wangxdflight
8 years ago
committed by
Lorenz Meier
24 changed files with 399 additions and 222 deletions
@ -1,78 +1,15 @@
@@ -1,78 +1,15 @@
|
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include(posix/px4_impl_posix) |
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# Eagle is the code name of a board currently in development. |
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# |
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# This cmake config builds for POSIX, so the part of the flight stack running |
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# on the Linux side of the Snapdragon. |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake) |
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon") |
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set(config_generate_parameters_scope ALL) |
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# Get $QC_SOC_TARGET from environment if existing. |
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if (DEFINED ENV{QC_SOC_TARGET}) |
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set(QC_SOC_TARGET $ENV{QC_SOC_TARGET}) |
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else() |
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set(QC_SOC_TARGET "APQ8074") |
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endif() |
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include(configs/posix_sdflight_legacy) |
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set(CONFIG_SHMEM "1") |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake) |
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# This definition allows to differentiate if this just the usual POSIX build |
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# or if it is for the Snapdragon. |
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add_definitions( |
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-D__PX4_POSIX_EAGLE |
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-D__PX4_POSIX_EAGLE |
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-D__USING_SNAPDRAGON_LEGACY_DRIVER |
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) |
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set(config_module_list |
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drivers/device |
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drivers/blinkm |
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drivers/pwm_out_sim |
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drivers/rgbled |
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drivers/led |
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drivers/boards/sitl |
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drivers/qshell/posix |
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systemcmds/param |
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systemcmds/mixer |
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systemcmds/ver |
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systemcmds/topic_listener |
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modules/mavlink |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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modules/local_position_estimator |
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modules/ekf2 |
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modules/mc_pos_control |
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modules/mc_att_control |
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modules/param |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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modules/muorb/krait |
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modules/sensors |
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modules/dataman |
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modules/sdlog2 |
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modules/logger |
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modules/simulator |
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modules/commander |
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modules/navigator |
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lib/controllib |
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lib/mathlib |
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lib/mathlib/math/filter |
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lib/conversion |
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lib/ecl |
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lib/geo |
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lib/geo_lookup |
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lib/terrain_estimation |
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lib/runway_takeoff |
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lib/tailsitter_recovery |
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lib/version |
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lib/DriverFramework/framework |
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platforms/common |
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platforms/posix/px4_layer |
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platforms/posix/work_queue |
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) |
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) |
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@ -0,0 +1,14 @@
@@ -0,0 +1,14 @@
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# Excelsior is the code name of a board currently in development. |
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# |
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# This cmake config builds for POSIX, so the part of the flight stack running |
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# on the Linux side of the Snapdragon. |
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include(configs/posix_sdflight_legacy) |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-oemllib32-linux-gnueabi.cmake) |
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# This definition allows to differentiate if this just the usual POSIX build |
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# or if it is for the Snapdragon. |
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add_definitions( |
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-D__PX4_POSIX_EXCELSIOR |
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-D__USING_SNAPDRAGON_LEGACY_DRIVER |
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) |
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@ -0,0 +1,70 @@
@@ -0,0 +1,70 @@
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include(posix/px4_impl_posix) |
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon") |
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set(config_generate_parameters_scope ALL) |
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# Get $QC_SOC_TARGET from environment if existing. |
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if (DEFINED ENV{QC_SOC_TARGET}) |
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set(QC_SOC_TARGET $ENV{QC_SOC_TARGET}) |
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else() |
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set(QC_SOC_TARGET "APQ8074") |
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endif() |
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set(CONFIG_SHMEM "1") |
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set(config_module_list |
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drivers/device |
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drivers/blinkm |
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drivers/pwm_out_sim |
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drivers/rgbled |
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drivers/led |
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drivers/boards/sitl |
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drivers/qshell/posix |
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systemcmds/param |
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systemcmds/mixer |
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systemcmds/ver |
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systemcmds/topic_listener |
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modules/mavlink |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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modules/local_position_estimator |
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modules/ekf2 |
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modules/mc_pos_control |
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modules/mc_att_control |
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modules/param |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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modules/muorb/krait |
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modules/sensors |
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modules/dataman |
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modules/sdlog2 |
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modules/logger |
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modules/simulator |
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modules/commander |
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modules/navigator |
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lib/controllib |
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lib/mathlib |
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lib/mathlib/math/filter |
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lib/conversion |
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lib/ecl |
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lib/geo |
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lib/geo_lookup |
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lib/terrain_estimation |
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lib/runway_takeoff |
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lib/tailsitter_recovery |
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lib/version |
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lib/DriverFramework/framework |
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platforms/common |
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platforms/posix/px4_layer |
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platforms/posix/work_queue |
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) |
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@ -0,0 +1,14 @@
@@ -0,0 +1,14 @@
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# Excelsior is the code name of a board currently in development. |
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# |
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# This cmake config builds for QURT which is the operating system running on |
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# the DSP side. |
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# The config between different QURT builds is shared. |
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include(configs/qurt_sdflight_legacy) |
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add_definitions( |
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-D__USING_SNAPDRAGON_LEGACY_DRIVER |
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-D__PX4_QURT |
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-D__PX4_QURT_EXCELSIOR |
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) |
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@ -0,0 +1,108 @@
@@ -0,0 +1,108 @@
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include(qurt/px4_impl_qurt) |
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "") |
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set") |
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else() |
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set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT}) |
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endif() |
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set(CONFIG_SHMEM "1") |
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set(config_generate_parameters_scope ALL) |
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# Get $QC_SOC_TARGET from environment if existing. |
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if (DEFINED ENV{QC_SOC_TARGET}) |
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set(QC_SOC_TARGET $ENV{QC_SOC_TARGET}) |
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else() |
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set(QC_SOC_TARGET "APQ8074") |
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endif() |
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon") |
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include(toolchain/Toolchain-qurt) |
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include(qurt_flags) |
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include_directories(${HEXAGON_SDK_INCLUDES}) |
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set(config_module_list |
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# |
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# Board support modules |
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# |
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drivers/device |
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modules/sensors |
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platforms/posix/drivers/df_mpu9250_wrapper |
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platforms/posix/drivers/df_bmp280_wrapper |
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# |
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# System commands |
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# |
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systemcmds/param |
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# |
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# Estimation modules |
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# |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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modules/local_position_estimator |
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modules/ekf2 |
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# |
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# Vehicle Control |
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# |
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modules/mc_att_control |
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modules/mc_pos_control |
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# |
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# Library modules |
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# |
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modules/param |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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modules/commander |
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modules/land_detector |
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# |
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# PX4 drivers |
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# |
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drivers/gps |
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drivers/pwm_out_rc_in |
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drivers/qshell/qurt |
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# |
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# FC_ADDON drivers |
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# |
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platforms/qurt/fc_addon/rc_receiver |
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platforms/qurt/fc_addon/uart_esc |
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# |
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# Libraries |
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# |
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lib/controllib |
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lib/mathlib |
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lib/mathlib/math/filter |
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lib/geo |
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lib/ecl |
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lib/geo_lookup |
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lib/conversion |
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lib/terrain_estimation |
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lib/runway_takeoff |
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lib/tailsitter_recovery |
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lib/version |
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lib/DriverFramework/framework |
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# |
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# QuRT port |
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# |
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platforms/common |
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platforms/qurt/px4_layer |
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platforms/posix/work_queue |
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# |
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# sources for muorb over fastrpc |
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# |
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modules/muorb/adsp |
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) |
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set(config_df_driver_list |
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mpu9250 |
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bmp280 |
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) |
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@ -0,0 +1,13 @@
@@ -0,0 +1,13 @@
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uorb start |
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muorb start |
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sdlog2 start -r 100 -e -t -a -b 200 |
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param set MAV_BROADCAST 1 |
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param set SDLOG_PRIO_BOOST 3 |
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dataman start |
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navigator start |
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mavlink start -u 14556 -r 1000000 |
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sleep 1 |
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50 |
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mavlink stream -u 14556 -s ATTITUDE -r 50 |
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mavlink stream -u 14556 -s RC_CHANNELS -r 20 |
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mavlink boot_complete |
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@ -0,0 +1,92 @@
@@ -0,0 +1,92 @@
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uorb start |
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qshell start |
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param set CAL_GYRO0_ID 100 |
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param set CAL_ACC0_ID 100 |
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param set CAL_MAG0_ID 101 |
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param set SYS_AUTOSTART 4001 |
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param set MAV_TYPE 2 |
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param set MC_YAW_P 12 |
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param set MC_YAWRATE_P 0.08 |
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param set MC_YAWRATE_I 0.0 |
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param set MC_YAWRATE_D 0 |
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param set MC_PITCH_P 7.0 |
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param set MC_PITCHRATE_P 0.08 |
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param set MC_PITCHRATE_I 0.0 |
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param set MC_PITCHRATE_D 0.001 |
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param set MC_ROLL_P 7.0 |
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param set MC_ROLLRATE_P 0.08 |
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param set MC_ROLLRATE_I 0.0 |
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param set MC_ROLLRATE_D 0.001 |
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param set RC_MAP_THROTTLE 1 |
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param set RC_MAP_ROLL 2 |
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param set RC_MAP_PITCH 3 |
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param set RC_MAP_YAW 4 |
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param set RC_MAP_MODE_SW 5 |
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param set RC_MAP_POSCTL_SW 6 |
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param set RC1_MAX 1900 |
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param set RC1_MIN 1099 |
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param set RC1_TRIM 1099 |
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param set RC1_REV 1 |
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param set RC2_MAX 1900 |
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param set RC2_MIN 1099 |
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param set RC2_TRIM 1500 |
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param set RC2_REV -1 |
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param set RC3_MAX 1900 |
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param set RC3_MIN 1099 |
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param set RC3_TRIM 1500 |
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param set RC3_REV 1 |
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param set RC4_MAX 1900 |
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param set RC4_MIN 1099 |
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param set RC4_TRIM 1500 |
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param set RC4_REV -1 |
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param set RC5_MAX 1900 |
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param set RC5_MIN 1099 |
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param set RC5_TRIM 1500 |
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param set RC5_REV 1 |
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param set RC6_MAX 1900 |
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param set RC6_MIN 1099 |
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param set RC6_TRIM 1099 |
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param set RC6_REV 1 |
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param set ATT_W_MAG 0.00 |
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param set SENS_BOARD_ROT 4 |
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param set CAL_GYRO0_XOFF -0.0028 |
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param set CAL_GYRO0_YOFF -0.0047 |
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param set CAL_GYRO0_ZOFF -0.0034 |
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param set CAL_GYRO0_XSCALE 1.0000 |
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param set CAL_GYRO0_YSCALE 1.0000 |
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param set CAL_GYRO0_ZSCALE 1.0000 |
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param set CAL_MAG0_XOFF 0.0000 |
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param set CAL_MAG0_YOFF 0.0000 |
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param set CAL_MAG0_ZOFF 0.0000 |
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param set CAL_MAG0_XSCALE 1.0000 |
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param set CAL_MAG0_YSCALE 1.0000 |
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param set CAL_MAG0_ZSCALE 1.0000 |
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param set CAL_ACC0_XOFF -0.0941 |
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param set CAL_ACC0_YOFF 0.1168 |
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param set CAL_ACC0_ZOFF -0.0398 |
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param set CAL_ACC0_XSCALE 1.0004 |
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param set CAL_ACC0_YSCALE 0.9974 |
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param set CAL_ACC0_ZSCALE 0.9951 |
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param set RC_RECEIVER_TYPE 1 |
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param set UART_ESC_MODEL 2 |
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param set UART_ESC_BAUDRTE 250000 |
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param set UART_ESC_MOTOR1 4 |
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param set UART_ESC_MOTOR2 2 |
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param set UART_ESC_MOTOR3 1 |
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param set UART_ESC_MOTOR4 3 |
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sleep 1 |
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df_mpu9250_wrapper start |
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df_bmp280_wrapper start |
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sensors start |
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commander start |
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ekf2 start |
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land_detector start multicopter |
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mc_pos_control start |
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mc_att_control start |
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uart_esc start -D /dev/tty-1 |
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rc_receiver start -D /dev/tty-101 |
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sleep 1 |
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list_devices |
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list_files |
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list_tasks |
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list_topics |
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