From 955749ed6f2498fe24c82b88c6757a00b640de92 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 10 Apr 2017 03:06:21 -0400 Subject: [PATCH] Add iris_rplidar model (#6558) * Whitespace cleanup and add config for rplidar. * Add rplidar target. * Disable gps for rplidar. --- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- Tools/px4_snapflight_sanitytest.sh | 2 +- Tools/px_generate_params.py | 2 +- posix-configs/SITL/init/lpe/iris_rplidar | 79 ++++++++++++++++++++++++ src/firmware/posix/sitl_target.cmake | 3 +- 5 files changed, 84 insertions(+), 4 deletions(-) create mode 100644 posix-configs/SITL/init/lpe/iris_rplidar diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 4d81cb7be9..9036f65c0d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -329,7 +329,7 @@ then if lis3mdl -R 0 start then fi - + # Possible external compasses if hmc5883 -X start then diff --git a/Tools/px4_snapflight_sanitytest.sh b/Tools/px4_snapflight_sanitytest.sh index b91532f06e..f8c327d756 100644 --- a/Tools/px4_snapflight_sanitytest.sh +++ b/Tools/px4_snapflight_sanitytest.sh @@ -77,7 +77,7 @@ verifypx4test() { echo -e "[WARNING] Skipping string checks for 8x96 platform" return fi - + echo -e "Verifying test results..." # verify the presence of expected stings in the apps proc console log diff --git a/Tools/px_generate_params.py b/Tools/px_generate_params.py index 4777510aef..770469ac72 100755 --- a/Tools/px_generate_params.py +++ b/Tools/px_generate_params.py @@ -60,4 +60,4 @@ if __name__ == "__main__": args = arg_parser.parse_args() generate(xml_file=args.xml, modules=args.modules, dest=args.dest) -# vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : +# vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar new file mode 100644 index 0000000000..70e36bc423 --- /dev/null +++ b/posix-configs/SITL/init/lpe/iris_rplidar @@ -0,0 +1,79 @@ +uorb start +param load +param set MAV_TYPE 2 +param set SYS_AUTOSTART 4010 +param set SYS_RESTART_TYPE 2 +param set SYS_MC_EST_GROUP 1 +dataman start +param set BAT_N_CELLS 3 +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 SENS_BOARD_ROT 0 +param set SENS_BOARD_X_OFF 0.000001 +param set COM_RC_IN_MODE 1 +param set NAV_DLL_ACT 2 +param set COM_DISARM_LAND 3 +param set NAV_ACC_RAD 2.0 +param set COM_OF_LOSS_T 5 +param set COM_OBL_ACT 2 +param set COM_OBL_RC_ACT 0 +param set RTL_RETURN_ALT 30.0 +param set RTL_DESCEND_ALT 5.0 +param set RTL_LAND_DELAY 5 +param set MIS_TAKEOFF_ALT 2.5 +param set MC_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 +param set MPC_HOLD_MAX_Z 2.0 +param set MPC_HOLD_XY_DZ 0.1 +param set MPC_Z_VEL_P 0.6 +param set MPC_Z_VEL_I 0.15 +param set LPE_FUSION 242 + +replay tryapplyparams +simulator start -s +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 +local_position_estimator start +mc_pos_control start +mc_att_control start +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mavlink start -u 14556 -r 4000000 +mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 +mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 +mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 +mavlink stream -r 50 -s ATTITUDE -u 14556 +mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556 +mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556 +mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -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 +logger start -e -t +mavlink boot_complete +replay trystart diff --git a/src/firmware/posix/sitl_target.cmake b/src/firmware/posix/sitl_target.cmake index 7707fbc991..6f9c863414 100644 --- a/src/firmware/posix/sitl_target.cmake +++ b/src/firmware/posix/sitl_target.cmake @@ -74,7 +74,8 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure # create targets for each viewer/model/debugger combination set(viewers none jmavsim gazebo replay) set(debuggers none ide gdb lldb ddd valgrind callgrind) -set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480 rover) +set(models none iris iris_opt_flow iris_rplidar + standard_vtol plane solo tailsitter typhoon_h480 rover) set(all_posix_vmd_make_targets) foreach(viewer ${viewers}) foreach(debugger ${debuggers})