From df44df2df6b6636168dba712ce909c2bddb1d953 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 3 Jan 2022 18:31:26 -0500 Subject: [PATCH] delete systemcmds/esc_calib - this is redundant with commander esc_calibration --- Tools/kconfig/cmake_kconfig_lut.txt | 1 - boards/airmind/mindpx-v2/default.px4board | 1 - boards/av/x-v1/default.px4board | 1 - boards/beaglebone/blue/default.px4board | 1 - boards/cuav/nora/default.px4board | 1 - boards/cuav/x7pro/default.px4board | 1 - boards/cubepilot/cubeorange/default.px4board | 1 - boards/cubepilot/cubeyellow/default.px4board | 1 - boards/emlid/navio2/default.px4board | 1 - boards/holybro/durandal-v1/default.px4board | 1 - boards/holybro/pix32v5/default.px4board | 1 - boards/matek/h743-slim/default.px4board | 1 - boards/modalai/fc-v1/default.px4board | 1 - boards/modalai/fc-v2/default.px4board | 1 - boards/mro/ctrl-zero-f7-oem/default.px4board | 1 - boards/mro/ctrl-zero-f7/default.px4board | 1 - boards/mro/ctrl-zero-h7-oem/default.px4board | 1 - boards/mro/ctrl-zero-h7/default.px4board | 1 - boards/mro/pixracerpro/default.px4board | 1 - boards/mro/x21-777/default.px4board | 1 - boards/mro/x21/default.px4board | 1 - boards/nxp/fmuk66-e/default.px4board | 1 - boards/nxp/fmuk66-v3/default.px4board | 1 - boards/nxp/fmurt1062-v1/default.px4board | 1 - boards/px4/fmu-v3/default.px4board | 1 - boards/px4/fmu-v4/default.px4board | 1 - boards/px4/fmu-v4pro/default.px4board | 1 - boards/px4/fmu-v5/default.px4board | 1 - boards/px4/fmu-v5x/default.px4board | 1 - boards/px4/fmu-v6u/default.px4board | 1 - boards/px4/raspberrypi/default.px4board | 1 - boards/px4/sitl/default.px4board | 1 - boards/raspberrypi/pico/default.px4board | 1 - boards/scumaker/pilotpi/default.px4board | 1 - boards/spracing/h7extreme/default.px4board | 1 - boards/uvify/core/default.px4board | 1 - src/systemcmds/esc_calib/CMakeLists.txt | 42 -- src/systemcmds/esc_calib/Kconfig | 5 - src/systemcmds/esc_calib/esc_calib.cpp | 392 ------------------- 39 files changed, 475 deletions(-) delete mode 100644 src/systemcmds/esc_calib/CMakeLists.txt delete mode 100644 src/systemcmds/esc_calib/Kconfig delete mode 100644 src/systemcmds/esc_calib/esc_calib.cpp diff --git a/Tools/kconfig/cmake_kconfig_lut.txt b/Tools/kconfig/cmake_kconfig_lut.txt index 403d1b550e..6d6734cb9b 100644 --- a/Tools/kconfig/cmake_kconfig_lut.txt +++ b/Tools/kconfig/cmake_kconfig_lut.txt @@ -156,7 +156,6 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y dmesg,CONFIG_SYSTEMCMDS_DMESG=y dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y dyn,CONFIG_SYSTEMCMDS_DYN=y -esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y failure,CONFIG_SYSTEMCMDS_FAILURE=y gpio,CONFIG_SYSTEMCMDS_GPIO=y hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index 2b8dde6e1d..27a4eb09d5 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -79,7 +79,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index 38ceccdc72..31203faa23 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -77,7 +77,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 1140b130af..7502d7158b 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -59,7 +59,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_RAMP=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 3f178e8036..1ce75a9f08 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index 47d231702d..f5e3989c27 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 946d1b4ebe..0519b56bcf 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index a22515fcd3..2ff0a8b9f2 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -80,7 +80,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 4ad0a1b458..047948c2dc 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -61,7 +61,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_RAMP=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 1335a5ece5..7dd68d2abb 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -75,7 +75,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index e604c3cc90..3c2201fd2b 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index c23a0c2725..7a671b7c00 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -57,7 +57,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index e45104df36..a6bf763d38 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -80,7 +80,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 3cbbc01664..2a5274e9cf 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -75,7 +75,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index 39eb63a47a..51d07dafd7 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index a4238ffe3b..da1355154d 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index 66e2c52484..9d2672be06 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -77,7 +77,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 013e777fe7..b82a38f14c 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 81543a6ccf..5a217f25c7 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -76,7 +76,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 880c4a51c2..f3aa964a0e 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -79,7 +79,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 4c659e8f43..c313f6bfde 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -79,7 +79,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 751a52ebb9..68ee627a6d 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -75,7 +75,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 1dc23fd2d9..975be6aeee 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -79,7 +79,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board index aae3d4e5e1..e63f4ef61d 100644 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ b/boards/nxp/fmurt1062-v1/default.px4board @@ -50,7 +50,6 @@ CONFIG_MODULES_SENSORS=y CONFIG_MODULES_VMOUNT=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index bf24039f9e..39dd15c9f5 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -82,7 +82,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index 1461fc750f..ad770f7d30 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -83,7 +83,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index ab8acf05ca..114af8df2f 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -80,7 +80,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 2c72a07fa3..8f02bceaba 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index ceb546d679..2ca0baee59 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index ea06d8a599..fb7d938542 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 09397f33ad..9d8ec5f242 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -58,7 +58,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_RAMP=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index 91aefb6ecf..9418787f99 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -47,7 +47,6 @@ CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DYN=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_FAILURE=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y diff --git a/boards/raspberrypi/pico/default.px4board b/boards/raspberrypi/pico/default.px4board index db0b6c06d2..79b51f5e26 100644 --- a/boards/raspberrypi/pico/default.px4board +++ b/boards/raspberrypi/pico/default.px4board @@ -35,7 +35,6 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 8ba8db5905..3a9e96484b 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -56,7 +56,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_VMOUNT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_RAMP=y diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index 917f05f45f..37cf3867de 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -42,7 +42,6 @@ CONFIG_MODULES_SENSORS=y CONFIG_MODULES_VMOUNT=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index d75fd58a97..ce934bbabf 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -64,7 +64,6 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y -CONFIG_SYSTEMCMDS_ESC_CALIB=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/src/systemcmds/esc_calib/CMakeLists.txt b/src/systemcmds/esc_calib/CMakeLists.txt deleted file mode 100644 index b41e849bd1..0000000000 --- a/src/systemcmds/esc_calib/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE systemcmds__esc_calib - MAIN esc_calib - STACK_MAIN 4096 - COMPILE_FLAGS - SRCS - esc_calib.cpp - DEPENDS - ) - diff --git a/src/systemcmds/esc_calib/Kconfig b/src/systemcmds/esc_calib/Kconfig deleted file mode 100644 index 057282652b..0000000000 --- a/src/systemcmds/esc_calib/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig SYSTEMCMDS_ESC_CALIB - bool "esc_calib" - default n - ---help--- - Enable support for esc_calib \ No newline at end of file diff --git a/src/systemcmds/esc_calib/esc_calib.cpp b/src/systemcmds/esc_calib/esc_calib.cpp deleted file mode 100644 index d90bb62d1d..0000000000 --- a/src/systemcmds/esc_calib/esc_calib.cpp +++ /dev/null @@ -1,392 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file esc_calib.c - */ - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "drivers/drv_pwm_output.h" - -#include - -static void usage(const char *reason) -{ - if (reason != nullptr) { - PX4_ERR("%s", reason); - } - - PRINT_MODULE_DESCRIPTION("Tool for ESC calibration\n" - "\n" - "Calibration procedure (running the command will guide you through it):\n" - "- Remove props, power off the ESC's\n" - "- Stop attitude and rate controllers: mc_rate_control stop, fw_att_control stop\n" - "- Make sure safety is off\n" - "- Run this command\n" - ); - - PRINT_MODULE_USAGE_NAME_SIMPLE("esc_calib", "command"); - PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/pwm_output0", "", "Select PWM output device", true); - PRINT_MODULE_USAGE_PARAM_INT('l', 1000, 0, 3000, "Low PWM value in us", true); - PRINT_MODULE_USAGE_PARAM_INT('h', 2000, 0, 3000, "High PWM value in us", true); - PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, - "select channels in the form: 1234 (1 digit per channel, 1=first)", true); - PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true); - PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true); -} - -extern "C" __EXPORT int esc_calib_main(int argc, char *argv[]) -{ - const char *dev = PWM_OUTPUT0_DEVICE_PATH; - char *ep; - int ch; - int ret; - char c; - - unsigned max_channels = 0; - - uint32_t set_mask = 0; - unsigned long channels; - unsigned single_ch = 0; - - uint16_t pwm_high = PWM_DEFAULT_MAX; - uint16_t pwm_low = PWM_DEFAULT_MIN; - - struct pollfd fds; - fds.fd = 0; /* stdin */ - fds.events = POLLIN; - - if (argc < 2) { - usage("no channels provided"); - return 1; - } - - int myoptind = 1; - const char *myoptarg = nullptr; - - while ((ch = px4_getopt(argc, argv, "d:c:m:al:h:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - - case 'd': - dev = myoptarg; - break; - - case 'c': - /* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */ - channels = strtoul(myoptarg, &ep, 0); - - while ((single_ch = channels % 10)) { - - set_mask |= 1 << (single_ch - 1); - channels /= 10; - } - - break; - - case 'm': - /* Read in mask directly */ - set_mask = strtoul(myoptarg, &ep, 0); - - if (*ep != '\0') { - usage("bad set_mask value"); - return 1; - } - - break; - - case 'a': - - /* Choose all channels */ - for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { - set_mask |= 1 << i; - } - - break; - - case 'l': - /* Read in custom low value */ - pwm_low = strtoul(myoptarg, &ep, 0); - - if (*ep != '\0' -#if PWM_LOWEST_MIN > 0 - || pwm_low < PWM_LOWEST_MIN -#endif - || pwm_low > PWM_HIGHEST_MIN) { - usage("low PWM invalid"); - return 1; - } - - break; - - case 'h': - /* Read in custom high value */ - pwm_high = strtoul(myoptarg, &ep, 0); - - if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX) { - usage("high PWM invalid"); - return 1; - } - - break; - - default: - usage(nullptr); - return 1; - } - } - - if (set_mask == 0) { - usage("no channels chosen"); - return 1; - } - - if (pwm_low > pwm_high) { - usage("low pwm is higher than high pwm"); - return 1; - } - - /* make sure no other source is publishing control values now */ - struct actuator_controls_s actuators; - int act_sub = orb_subscribe(ORB_ID(actuator_controls_0)); - - /* clear changed flag */ - orb_copy(ORB_ID(actuator_controls_0), act_sub, &actuators); - - /* wait 50 ms */ - px4_usleep(50000); - - /* now expect nothing changed on that topic */ - bool orb_updated; - orb_check(act_sub, &orb_updated); - - if (orb_updated) { - PX4_ERR("ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n" - "\tmc_rate_control stop\n" - "\tfw_att_control stop\n"); - return 1; - } - - printf("\nATTENTION, please remove or fix propellers before starting calibration!\n" - "\n" - "Make sure\n" - "\t - that the ESCs are not powered\n" - "\t - that safety is off (two short blinks)\n" - "\t - that the controllers are stopped\n" - "\n" - "Do you want to start calibration now: y or n?\n"); - - /* wait for user input */ - while (1) { - - ret = poll(&fds, 1, 0); - - if (ret > 0) { - if (read(0, &c, 1) <= 0) { - printf("ESC calibration read error\n"); - return 0; - } - - if (c == 'y' || c == 'Y') { - break; - - } else if (c == 0x03 || c == 0x63 || c == 'q') { - printf("ESC calibration exited\n"); - return 0; - - } else if (c == 'n' || c == 'N') { - printf("ESC calibration aborted\n"); - return 0; - - } else { - printf("Unknown input, ESC calibration aborted\n"); - return 0; - } - } - - /* rate limit to ~ 20 Hz */ - px4_usleep(50000); - } - - /* open for ioctl only */ - int fd = open(dev, 0); - - if (fd < 0) { - PX4_ERR("can't open %s", dev); - return 1; - } - - /* get number of channels available on the device */ - ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&max_channels); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_GET_COUNT"); - goto cleanup; - } - - /* tell IO/FMU that its ok to disable its safety with the switch */ - ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_SET_ARM_OK"); - goto cleanup; - } - - /* tell IO/FMU that the system is armed (it will output values if safety is off) */ - ret = ioctl(fd, PWM_SERVO_ARM, 0); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_ARM"); - goto cleanup; - } - - printf("Outputs armed"); - - - /* wait for user confirmation */ - printf("\nHigh PWM set: %d\n" - "\n" - "Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n" - "\n", pwm_high); - fflush(stdout); - - while (1) { - /* set max PWM */ - for (unsigned i = 0; i < max_channels; i++) { - - if (set_mask & 1 << i) { - ret = ioctl(fd, PWM_SERVO_SET(i), pwm_high); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_high); - goto cleanup; - } - } - } - - ret = poll(&fds, 1, 0); - - if (ret > 0) { - if (read(0, &c, 1) <= 0) { - printf("ESC calibration read error\n"); - goto done; - } - - if (c == 13) { - break; - - } else if (c == 0x03 || c == 0x63 || c == 'q') { - printf("ESC calibration exited"); - goto done; - } - } - - /* rate limit to ~ 20 Hz */ - px4_usleep(50000); - } - - printf("Low PWM set: %d\n" - "\n" - "Hit ENTER when finished\n" - "\n", pwm_low); - - while (1) { - - /* set disarmed PWM */ - for (unsigned i = 0; i < max_channels; i++) { - if (set_mask & 1 << i) { - ret = ioctl(fd, PWM_SERVO_SET(i), pwm_low); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_low); - goto cleanup; - } - } - } - - ret = poll(&fds, 1, 0); - - if (ret > 0) { - if (read(0, &c, 1) <= 0) { - printf("ESC calibration read error\n"); - goto done; - } - - if (c == 13) { - break; - - } else if (c == 0x03 || c == 0x63 || c == 'q') { - printf("ESC calibration exited\n"); - goto done; - } - } - - /* rate limit to ~ 20 Hz */ - px4_usleep(50000); - } - - /* disarm */ - ret = ioctl(fd, PWM_SERVO_DISARM, 0); - - if (ret != OK) { - PX4_ERR("PWM_SERVO_DISARM"); - goto cleanup; - } - - printf("Outputs disarmed"); - - printf("ESC calibration finished\n"); - -done: - close(fd); - return 0; -cleanup: - close(fd); - return 1; -}