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Remove unneeded EKF2 configs

sbg
Lorenz Meier 9 years ago
parent
c3974446bd
commit
ff5a481c34
5 changed files with 0 additions and 285 deletions
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  1. 3
      Makefile
  2. 92
      cmake/configs/posix_sitl_ekf2.cmake
  3. 51
      posix-configs/SITL/init/rc.fixed_wing
  4. 74
      posix-configs/SITL/init/rcS_ekf2_gazebo_iris
  5. 65
      posix-configs/SITL/init/rcS_ekf2_jmavsim_iris

3
Makefile
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@ -167,9 +167,6 @@ posix_sitl_default: @@ -167,9 +167,6 @@ posix_sitl_default:
posix_sitl_test:
$(call cmake-build,$@)
posix_sitl_ekf2:
$(call cmake-build,$@)
posix_sitl_replay:
$(call cmake-build,$@)

92
cmake/configs/posix_sitl_ekf2.cmake
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@ -1,92 +0,0 @@ @@ -1,92 +0,0 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
platforms/posix/drivers/adcsim
platforms/posix/drivers/gpssim
platforms/posix/drivers/tonealrmsim
platforms/posix/drivers/accelsim
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/ledsim
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/simulator
modules/mavlink
modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/ekf2
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/mc_pos_control_multiplatform
modules/mc_att_control_multiplatform
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/logger
modules/commander
modules/load_mon
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
examples/px4_simple_app
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_sitl_rcS
posix-configs/SITL/init/rcS_ekf2
CACHE FILEPATH "init script for sitl"
)
set(config_sitl_viewer
jmavsim
CACHE STRING "viewer for sitl"
)
set_property(CACHE config_sitl_viewer
PROPERTY STRINGS "jmavsim;none")
set(config_sitl_debugger
disable
CACHE STRING "debugger for sitl"
)
set_property(CACHE config_sitl_debugger
PROPERTY STRINGS "disable;gdb;lldb")

51
posix-configs/SITL/init/rc.fixed_wing
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@ -1,51 +0,0 @@ @@ -1,51 +0,0 @@
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
dataman start
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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
simulator start -s
rgbled start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start fixedwing
navigator start
ekf_att_pos_estimator start
fw_att_control start
fw_pos_control_l1 start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/IO_pass.main.mix
mavlink start -u 14556 -r 60000
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 ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a

74
posix-configs/SITL/init/rcS_ekf2_gazebo_iris
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@ -1,74 +0,0 @@ @@ -1,74 +0,0 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
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 RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
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
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000 -t 127.0.0.1
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
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
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a

65
posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
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@ -1,65 +0,0 @@ @@ -1,65 +0,0 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
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 NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
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
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
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
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
ekf2 start
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