkin_package macro generates cmake config files for your package |
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## Declare things to be passed to dependent projects |
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## INCLUDE_DIRS: uncomment this if you package contains header files |
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## LIBRARIES: libraries you create in this project that dependent projects also need |
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## CATKIN_DEPENDS: catkin_packages dependent projects also need |
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## DEPENDS: system dependencies of this project that dependent projects also need |
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catkin_package( |
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INCLUDE_DIRS src/include |
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LIBRARIES px4 |
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CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn |
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DEPENDS system_lib |
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) |
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########### |
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## Build ## |
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########### |
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## Specify additional locations of header files |
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## Your package locations should be listed before other locations |
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include_directories( |
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${catkin_INCLUDE_DIRS} |
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src/platforms |
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src/platforms/ros/px4_messages |
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src/include |
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src/modules |
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${CMAKE_BINARY_DIR}/src/modules |
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src/ |
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src/lib |
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src/lib/matrix |
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${EIGEN_INCLUDE_DIRS} |
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integrationtests |
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) |
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## generate multiplatform wrapper headers |
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## note that the message header files are generated as in any ROS project with generate_messages() |
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set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages) |
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set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros) |
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set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary) |
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set(MULTIPLATFORM_PREFIX px4_) |
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add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py |
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--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR} |
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-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX}) |
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## Declare a cpp library |
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add_library(px4 |
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src/platforms/ros/px4_ros_impl.cpp |
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src/platforms/ros/perf_counter.cpp |
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src/platforms/ros/geo.cpp |
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src/lib/mathlib/math/Limits.cpp |
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src/modules/systemlib/circuit_breaker.cpp |
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) |
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add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) |
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target_link_libraries(px4 |
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${catkin_LIBRARIES} |
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) |
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## Declare a test publisher |
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add_executable(publisher |
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src/examples/publisher/publisher_main.cpp |
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src/examples/publisher/publisher_example.cpp) |
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add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) |
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target_link_libraries(publisher |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Declare a test subscriber |
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add_executable(subscriber |
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src/examples/subscriber/subscriber_main.cpp |
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src/examples/subscriber/subscriber_example.cpp) |
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add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) |
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target_link_libraries(subscriber |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## MC Attitude Control |
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add_executable(mc_att_control |
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src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp |
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src/modules/mc_att_control_multiplatform/mc_att_control.cpp |
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src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp) |
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add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(mc_att_control |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## MC Position Control |
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add_executable(mc_pos_control |
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src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp |
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src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp) |
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add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(mc_pos_control |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Attitude Estimator dummy |
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add_executable(attitude_estimator |
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src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp) |
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add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(attitude_estimator |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Position Estimator dummy |
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add_executable(position_estimator |
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src/platforms/ros/nodes/position_estimator/position_estimator.cpp) |
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add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(position_estimator |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Manual input |
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add_executable(manual_input |
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src/platforms/ros/nodes/manual_input/manual_input.cpp) |
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add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(manual_input |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Multicopter Mixer dummy |
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add_executable(mc_mixer |
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp) |
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add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(mc_mixer |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Commander dummy |
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add_executable(commander |
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src/platforms/ros/nodes/commander/commander.cpp) |
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add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(commander |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Mavlink dummy |
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add_executable(mavlink |
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src/platforms/ros/nodes/mavlink/mavlink.cpp) |
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add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(mavlink |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Offboard Position Setpoint Demo |
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add_executable(demo_offboard_position_setpoints |
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src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp) |
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add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(demo_offboard_position_setpoints |
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${catkin_LIBRARIES} |
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px4 |
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) |
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## Offboard Attitude Setpoint Demo |
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add_executable(demo_offboard_attitude_setpoints |
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src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp) |
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add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp) |
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target_link_libraries(demo_offboard_attitude_setpoints |
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${catkin_LIBRARIES} |
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px4 |
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) |
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############# |
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## Install ## |
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############# |
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# all install targets should use catkin DESTINATION variables |
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html |
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## Mark executable scripts (Python etc.) for installation |
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## in contrast to setup.py, you can choose the destination |
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# install(PROGRAMS |
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# scripts/my_python_script |
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
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# ) |
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## Mark executables and/or libraries for installation |
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install(TARGETS ${PROJECT_NAME} |
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
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) |
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## Mark cpp header files for installation |
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# install(DIRECTORY include/${PROJECT_NAME}/ |
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} |
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# FILES_MATCHING PATTERN "*.h" |
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# PATTERN ".svn" EXCLUDE |
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# ) |
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## Mark other files for installation (e.g. launch and bag files, etc.) |
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# install(FILES |
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# # myfile1 |
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# # myfile2 |
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} |
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# ) |
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|
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############# |
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## Testing ## |
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||||||
############# |
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||||||
|
|
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## Add gtest based cpp test target and link libraries |
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp) |
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# if(TARGET ${PROJECT_NAME}-test) |
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) |
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# endif() |
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## Add folders to be run by python nosetests |
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# catkin_add_nosetests(test) |
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||||||
## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL |
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#if(CATKIN_ENABLE_TESTING) |
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# find_package(rostest REQUIRED) |
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# add_rostest(integrationtests/demo_tests/direct_tests.launch) |
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# add_rostest(integrationtests/demo_tests/mavros_tests.launch) |
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#endif() |
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@ -0,0 +1,84 @@ |
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uorb start |
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param load |
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param set MAV_TYPE 20 |
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param set VT_TYPE 2 |
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param set SYS_AUTOSTART 4010 |
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param set SYS_RESTART_TYPE 2 |
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dataman start |
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param set BAT_N_CELLS 3 |
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param set CAL_GYRO0_ID 2293768 |
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param set CAL_ACC0_ID 1376264 |
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param set CAL_ACC1_ID 1310728 |
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param set CAL_MAG0_ID 196616 |
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param set CAL_GYRO0_XOFF 0.01 |
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param set CAL_ACC0_XOFF 0.01 |
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param set CAL_ACC0_YOFF -0.01 |
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param set CAL_ACC0_ZOFF 0.01 |
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param set CAL_ACC0_XSCALE 1.01 |
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param set CAL_ACC0_YSCALE 1.01 |
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param set CAL_ACC0_ZSCALE 1.01 |
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param set CAL_ACC1_XOFF 0.01 |
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param set CAL_MAG0_XOFF 0.01 |
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param set MC_ROLLRATE_P 0.2 |
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param set MC_PITCHRATE_P 0.2 |
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param set MC_PITCH_P 6 |
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param set MC_ROLL_P 6 |
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param set MPC_XY_P 0.15 |
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param set MPC_XY_VEL_P 0.05 |
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param set MPC_XY_VEL_D 0.005 |
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param set MPC_XY_FF 0.1 |
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param set MPC_Z_VEL_MAX 1.5 |
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param set MPC_Z_VEL_P 0.6 |
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param set MPC_Z_VEL_I 0.15 |
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param set SENS_BOARD_ROT 8 |
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param set SENS_DPRES_OFF 0.001 |
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param set SENS_BOARD_X_OFF 0.000001 |
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param set COM_RC_IN_MODE 1 |
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param set NAV_DLL_ACT 2 |
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param set NAV_ACC_RAD 3.0 |
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param set MPC_TKO_SPEED 1.0 |
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param set MIS_YAW_TMT 10 |
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param set RTL_RETURN_ALT 30.0 |
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param set RTL_DESCEND_ALT 10.0 |
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param set RTL_LAND_DELAY 0 |
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param set COM_DISARM_LAND 5 |
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param set COM_DL_LOSS_EN 1 |
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param set MPC_ACC_HOR_MAX 2 |
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|
replay tryapplyparams |
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|
simulator start -s |
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|
rgbledsim start |
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|
tone_alarm start |
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|
gyrosim start |
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|
accelsim start |
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|
barosim start |
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|
adcsim start |
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|
gpssim start |
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|
measairspeedsim start |
||||||
|
pwm_out_sim mode_pwm |
||||||
|
sleep 1 |
||||||
|
sensors start |
||||||
|
commander start |
||||||
|
land_detector start multicopter |
||||||
|
navigator start |
||||||
|
attitude_estimator_q start |
||||||
|
local_position_estimator start |
||||||
|
vtol_att_control start |
||||||
|
mc_pos_control start |
||||||
|
mc_att_control start |
||||||
|
fw_pos_control_l1 start |
||||||
|
fw_att_control start |
||||||
|
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix |
||||||
|
mavlink start -u 14556 -r 2000000 |
||||||
|
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 |
||||||
|
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_QUATERNION -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 |
||||||
|
sdlog2 start -r 200 -e -t -a |
||||||
|
mavlink boot_complete |
||||||
|
replay trystart |
||||||
Loading…
Reference in new issue