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--ignore-dir=Documentation
#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Build') {
steps {
script {
def build_nodes = [:]
def docker_images = [
armhf: "px4io/px4-dev-armhf:2021-04-29",
arm64: "px4io/px4-dev-aarch64:2021-04-29",
base: "px4io/px4-dev-base-bionic:2021-04-29",
nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
]
def armhf_builds = [
target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
image: docker_images.armhf,
archive: false
]
def arm64_builds = [
target: ["scumaker_pilotpi_arm64"],
image: docker_images.arm64,
archive: false
]
def base_builds = [
target: ["px4_sitl_rtps"],
image: docker_images.base,
archive: false
]
def nuttx_builds_archive = [
target: [
"airmind_mindpx-v2_default",
"ark_can-flow_canbootloader",
"ark_can-flow_default",
"av_x-v1_default",
"bitcraze_crazyflie_default",
"bitcraze_crazyflie21_default",
"cuav_can-gps-v1_canbootloader",
"cuav_can-gps-v1_default",
"cuav_nora_default",
"cuav_x7pro_default",
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_default",
"freefly_can-rtk-gps_canbootloader",
"freefly_can-rtk-gps_default",
"holybro_can-gps-v1_canbootloader",
"holybro_can-gps-v1_default",
"holybro_durandal-v1_default",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"modalai_fc-v2_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7_default",
"mro_ctrl-zero-h7-oem_default",
"mro_pixracerpro_default",
"mro_x21-777_default",
"mro_x21_default",
"nxp_fmuk66-e_default",
"nxp_fmuk66-e_rtps",
"nxp_fmuk66-e_socketcan",
"nxp_fmuk66-v3_default",
"nxp_fmuk66-v3_rtps",
"nxp_fmuk66-v3_socketcan",
"nxp_fmurt1062-v1_default",
"nxp_ucans32k146_default",
"nxp_ucans32k146_canbootloader",
"omnibus_f4sd_default",
"px4_fmu-v2_default",
"px4_fmu-v2_fixedwing",
"px4_fmu-v2_multicopter",
"px4_fmu-v2_rover",
"px4_fmu-v3_default",
"px4_fmu-v4_cannode",
"px4_fmu-v4_default",
"px4_fmu-v4pro_default",
"px4_fmu-v5_ctrlalloc",
"px4_fmu-v5_debug",
"px4_fmu-v5_default",
"px4_fmu-v5_fixedwing",
"px4_fmu-v5_multicopter",
"px4_fmu-v5_optimized",
"px4_fmu-v5_rover",
"px4_fmu-v5_rtps",
"px4_fmu-v5_stackcheck",
"px4_fmu-v5_uavcanv0periph",
"px4_fmu-v5_uavcanv1",
"px4_fmu-v5x_base_phy_DP83848C",
"px4_fmu-v5x_default",
"px4_fmu-v6u_default",
"px4_fmu-v6x_default",
"px4_io-v2_default",
"spracing_h7extreme_default",
"uvify_core_default"
],
image: docker_images.nuttx,
archive: true
]
def snapdragon_builds = [
target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
image: docker_images.snapdragon,
archive: false
]
def docker_builds = [
armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
]
for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
build_nodes.put(docker_builds[build_type].target[build_target],
createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
)
}
}
parallel build_nodes
} // script
} // steps
} // stage Build
// TODO: actually upload artifacts to S3
// stage('S3 Upload') {
// agent {
// docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
// }
// options {
// skipDefaultCheckout()
// }
// when {
// anyOf {
// branch 'master'
// branch 'beta'
// branch 'stable'
// branch 'pr-jenkins' // for testing
// }
// }
// steps {
// sh 'echo "uploading to S3"'
// }
// }
} // stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
}
options {
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
timeout(time: 90, unit: 'MINUTES')
}
}
def createBuildNode(Boolean archive, String docker_image, String target) {
return {
// TODO: fix the snapdragon image
bypass_entrypoint = ''
if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
bypass_entrypoint = ' --entrypoint=""'
}
node {
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
stage(target) {
try {
sh('export')
checkout(scm)
sh('make distclean')
sh('git fetch --tags')
sh('ccache -s')
sh('make ' + target)
sh('ccache -s')
sh('make sizes')
if (archive) {
archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
}
sh('make ' + target + ' package')
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
}
catch (exc) {
throw (exc)
}
finally {
sh('make distclean')
}
}
}
}
}
}
}
This diff is collapsed. Click to expand it.
---
Checks: '*,
-android*,
-bugprone-integer-division,
-cert-dcl50-cpp,
-cert-env33-c,
-cert-err34-c,
-cert-err58-cpp,
-cert-msc30-c,
-cert-msc50-cpp,
-clang-analyzer-core.CallAndMessage,
-clang-analyzer-core.NullDereference,
-clang-analyzer-core.UndefinedBinaryOperatorResult,
-clang-analyzer-core.uninitialized.Assign,
-clang-analyzer-core.VLASize,
-clang-analyzer-cplusplus.NewDelete,
-clang-analyzer-cplusplus.NewDeleteLeaks,
-clang-analyzer-deadcode.DeadStores,
-clang-analyzer-optin.cplusplus.VirtualCall,
-clang-analyzer-optin.performance.Padding,
-clang-analyzer-security.insecureAPI.strcpy,
-clang-analyzer-unix.API,
-clang-analyzer-unix.cstring.BadSizeArg,
-clang-analyzer-unix.Malloc,
-clang-analyzer-unix.MallocSizeof,
-cppcoreguidelines-c-copy-assignment-signature,
-cppcoreguidelines-interfaces-global-init,
-cppcoreguidelines-no-malloc,
-cppcoreguidelines-owning-memory,
-cppcoreguidelines-pro-bounds-array-to-pointer-decay,
-cppcoreguidelines-pro-bounds-constant-array-index,
-cppcoreguidelines-pro-bounds-pointer-arithmetic,
-cppcoreguidelines-pro-type-const-cast,
-cppcoreguidelines-pro-type-cstyle-cast,
-cppcoreguidelines-pro-type-member-init,
-cppcoreguidelines-pro-type-reinterpret-cast,
-cppcoreguidelines-pro-type-union-access,
-cppcoreguidelines-pro-type-vararg,
-cppcoreguidelines-special-member-functions,
-fuchsia-default-arguments,
-fuchsia-overloaded-operator,
-google-build-using-namespace,
-google-explicit-constructor,
-google-global-names-in-headers,
-google-readability-casting,
-google-readability-function-size,
-google-readability-namespace-comments,
-google-readability-todo,
-google-runtime-int,
-google-runtime-references,
-hicpp-deprecated-headers,
-hicpp-explicit-conversions,
-hicpp-function-size,
-hicpp-member-init,
-hicpp-no-array-decay,
-hicpp-no-assembler,
-hicpp-no-malloc,
-hicpp-signed-bitwise,
-hicpp-special-member-functions,
-hicpp-use-auto,
-hicpp-use-equals-default,
-hicpp-use-equals-delete,
-hicpp-use-override,
-hicpp-vararg,
-llvm-header-guard,
-llvm-include-order,
-llvm-namespace-comment,
-misc-incorrect-roundings,
-misc-macro-parentheses,
-misc-misplaced-widening-cast,
-misc-redundant-expression,
-misc-unconventional-assign-operator,
-misc-unused-parameters,
-modernize-deprecated-headers,
-modernize-loop-convert,
-modernize-pass-by-value,
-modernize-return-braced-init-list,
-modernize-use-auto,
-modernize-use-bool-literals,
-modernize-use-default-member-init,
-modernize-use-equals-default,
-modernize-use-equals-delete,
-modernize-use-override,
-modernize-use-using,
-performance-inefficient-string-concatenation,
-readability-avoid-const-params-in-decls,
-readability-container-size-empty,
-readability-else-after-return,
-readability-function-size,
-readability-implicit-bool-cast,
-readability-implicit-bool-conversion,
-readability-inconsistent-declaration-parameter-name,
-readability-named-parameter,
-readability-non-const-parameter,
-readability-redundant-declaration,
-readability-static-accessed-through-instance,
-readability-static-definition-in-anonymous-namespace,
'
WarningsAsErrors: '*'
CheckOptions:
- key: google-readability-function-size.BranchThreshold
value: '600'
- key: google-readability-function-size.LineThreshold
value: '4000'
- key: google-readability-function-size.StatementThreshold
value: '4000'
...
// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
{
"name": "px4-dev-nuttx",
"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
// Set *default* container specific settings.json values on container create.
"settings": {
"terminal.integrated.shell.linux": "/bin/bash"
},
// Add the IDs of extensions you want installed when the container is created.
"extensions": [
"chiehyu.vscode-astyle",
"dan-c-underwood.arm",
"fredericbonnet.cmake-test-adapter",
"github.vscode-pull-request-github",
"marus25.cortex-debug",
"ms-azuretools.vscode-docker",
"ms-iot.vscode-ros",
"ms-python.python",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"redhat.vscode-yaml",
"streetsidesoftware.code-spell-checker",
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
],
"containerUser": "user",
"containerEnv": {
"LOCAL_USER_ID": "${localEnv:UID}"
},
// Use 'forwardPorts' to make a list of ports inside the container available locally.
"forwardPorts": [14556],
}
* text=auto eol=lf
*.cmake text eol=lf
*.c text eol=lf
*.cc text eol=lf
*.cpp text eol=lf
*.h text eol=lf
*.hh text eol=lf
*.hpp text eol=lf
*.hxx text eol=lf
*.S text eol=lf
*.ipynb text eol=lf
*.m text eol=lf
*.mat binary
*.py text eol=lf
*.java text eol=lf
*.jar binary
*.xml text eol=lf
# PX4 mixers, msgs, etc
*.bin binary
*.mix text eol=lf
*.msg text eol=lf
*.config text eol=lf
*.sdf text eol=lf
*.uavcan text eol=lf
# NuttX
Makefile.* text eol=lf
*.defs text eol=lf
*.ld text eol=lf
*.csv text eol=lf
*.md text eol=lf
*.txt text eol=lf
# Scripts
*.bash text eol=lf
*.sh text eol=lf
*.zsh text eol=lf
# These are explicitly windows files and should use crlf
*.ps1 text eol=crlf
*.{cmd,[cC][mM][dD]} text eol=crlf
*.{bat,[bB][aA][tT]} text eol=crlf
# Serialisation
*.json text eol=lf
*.toml text eol=lf
*.xml text eol=lf
*.yaml text eol=lf
*.yml text eol=lf
# Graphics
*.png binary
*.jpg binary
*.jpeg binary
*.gif binary
*.tif binary
*.tiff binary
*.ico binary
*.pdf binary
# SVG treated as an asset (binary) by default.
*.svg text eol=lf
# Text files where line endings should be preserved
*.patch -text
# Archives
*.7z binary
*.gz binary
*.tar binary
*.tgz binary
*.zip binary
# everything else
.gitattributes text eol=lf
.gitignore text eol=lf
Makefile text eol=lf
---
name: Bug report
about: Create a report to help us improve
---
**Describe the bug**
A clear and concise description of the bug.
**To Reproduce**
Steps to reproduce the behavior:
1. Drone switched on '...'
2. Uploaded mission '....' (attach QGC mission file)
3. Took off '....'
4. See error
**Expected behavior**
A clear and concise description of what you expected to happen.
**Log Files and Screenshots**
*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
Add screenshots to help explain your problem.
**Drone (please complete the following information):**
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
**Additional context**
Add any other context about the problem here.
---
name: 🚀 Feature Request
about: Suggest an idea for this project
---
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
**Describe problem solved by the proposed feature**
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
**Describe your preferred solution**
A clear and concise description of what you want to happen.
**Describe possible alternatives**
A clear and concise description of alternative solutions or features you've considered.
**Additional context**
Add any other context or screenshots for the feature request here.
---
name: ⛔ Support Question
about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
---
We use GitHub issues only to discuss PX4 bugs and new features. For
questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
Thanks!
---
name: ⛔ Documentation Issue
about: See https://github.com/PX4/Devguide for documentation issues
---
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
Thanks!
# Number of days of inactivity before an issue becomes stale
daysUntilStale: 90
# Number of days of inactivity before a stale issue is closed, or `false` to disable
daysUntilClose: false
# Issues with these labels will never be considered stale
exemptLabels:
- pinned
# Label to use when marking an issue as stale
staleLabel: stale
# Comment to post when marking an issue as stale. Set to `false` to disable
markComment: >
This issue has been automatically marked as stale because it has not had
recent activity. Thank you for your contributions.
# Comment to post when closing a stale issue. Set to `false` to disable
closeComment: false
name: Checks
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
check: [
"check_format",
"tests",
"tests_coverage",
"px4_fmu-v2_default stack_check",
"validate_module_configs",
"shellcheck_all",
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
"NO_NINJA_BUILD=1 px4_sitl_default",
"airframe_metadata",
"module_documentation",
"parameters_metadata",
]
container:
image: px4io/px4-dev-nuttx-focal:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: |
export
ulimit -a
- name: ${{matrix.check}}
run: make ${{matrix.check}}
- name: upload coverage
if: contains(matrix.check, 'coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: unittests
file: coverage/lcov.info
name: Clang Tidy
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-clang:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: clang-tidy-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make clang-tidy-quiet
run: |
ccache -z
make clang-tidy-quiet
ccache -s
name: Linux Targets
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-armhf:2021-04-29
strategy:
matrix:
config: [
beaglebone_blue_default,
emlid_navio2_default,
px4_raspberrypi_default,
scumaker_pilotpi_default,
]
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.config}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.config}}
run: make ${{matrix.config}}
- name: ccache post-run
run: ccache -s
name: Linux ARM64 Targets
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-aarch64:2021-04-29
strategy:
matrix:
config: [
scumaker_pilotpi_arm64,
]
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.config}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.config}}
run: make ${{matrix.config}}
- name: ccache post-run
run: ccache -s
name: MacOS build
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: macos-10.15
strategy:
matrix:
config: [
px4_fmu-v5_default,
px4_sitl
#tests, # includes px4_sitl
]
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: setup
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: macos_${{matrix.config}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.config}}
run: |
ccache -z
make ${{matrix.config}}
ccache -s
name: Nuttx Targets
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-04-29
strategy:
matrix:
config: [
airmind_mindpx-v2_default,
ark_can-flow_canbootloader,
ark_can-flow_debug,
ark_can-flow_default,
ark_can-gps_canbootloader,
ark_can-gps_debug,
ark_can-gps_default,
av_x-v1_default,
bitcraze_crazyflie21_default,
bitcraze_crazyflie_default,
cuav_can-gps-v1_canbootloader,
cuav_can-gps-v1_debug,
cuav_can-gps-v1_default,
cuav_nora_default,
cuav_x7pro_default,
cubepilot_cubeorange_default,
cubepilot_cubeorange_test,
cubepilot_cubeyellow_default,
cubepilot_cubeyellow_test,
cubepilot_io-v2_default,
freefly_can-rtk-gps_canbootloader,
freefly_can-rtk-gps_default,
holybro_can-gps-v1_canbootloader,
holybro_can-gps-v1_debug,
holybro_can-gps-v1_default,
holybro_durandal-v1_default,
holybro_kakutef7_default,
holybro_pix32v5_default,
modalai_fc-v1_default,
modalai_fc-v1_rtps,
modalai_fc-v2_default,
mro_ctrl-zero-f7-oem_default,
mro_ctrl-zero-f7_default,
mro_ctrl-zero-h7-oem_default,
mro_ctrl-zero-h7_default,
mro_pixracerpro_default,
mro_x21-777_default,
mro_x21_default,
nxp_fmuk66-e_default,
nxp_fmuk66-e_rtps,
nxp_fmuk66-e_socketcan,
nxp_fmuk66-v3_default,
nxp_fmuk66-v3_rtps,
nxp_fmuk66-v3_socketcan,
nxp_fmurt1062-v1_default,
nxp_ucans32k146_canbootloader,
nxp_ucans32k146_default,
omnibus_f4sd_default,
px4_fmu-v2_default,
px4_fmu-v2_fixedwing,
px4_fmu-v2_multicopter,
px4_fmu-v2_rover,
px4_fmu-v3_default,
px4_fmu-v4_cannode,
px4_fmu-v4_default,
px4_fmu-v4pro_default,
px4_fmu-v5_ctrlalloc,
px4_fmu-v5_debug,
px4_fmu-v5_default,
px4_fmu-v5_fixedwing,
px4_fmu-v5_multicopter,
px4_fmu-v5_optimized,
px4_fmu-v5_rover,
px4_fmu-v5_rtps,
px4_fmu-v5_stackcheck,
px4_fmu-v5_uavcanv0periph,
px4_fmu-v5_uavcanv1,
px4_fmu-v5x_base_phy_DP83848C,
px4_fmu-v5x_default,
px4_fmu-v6u_default,
px4_fmu-v6x_default,
px4_io-v2_default,
spracing_h7extreme_default,
uvify_core_default
]
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.config}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.config}}
run: make ${{matrix.config}}
- name: make ${{matrix.config}} bloaty_compileunits
run: make ${{matrix.config}} bloaty_compileunits || true
- name: make ${{matrix.config}} bloaty_inlines
run: make ${{matrix.config}} bloaty_inlines || true
- name: make ${{matrix.config}} bloaty_segments
run: make ${{matrix.config}} bloaty_segments || true
- name: make ${{matrix.config}} bloaty_symbols
run: make ${{matrix.config}} bloaty_symbols || true
- name: make ${{matrix.config}} bloaty_templates
run: make ${{matrix.config}} bloaty_templates || true
- name: make ${{matrix.config}} bloaty_ram
run: make ${{matrix.config}} bloaty_ram || true
- name: make ${{matrix.config}} bloaty_compare_master
run: make ${{matrix.config}} bloaty_compare_master || true
- name: ccache post-run
run: ccache -s
- name: Upload px4 package
uses: actions/upload-artifact@v1
with:
name: px4_package_${{matrix.config}}
path: build/${{matrix.config}}/${{matrix.config}}.px4
name: NuttX UAVCAN firmware
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-04-29
strategy:
matrix:
config: [
ark_can-flow_default,
cuav_can-gps-v1_default,
freefly_can-rtk-gps_default,
holybro_can-gps-v1_default,
#nxp_ucans32k146_default,
px4_fmu-v4_cannode
]
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.config}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.config}}
run: make ${{matrix.config}}
- name: ccache post-run
run: ccache -s
- name: Upload px4 package
uses: actions/upload-artifact@v2
with:
name: px4_cannode_${{matrix.config}}
path: build/${{matrix.config}}/*.uavcan.bin
name: Deploy metadata for all targets
on:
push:
branches:
- 'master'
- 'release/*'
- 'pr-metadata-test'
jobs:
enumerate_targets:
runs-on: ubuntu-latest
outputs:
matrix: ${{ steps.set-matrix.outputs.matrix }}
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- id: set-matrix
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
build:
runs-on: ubuntu-latest
needs: enumerate_targets
strategy:
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.target}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.target}}
run: make ${{matrix.target}}
- name: ccache post-run
run: ccache -s
- name: parameter metadata
run: |
make ${{matrix.target}} ver_gen
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
cd build/${{ matrix.target }}
mkdir _metadata || true
cp parameters.* _metadata
- uses: jakejarvis/s3-sync-action@master
with:
args: --acl public-read
env:
AWS_S3_BUCKET: 'px4-travis'
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_REGION: 'us-west-1'
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
name: MAVROS Mission Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: |
export
ulimit -a
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
- name: ecl EKF analysis
if: always()
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
- name: Upload logs to flight review
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
mkdir -p coverage
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
- name: Upload coverage information to Codecov
if: contains(matrix.config.build_type, 'Coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavros_mission
file: coverage/lcov.info
name: MAVROS Offboard Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
#- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: |
export
ulimit -a
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
- name: ecl EKF analysis
if: always()
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
- name: Upload logs to flight review
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
mkdir -p coverage
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
- name: Upload coverage information to Codecov
if: contains(matrix.config.build_type, 'Coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavros_offboard
file: coverage/lcov.info
name: Metadata
on:
push:
branches:
- 'master'
- 'release/*'
- 'pr-metadata-test'
jobs:
airframe:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: airframe metadata
run: |
make airframe_metadata
cd build/px4_sitl_default/docs
ls -ls *
# TODO: deploy to userguide gitbook and s3
module:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: module documentation
run: |
make module_documentation
cd build/px4_sitl_default/docs
ls -ls *
# TODO: deploy to userguide gitbook and s3
parameter:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: parameter metadata
run: |
make parameters_metadata
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
- uses: jakejarvis/s3-sync-action@master
with:
args: --acl public-read
env:
AWS_S3_BUCKET: 'px4-travis'
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_REGION: 'us-west-1'
SOURCE_DIR: 'build/px4_sitl_default/docs/'
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
uorb_graph:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: uORB graph
run: |
make uorb_graphs
cd Tools/uorb_graph
ls -ls *
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
micrortps_agent:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: microRTPS agent
run: |
make px4_sitl_rtps
git clone https://github.com/PX4/micrortps_agent.git
cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
ROS_msgs:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: PX4 ROS msgs
run: |
git clone https://github.com/PX4/px4_msgs.git
python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
ROS2_bridge:
runs-on: ubuntu-latest
container: px4io/px4-dev-base-focal:2021-04-29
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: PX4 ROS2 bridge
run: |
git clone https://github.com/PX4/px4_ros_com.git
./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
name: Python CI Checks
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Install Python3
run: sudo apt-get install python3 python3-setuptools python3-pip -y
- name: Install tools
run: pip3 install --user mypy flake8
- name: Check MAVSDK test scripts with mypy
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
- name: Check MAVSDK test scripts with flake8
run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
name: SITL Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
container:
image: px4io/px4-dev-simulation-focal:2021-04-29
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Download MAVSDK
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
- name: Install MAVSDK
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
env:
PX4_HOME_LAT: ${{matrix.config.latitude}}
PX4_HOME_LON: ${{matrix.config.longitude}}
PX4_HOME_ALT: ${{matrix.config.altitude}}
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
ulimit -a
- name: Build PX4
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: make px4_sitl_default
- name: ccache post-run px4/firmware
run: ccache -s
- name: Build SITL Gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: make px4_sitl_default sitl_gazebo
- name: ccache post-run sitl_gazebo
run: ccache -s
- name: Build MAVSDK tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
DONT_RUN: 1
run: make px4_sitl_default gazebo mavsdk_tests
- name: ccache post-run mavsdk_tests
run: ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_HOME_LAT: ${{matrix.config.latitude}}
PX4_HOME_LON: ${{matrix.config.longitude}}
PX4_HOME_ALT: ${{matrix.config.altitude}}
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: binary
path: build/px4_sitl_default/bin/px4
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
mkdir -p coverage
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
- name: Upload coverage information to Codecov
if: contains(matrix.config.build_type, 'Coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavsdk
file: coverage/lcov.info
# How to install:
# gem install github_changelog_generator
# How to run:
# github_changelog_generator -u PX4 -p Firmware
# Description:
# The following params are sensible defaults for the PX4 project,
# if you want to do a changelog before a release you need to update since-tag and future-releases,
# Params:
# github_changelog_generator --help for all options
# max-issues
# max threshold for github api queries
# make sure you set your CHANGELOG_GITHUB_TOKEN before
# running
max-issues=1500
# exclude-tags-regex
# excludes release candidates
exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
# since-tag
# version of last stable release
# you need to change this depending on what you need
# if you want a changelog between versions this is the lowest version
since-tag=1.6.5
# future-release
# version you are about to release
# if you want a changelog between a version and all unreleased changes grouped as a release
# eg: v1.6.5 to v1.7.0
future-release=v1.7.0
*.dSYM
*.o
*.gch
*.pyc
*~
.*.swp
.context
.cproject
.DS_Store
.gdbinit
.gdb_history
.project
.settings
.swp
.~lock.*
Testing/
Packages/*
build/*
build_*/
cscope.out
cscope.in.out
cscope.po.out
Firmware.sublime-workspace
user.sublime*
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp
.tags
tags
.tags_sorted_by_file
.pydevproject
.ropeproject
*.orig
Firmware.zip
*.generated.h
.vagrant
*.pretty
xcode
rootfs/
*.autosave
CMakeLists.txt.user
GPATH
GRTAGS
GTAGS
*.creator
*.creator.user
*.files
*.includes
# CLion ignores
.idea
cmake-build-*/
posix-configs/SITL/init/test/*_generated
/airframes.md
/airframes.xml
/parameters.md
/parameters.xml
/modules
/msg/ros/*.msg
*.gcov
.coverage
.coverage.*
# KDevelop ignores
.kdev4/*
*.kdev4
# cmake in tree (ninja)
.ninja_deps
.ninja_log
bin/
build.ninja
cmake_install.cmake
CMakeCache.txt
CMakeFiles
compile_commands.json
CPackConfig.cmake
CPackSourceConfig.cmake
CTestTestfile.cmake
external/
rules.ninja
# in tree build
**/*.a
**/*.px4mod
**/*.stamp
/coverage*
/functional-*
/generated_params/
/googletest-*/
/logs
/mavsdk_tests
/test_mixer_multirotor
/unit-*
/uORB/
DartConfiguration.tcl
msg/tmp/
msg/topics_sources/
platforms/posix/apps.cpp
platforms/posix/apps.h
src/lib/version/build_git_version.h
src/modules/simulator/simulator_config.h
src/systemcmds/topic_listener/listener_generated.cpp
# SITL
dataman
eeprom/
[submodule "mavlink/include/mavlink/v2.0"]
path = mavlink/include/mavlink/v2.0
url = https://github.com/mavlink/c_library_v2.git
branch = master
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://github.com/PX4/libuavcan.git
branch = px4
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://github.com/PX4/jMAVSim.git
branch = master
[submodule "Tools/sitl_gazebo"]
path = Tools/sitl_gazebo
url = https://github.com/PX4/PX4-SITL_gazebo.git
branch = master
[submodule "src/lib/matrix"]
path = src/lib/matrix
url = https://github.com/PX4/PX4-Matrix.git
branch = master
[submodule "src/lib/ecl"]
path = src/lib/ecl
url = https://github.com/PX4/PX4-ECL.git
branch = master
[submodule "boards/atlflight/cmake_hexagon"]
path = boards/atlflight/cmake_hexagon
url = https://github.com/PX4/cmake_hexagon.git
branch = px4
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://github.com/PX4/PX4-GPSDrivers.git
branch = master
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url = https://github.com/PX4/Micro-CDR.git
branch = master
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://github.com/PX4/NuttX.git
branch = px4_firmware_nuttx-10.0.0+
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://github.com/PX4/NuttX-apps.git
branch = px4_firmware_nuttx-10.0.0+
[submodule "platforms/qurt/dspal"]
path = platforms/qurt/dspal
url = https://github.com/ATLFlight/dspal.git
[submodule "Tools/flightgear_bridge"]
path = Tools/flightgear_bridge
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
[submodule "Tools/jsbsim_bridge"]
path = Tools/jsbsim_bridge
url = https://github.com/PX4/px4-jsbsim-bridge.git
[submodule "src/drivers/uavcan_v1/libcanard"]
path = src/drivers/uavcan_v1/libcanard
url = https://github.com/UAVCAN/libcanard.git
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
path = src/drivers/uavcan_v1/public_regulated_data_types
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
path = src/drivers/uavcannode_gps_demo/libcanard
url = https://github.com/UAVCAN/libcanard.git
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
path = src/drivers/uavcan_v1/legacy_data_types
url = https://github.com/PX4/public_regulated_data_types.git
branch = legacy
language: cpp
git:
depth: 100
submodules: false
matrix:
fast_finish: true
include:
- os: linux
dist: xenial
# In order to stay under the coverity rate limit, we only run this weekly
# and not on push which is configured in travis-ci settings.
if: branch = master
before_install:
- echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
install:
- export PATH=$HOME/.local/bin:$PATH
- pip install --user --upgrade pip
- pip install --user -r Tools/setup/requirements.txt
script:
- make
addons:
coverity_scan:
project:
name: "PX4/Firmware"
description: "Build submitted via Travis CI"
notification_email: ci@px4.io
build_command_prepend: "make distclean"
build_command: "make px4_sitl_default"
branch_pattern: coverity_scan
.cortex-debug.peripherals.state.json
.cortex-debug.registers.state.json
compile_commands.json
# generated by cmake
launch.json
# C/C++ extension does some local caching in this folder
ipch/
browse.vc.db*
{
"configurations": [
{
"name": "PX4",
"includePath": [
"${workspaceFolder}/**"
],
"defines": [],
"macFrameworkPath": [],
"configurationProvider": "ms-vscode.cmake-tools",
"cppStandard": "c++14",
"cStandard": "c11"
}
],
"version": 4
}
\ No newline at end of file
[
{
"name": "PX4 detect"
}
]
\ No newline at end of file
CONFIG:
default: px4_sitl_default
choices:
px4_sitl_default:
short: px4_sitl
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
px4_sitl_replay:
short: px4_sitl_replay
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_replay
px4_sitl_test:
short: px4_sitl_test
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_test
px4_io-v2_default:
short: px4_io-v2
buildType: MinSizeRel
settings:
CONFIG: px4_io-v2_default
px4_fmu-v2_default:
short: px4_fmu-v2
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v2_default
px4_fmu-v3_default:
short: px4_fmu-v3
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v3_default
px4_fmu-v4_default:
short: px4_fmu-v4
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v4_default
px4_fmu-v4pro_default:
short: px4_fmu-v4pro
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v4pro_default
px4_fmu-v5_default:
short: px4_fmu-v5
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v5_default
px4_fmu-v5x_default:
short: px4_fmu-v5x
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v5x_default
airmind_mindpx-v2_default:
short: airmind_mindpx-v2
buildType: MinSizeRel
settings:
CONFIG: airmind_mindpx-v2_default
ark_can-flow_default:
short: ark_can-flow_default
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow_default
ark_can-flow_canbootloader:
short: ark_can-flow_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow_canbootloader
ark_can-gps_default:
short: ark_can-gps_default
buildType: MinSizeRel
settings:
CONFIG: ark_can-gps_default
ark_can-gps_canbootloader:
short: ark_can-gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_can-gps_canbootloader
av_x-v1_default:
short: av_x-v1
buildType: MinSizeRel
settings:
CONFIG: av_x-v1_default
bitcraze_crazyflie_default:
short: bitcraze_crazyflie
buildType: MinSizeRel
settings:
CONFIG: bitcraze_crazyflie_default
cuav_can-gps-v1_default:
short: cuav_can-gps-v1_default
buildType: MinSizeRel
settings:
CONFIG: cuav_can-gps-v1_default
cuav_can-gps-v1_canbootloader:
short: cuav_can-gps-v1_canbootloader
buildType: MinSizeRel
settings:
CONFIG: cuav_can-gps-v1_canbootloader
cuav_nora_default:
short: cuav_nora
buildType: MinSizeRel
settings:
CONFIG: cuav_nora_default
cuav_x7pro_default:
short: cuav_x7pro
buildType: MinSizeRel
settings:
CONFIG: cuav_x7pro_default
cubepilot_cubeorange_test:
short: cubepilot_cubeorange
buildType: MinSizeRel
settings:
CONFIG: cubepilot_orange_test
emlid_navio2_default:
short: emlid_navio2
buildType: MinSizeRel
settings:
CONFIG: emlid_navio2_default
freefly_can-rtk-gps_default:
short: freefly_can-rtk-gps_default
buildType: MinSizeRel
settings:
CONFIG: freefly_can-rtk-gps_default
freefly_can-rtk-gps_canbootloader:
short: freefly_can-rtk-gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: freefly_can-rtk-gps_canbootloader
holybro_can-gps-v1_canbootloader:
short: holybro_can-gps-v1_canbootloader
buildType: MinSizeRel
settings:
CONFIG: holybro_can-gps-v1_canbootloader
holybro_can-gps-v1_default:
short: holybro_can-gps-v1_default
buildType: MinSizeRel
settings:
CONFIG: holybro_can-gps-v1_default
holybro_durandal-v1_default:
short: holybro_durandal-v1
buildType: MinSizeRel
settings:
CONFIG: holybro_durandal-v1_default
modalai_fc-v1_default:
short: modalai_fc-v1
buildType: MinSizeRel
settings:
CONFIG: modalai_fc-v1_default
modalai_fc-v2_default:
short: modalai_fc-v2
buildType: MinSizeRel
settings:
CONFIG: modalai_fc-v2_default
mro_ctrl-zero-f7_default:
short: mro_ctrl-zero-f7
buildType: MinSizeRel
settings:
CONFIG: mro_ctrl-zero-f7_default
mro_pixracerpro_bootloader:
short: mro_pixracerpro_bootloader
buildType: MinSizeRel
settings:
CONFIG: mro_pixracerpro_bootloader
mro_pixracerpro_default:
short: mro_pixracerpro_default
buildType: MinSizeRel
settings:
CONFIG: mro_pixracerpro_default
mro_x21-777_default:
short: mro_x2.1-777
buildType: MinSizeRel
settings:
CONFIG: mro_x21-777_default
nxp_fmuk66-v3_default:
short: nxp_fmuk66-v3
buildType: MinSizeRel
settings:
CONFIG: nxp_fmuk66-v3_default
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"chiehyu.vscode-astyle",
"dan-c-underwood.arm",
"fredericbonnet.cmake-test-adapter",
"github.vscode-pull-request-github",
"marus25.cortex-debug",
"ms-azuretools.vscode-docker",
"ms-iot.vscode-ros",
"ms-python.python",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"redhat.vscode-yaml",
"streetsidesoftware.code-spell-checker",
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
]
}
{
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
"astyle.c.enable": true,
"astyle.cpp.enable": true,
"breadcrumbs.enabled": true,
"C_Cpp.autoAddFileAssociations": false,
"C_Cpp.clang_format_fallbackStyle": "none",
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
"C_Cpp.default.cppStandard": "c++14",
"C_Cpp.default.cStandard": "c11",
"C_Cpp.formatting": "Disabled",
"C_Cpp.intelliSenseEngine": "Default",
"C_Cpp.vcpkg.enabled": false,
"C_Cpp.workspaceParsingPriority": "low",
"cmake.buildBeforeRun": true,
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
"cmake.buildTask": true,
"cmake.configureOnOpen": true,
"cmake.ctest.parallelJobs": 1,
"cmake.skipConfigureIfCachePresent": true,
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
"cmakeExplorer.parallelJobs": 1,
"cmakeExplorer.suiteDelimiter": "-",
"cortex-debug.enableTelemetry": false,
"cSpell.allowCompoundWords": true,
"cSpell.diagnosticLevel": "Hint",
"cSpell.showStatus": false,
"cSpell.words": [
"acro",
"nuttx",
"esc"
],
"debug.toolBarLocation": "docked",
"editor.acceptSuggestionOnEnter": "off",
"editor.defaultFormatter": "chiehyu.vscode-astyle",
"editor.dragAndDrop": false,
"editor.insertSpaces": false,
"editor.minimap.maxColumn": 120,
"editor.minimap.renderCharacters": false,
"editor.minimap.showSlider": "always",
"editor.suggest.localityBonus": true,
"editor.tabSize": 8,
"editor.wordWrapColumn": 120,
"explorer.openEditors.visible": 0,
"files.insertFinalNewline": true,
"files.trimTrailingWhitespace": true,
"files.watcherExclude": {
"**/build/**": true
},
"git.detectSubmodulesLimit": 20,
"git.ignoreLimitWarning": true,
"githubPullRequests.defaultMergeMethod": "squash",
"githubPullRequests.telemetry.enabled": false,
"files.associations": {
"*.jinja": "jinja",
"algorithm": "cpp",
"array": "cpp",
"atomic": "cpp",
"bitset": "cpp",
"cctype": "cpp",
"cfenv": "cpp",
"chrono": "cpp",
"cinttypes": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"codecvt": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"deque": "cpp",
"exception": "cpp",
"forward_list": "cpp",
"fstream": "cpp",
"functional": "cpp",
"future": "cpp",
"hash_map": "cpp",
"hash_set": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"iterator": "cpp",
"limits": "cpp",
"list": "cpp",
"map": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"mutex": "cpp",
"new": "cpp",
"numeric": "cpp",
"optional": "cpp",
"ostream": "cpp",
"random": "cpp",
"ratio": "cpp",
"regex": "cpp",
"set": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"string": "cpp",
"string_view": "cpp",
"strstream": "cpp",
"system_error": "cpp",
"thread": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"utility": "cpp",
"valarray": "cpp",
"variant": "cpp",
"vector": "cpp"
},
"search.exclude": {
"${workspaceFolder}/build": true
},
"search.showLineNumbers": true,
"telemetry.enableTelemetry": false,
"terminal.integrated.copyOnSelection": true,
"terminal.integrated.rightClickBehavior": "paste",
"terminal.integrated.scrollback": 5000,
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
"workbench.editor.highlightModifiedTabs": true,
"workbench.enableExperiments": false,
"workbench.settings.enableNaturalLanguageSearch": false,
"yaml.schemas": {
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
}
}
This diff is collapsed. Click to expand it.
# This file is NOT licensed under the GPLv3, which is the license for the rest
# of YouCompleteMe.
#
# Here's the license text for this file:
#
# This is free and unencumbered software released into the public domain.
#
# Anyone is free to copy, modify, publish, use, compile, sell, or
# distribute this software, either in source code form or as a compiled
# binary, for any purpose, commercial or non-commercial, and by any
# means.
#
# In jurisdictions that recognize copyright laws, the author or authors
# of this software dedicate any and all copyright interest in the
# software to the public domain. We make this dedication for the benefit
# of the public at large and to the detriment of our heirs and
# successors. We intend this dedication to be an overt act of
# relinquishment in perpetuity of all present and future rights to this
# software under copyright law.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
# OTHER DEALINGS IN THE SOFTWARE.
#
# For more information, please refer to <http://unlicense.org/>
import os
import ycm_core
# These are the compilation flags that will be used in case there's no
# compilation database set (by default, one is not set).
# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
flags = [
'-Wall',
'-Wextra',
'-Werror',
#'-Wc++98-compat',
'-Wno-long-long',
'-Wno-variadic-macros',
'-fexceptions',
'-DNDEBUG',
# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
# source code needs it.
#'-DUSE_CLANG_COMPLETER',
# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
# language to use when compiling headers. So it will guess. Badly. So C++
# headers will be compiled as C headers. You don't want that so ALWAYS specify
# a "-std=<something>".
# For a C project, you would set this to something like 'c99' instead of
# 'c++14'.
'-std=c++14',
# ...and the same thing goes for the magic -x option which specifies the
# language that the files to be compiled are written in. This is mostly
# relevant for c++ headers.
# For a C project, you would set this to 'c' instead of 'c++'.
'-x',
'c++',
'-undef', # get rid of standard definitions to allow us to include arm math header
'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
'-I', './NuttX/nuttx/arch/arm/include',
'-include', './src/include/visibility.h',
'-I', './src',
'-I', './src/modules',
'-I', './src/include',
'-I', './src/lib',
'-I', './NuttX',
]
# Set this to the absolute path to the folder (NOT the file!) containing the
# compile_commands.json file to use that instead of 'flags'. See here for
# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
#
# Most projects will NOT need to set this to anything; you can just change the
# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
compilation_database_folder = ''
if os.path.exists( compilation_database_folder ):
database = ycm_core.CompilationDatabase( compilation_database_folder )
else:
database = None
SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
def DirectoryOfThisScript():
return os.path.dirname( os.path.abspath( __file__ ) )
def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
if not working_directory:
return list( flags )
new_flags = []
make_next_absolute = False
path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
for flag in flags:
new_flag = flag
if make_next_absolute:
make_next_absolute = False
if not flag.startswith( '/' ):
new_flag = os.path.join( working_directory, flag )
for path_flag in path_flags:
if flag == path_flag:
make_next_absolute = True
break
if flag.startswith( path_flag ):
path = flag[ len( path_flag ): ]
new_flag = path_flag + os.path.join( working_directory, path )
break
if new_flag:
new_flags.append( new_flag )
return new_flags
def IsHeaderFile( filename ):
extension = os.path.splitext( filename )[ 1 ]
return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
def GetCompilationInfoForFile( filename ):
# The compilation_commands.json file generated by CMake does not have entries
# for header files. So we do our best by asking the db for flags for a
# corresponding source file, if any. If one exists, the flags for that file
# should be good enough.
if IsHeaderFile( filename ):
basename = os.path.splitext( filename )[ 0 ]
for extension in SOURCE_EXTENSIONS:
replacement_file = basename + extension
if os.path.exists( replacement_file ):
compilation_info = database.GetCompilationInfoForFile(
replacement_file )
if compilation_info.compiler_flags_:
return compilation_info
return None
return database.GetCompilationInfoForFile( filename )
def FlagsForFile( filename, **kwargs ):
if database:
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
# python list, but a "list-like" StringVec object
compilation_info = GetCompilationInfoForFile( filename )
if not compilation_info:
return None
final_flags = MakeRelativePathsInFlagsAbsolute(
compilation_info.compiler_flags_,
compilation_info.compiler_working_dir_ )
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
#try:
# final_flags.remove( '-stdlib=libc++' )
#except ValueError:
# pass
else:
relative_to = DirectoryOfThisScript()
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
return {
'flags': final_flags,
'do_cache': True
}
This diff is collapsed. Click to expand it.
# Contributor Covenant Code of Conduct
## Our Pledge
In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
## Our Standards
Examples of behavior that contributes to creating a positive environment include:
* Using welcoming and inclusive language
* Being respectful of differing viewpoints and experiences
* Gracefully accepting constructive criticism
* Focusing on what is best for the community
* Showing empathy towards other community members
Examples of unacceptable behavior by participants include:
* The use of sexualized language or imagery and unwelcome sexual attention or advances
* Trolling, insulting/derogatory comments, and personal or political attacks
* Public or private harassment
* Publishing others' private information, such as a physical or electronic address, without explicit permission
* Other conduct which could reasonably be considered inappropriate in a professional setting
## Our Responsibilities
Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
## Scope
This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
## Enforcement
Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
[homepage]: http://contributor-covenant.org
[version]: http://contributor-covenant.org/version/1/4/
# Contributing to PX4 Firmware
We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
### Fork the project, then clone your repo
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
### Create a feature branch
*Always* branch off master for new features.
```
git checkout -b mydescriptivebranchname
```
### Edit and build the code
The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
### Commit your changes
Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
**Example:**
```
Change how the attitude controller works
- Fixes rate feed forward
- Allows a local body rate override
Fixes issue #123
```
### Test your changes
Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
### Push your changes
Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
## This file should be placed in the root directory of your project.
## Then modify the CMakeLists.txt file in the root directory of your
## project to incorporate the testing dashboard.
##
## # The following are required to submit to the CDash dashboard:
## ENABLE_TESTING()
## INCLUDE(CTest)
set(CTEST_PROJECT_NAME "PX4 Firmware")
set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
set(CTEST_DROP_METHOD "http")
set(CTEST_DROP_SITE "my.cdash.org")
set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
set(CTEST_DROP_SITE_CDASH TRUE)
This diff could not be displayed because it is too large.
{
"folders":
[
{
"path": ".",
"file_exclude_patterns":
[
"*.o",
"*.a",
"*.d",
".built",
".context",
".depend",
".config",
".version",
"Make.dep",
".configured",
"*.sublime-project",
"*.sublime-workspace",
".project",
".cproject",
"cscope.out"
],
"folder_exclude_patterns":
[
".settings",
"nuttx/arch/arm/src/board",
"nuttx/arch/arm/src/chip",
"build_*"
]
}
],
"settings":
{
"tab_size": 8,
"translate_tabs_to_spaces": false,
"highlight_line": true,
"AStyleFormatter":
{
"options_c":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
},
"options_c++":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
}
}
},
"build_systems":
[
{
"name": "PX4: make all",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make"],
"shell": true
},
{
"name": "PX4: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload px4_fmu-v2_default -j8"],
"shell": true
},
{
"name": "PX4: make posix",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make posix"],
"shell": true
},
{
"name": "MindPX_V2: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload mindpx-v2_default -j8"],
"shell": true
}
]
}
This diff is collapsed. Click to expand it.
BSD 3-Clause License
Copyright (c) 2012 - 2021, 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:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* 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.
* Neither the name of the copyright holder 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 HOLDER 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.
This diff is collapsed. Click to expand it.
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
**Describe problem solved by this pull request**
A clear and concise description of the problem this proposed change will solve.
E.g. For this use case I ran into...
**Describe your solution**
A clear and concise description of what you have implemented.
**Describe possible alternatives**
A clear and concise description of alternative solutions or features you've considered.
**Test data / coverage**
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
**Additional context**
Add any other related context or media.
# PX4 Drone Autopilot
[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
* [Rover](https://docs.px4.io/master/en/frames_rover/)
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
## Changing code and contributing
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
### Weekly Dev Call
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
## Maintenance Team
* Project: Founder
* [Lorenz Meier](https://github.com/LorenzMeier)
* Architecture
* [Daniel Agar](https://github.com/dagar)
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
* [Ramon Roche](https://github.com/mrpollo)
* Communication Architecture
* [Beat Kueng](https://github.com/bkueng)
* [Julian Oes](https://github.com/JulianOes)
* UI in QGroundControl
* [Gus Grubba](https://github.com/dogmaphobic)
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
* [Mathieu Bresciani](https://github.com/bresch)
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
* [Matthias Grob](https://github.com/MaEtUgR)
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
* [Roman Bapst](https://github.com/RomanBapst)
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
* [Roman Bapst](https://github.com/RomanBapst)
* OS / NuttX
* [David Sidrane](https://github.com/davids5)
* Driver Architecture
* [Daniel Agar](https://github.com/dagar)
* Commander Architecture
* [Julian Oes](https://github.com/julianoes)
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
* [Daniel Agar](https://github.com/dagar)
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
* [Paul Riseborough](https://github.com/priseborough)
* Vision based navigation and Obstacle Avoidance
* [Markus Achtelik](https://github.com/markusachtelik)
* RTPS/ROS2 Interface
* [Nuno Marques](https://github.com/TSC21)
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
## Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
### Pixhawk Standard Boards
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
* FMUv5 and FMUv5X (STM32F7, 2019/20)
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
* FMUv4 (STM32F4, 2015)
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv3 (STM32F4, 2014)
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
* FMUv2 (STM32F4, 2013)
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
### Manufacturer and Community supported
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
## Project Roadmap
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
This diff is collapsed. Click to expand it.
############################################################################
#
# Copyright (c) 2020 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.
#
############################################################################
add_subdirectory(init.d)
############################################################################
#
# Copyright (c) 2020 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_romfs_files(
rcS
)
#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
set R /
#
# Mount the procfs.
#
mount -t procfs /proc
#
# Start CDC/ACM serial driver.
#
sercon
#
# Print full system version.
#
ver all
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
then
set PARAM_FILE /dev/eeeprom0
fi
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset_all
fi
#
# Optional board architecture defaults: rc.board_arch_defaults
#
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
then
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
. $BOARD_ARCH_RC_DEFAULTS
fi
unset BOARD_ARCH_RC_DEFAULTS
#
# Optional board defaults: rc.board_defaults
#
set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
if [ -f $BOARD_RC_DEFAULTS ]
then
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
. $BOARD_RC_DEFAULTS
fi
unset BOARD_RC_DEFAULTS
#
# Start system state indicator.
#
rgbled start -X -q
rgbled_ncp5623c start -X -q
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
#
# Start UART/Serial device drivers.
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
#
. ${R}etc/init.d/rc.serial
# Check for flow sensor
if param compare SENS_EN_PX4FLOW 1
then
px4flow start -X
fi
uavcannode start
unset R
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(init.d)
add_subdirectory(mixers)
# TODO: make this configurable from the board config, or better combine
if("${PX4_BOARD}" MATCHES "sitl")
add_subdirectory(mixers-sitl)
add_subdirectory(init.d-posix)
endif()
############################################################################
#
# Copyright (c) 2020 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.
#
############################################################################
add_subdirectory(airframes)
px4_add_romfs_files(
px4-rc.params
px4-rc.simulator
px4-rc.mavlink
rc.replay
rcS
)
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 10
#!/bin/sh
#
# @name IF750A SITL
# InspiredFlight 750 Auterion edition. Gazebo Only.
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set-default SENS_GPS_MASK 7
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_DO_STAB 2
set MIXER quad_x
#!/bin/sh
#
# @name PX4Vision SITL
# Holybro px4vision. Gazebo Only.
#
# @type Quadrotor
#
. ${R}etc/init.d/airframes/4016_holybro_px4vision
set MIXER quad_x
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
# shellcheck disable=SC2154
mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (irlock)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# enable fusion of landing target velocity
param set-default LTEST_MODE 1
param set-default PLD_HACC_RAD 0.1
# Start up Landing Target Estimator module
landing_target_estimator start
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (rplidar)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default LPE_FUSION 242
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Vision)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Vision position and heading
param set-default EKF2_AID_MASK 24
param set-default EKF2_EV_DELAY 5
# LPE: Vision + baro
param set-default LPE_FUSION 132
# AEQ: External heading set to use vision input
param set-default ATT_EXT_HDG_M 1
# shellcheck disable=SC2154
mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local
#!/bin/sh
#
# @name Solo
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.1
param set-default MC_ROLLRATE_P 0.1
set MIXER quad_x
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default COM_OBS_AVOID 1
param set-default MPC_XY_CRUISE 5.0
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (RTPS)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
#!/bin/sh
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2
param set-default EKF2_AID_MASK 2
param set-default SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Vision Velocity)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Vision velocity and heading
param set-default EKF2_AID_MASK 272
param set-default EKF2_EV_DELAY 5
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Dual GPS)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Multi GPS blending
param set-default SENS_GPS_MASK 7
#!/bin/sh
#
# @name UUV
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Hippocampus UUV
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name BlueROV2 Heavy Configuration
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
set PWM_OUT 12345678
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL with camera
#
. ${R}etc/init.d-posix/airframes/1030_plane
# Camera trigger interface is MAVLink
param set-default TRIG_INTERFACE 3
# Distance trigger mode enabled
param set-default TRIG_MODE 4
#!/bin/sh
#
# @name Plane SITL with catapult
#
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default RWTO_TKOFF 0
#!/bin/sh
#
# @name Plane SITL with downward facing LIDAR.
#
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default FW_LND_USETER 1
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set-default RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 15
param set-default FW_P_TC 0.5
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.7
param set-default FW_RR_FF 0.20
param set-default FW_RR_I 0.02
param set-default FW_RR_P 0.22
param set-default FW_L1_PERIOD 12
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.3
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set-default WV_EN 0
set MAV_TYPE 20
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom
#!/bin/sh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_EN 4
param set-default VT_MOT_ID 1234
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
param set-default RC_MAP_AUX1 8
param set-default RC_MAP_AUX2 9
param set-default RC_MAP_AUX3 10
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
#!/bin/sh
#
# @name Rover
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 10
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 3
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
#!/bin/sh
#
# @name Aion Robotics R1 Rover
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
#!/bin/sh
#
# @name ThunderFly TF-R1 UAV Rover
# @type Rover
# @class Rover
#
# @url https://github.com/ThunderFly-aerospace/TF-R1/
# @maintainer ThunderFly s.r.o.
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 15
param set-default GND_SPEED_MAX 25
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
#!/bin/sh
#
# @name Boat
#
. ${R}etc/init.d/rc.boat_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 100
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 11
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
#!/bin/sh
#
# @name ThunderFly TF-G1
# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
#
# @type Autogyro
# @class Autogyro
#
# @url https://github.com/ThunderFly-aerospace/TF-G1/
#
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_AIRSPD_STALL 8
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_POS 60.0
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
param set-default FW_PR_IMAX 0.4
param set-default FW_R_TC 0.4
param set-default FW_RR_FF 0.5
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set-default MIS_LTRMIN_ALT 50
param set-default MIS_TAKEOFF_ALT 3
param set-default NAV_ACC_RAD 20
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 100
param set-default RWTO_TKOFF 1
param set-default FW_ARSP_SCALE_EN 0
param set-default FW_AIRSPD_MAX 35
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 15
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set-default FW_MAN_P_MAX 30.0
param set-default FW_MAN_R_MAX 30.0
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Cloudship
# @type Airship
# @class Airship
#
# @output MAIN1 thrust tilt
# @output MAIN2 starboard thruster
# @output MAIN3 port thruster
# @output MAIN4 tail thruster
. ${R}etc/init.d/rc.airship_defaults
set MIXER cloudship
set PWM_OUT 1234
#!/bin/sh
#
# @name Quadrotor SITL model for JSBSim
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
#!/bin/sh
#
# @name Hexacopter SITL model for JSBSim
#
# @type Hexarotor x
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCH_P 6.0
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLL_P 6.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_DO_STAB 2
set MAV_TYPE 13
set MIXER hexa_x
#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MAV_PROTO_VER 2
set MAV_TYPE 13
set MIXER hexa_x
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default RTL_LAND_DELAY 0
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2
param set-default MPC_USE_HTE 0
param set-default VM_MASS 2.66
param set-default VM_INERTIA_XX 0.06
param set-default VM_INERTIA_YY 0.06
param set-default VM_INERTIA_ZZ 0.10
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_CT 9.5
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_CT 9.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_CT 9.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_CT 9.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_CT 9.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05
set MAV_TYPE 13
# set MIXER hexa_x
set MIXER direct
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
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