Commit 98fb4d01 authored by Stephen Rees's avatar Stephen Rees
Browse files

merge latest master into dev

parents 6524a090 0917a346
--ignore-dir=Documentation
......@@ -2,6 +2,7 @@
!ROMFS/*/*.d
!ROMFS/*/*/*.d
!ROMFS/*/*/*/*.d
*.px4log
*.dSYM
*.o
*.pyc
......@@ -63,3 +64,12 @@ CMakeLists.txt.user
GPATH
GRTAGS
GTAGS
*.config
*.creator
*.creator.user
*.files
*.includes
# uavcan firmware
ROMFS/px4fmu_common/uavcan/
vectorcontrol/
......@@ -13,9 +13,6 @@
[submodule "Tools/gencpp"]
path = Tools/gencpp
url = https://github.com/ros/gencpp.git
[submodule "src/lib/dspal"]
path = src/lib/dspal
url = https://github.com/ATLFlight/dspal.git
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://github.com/PX4/jMAVSim.git
......@@ -25,6 +22,7 @@
[submodule "unittests/googletest"]
path = unittests/googletest
url = https://github.com/google/googletest.git
ignore = untracked
[submodule "src/lib/matrix"]
path = src/lib/matrix
url = https://github.com/PX4/Matrix.git
......@@ -37,3 +35,6 @@
[submodule "cmake/cmake_hexagon"]
path = cmake/cmake_hexagon
url = https://github.com/ATLFlight/cmake_hexagon
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://github.com/PX4/GpsDrivers.git
......@@ -8,6 +8,10 @@ matrix:
include:
- os: linux
sudo: false
env: GCC_VER=4.8
- os: linux
sudo: false
env: GCC_VER=4.9
- os: osx
osx_image: xcode7
sudo: true
......@@ -35,7 +39,6 @@ addons:
- ninja-build
- python-argparse
- python-empy
- python-serial
- s3cmd
- texinfo
- zlib1g-dev
......@@ -43,10 +46,12 @@ addons:
before_install:
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
pushd .
&& cd ~
&& wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
&& tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
&& exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
&& cd ~ && mkdir gcc && cd gcc
&& if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
&& if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
&& wget -O gcc.tar.bz2 ${GCC_URL}
&& tar -jxf gcc.tar.bz2 --strip 1
&& exportline="export PATH=$HOME/gcc/bin:\$PATH"
&& if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
&& . ~/.profile
&& popd
......@@ -63,7 +68,7 @@ before_install:
&& brew install cmake ninja
&& brew install genromfs
&& sudo easy_install pip
&& sudo pip install pyserial empy
&& sudo pip install empy
;
fi
......@@ -93,37 +98,24 @@ env:
script:
- git submodule update --quiet --init --recursive
- echo 'Building POSIX Firmware..' && make posix_sitl_default
- echo 'Running Tests..' && make posix_sitl_default test
- echo 'Running Unittests..' && cd unittests && ./run_tests.sh
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
cd ${TRAVIS_BUILD_DIR}
&& make check_format
&& arm-none-eabi-gcc --version
&& echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
&& echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
&& echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
&& echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
&& echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
&& echo 'Running Tests..' && make px4fmu-v2_default test
;
arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
make check_posix_sitl_default;
fi
after_success:
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
&& cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
&& cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
&& cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
&& zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
&& ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
- if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
make package_firmware
&& find . -name \*.px4 -exec cp "{}" . \;
&& find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
&& ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
&& ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
&& ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
&& echo ""
&& echo "Binaries have been posted to:"
&& echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
&& echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
;
fi
......@@ -137,6 +129,7 @@ deploy:
tags: true
all_branches: true
repo: PX4/Firmware
condition: $GCC_VER = 4.8
notifications:
webhooks:
......@@ -144,3 +137,7 @@ notifications:
- https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
on_success: always # options: [always|never|change] default: always
on_failure: always # options: [always|never|change] default: always
slack:
secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
on_success: change # options: [always|never|change] default: always
on_failure: always # options: [always|never|change] default: always
......@@ -85,7 +85,7 @@
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# resuse functions.
#
......@@ -150,16 +150,6 @@ list(GET config_args 1 BOARD)
list(GET config_args 2 LABEL)
set(target_name "${OS}-${BOARD}-${LABEL}")
if("${OS}" STREQUAL "posix")
if (APPLE)
set(DF_TARGET darwin)
else()
set(DF_TARGET linux)
endif()
else()
set(DF_TARGET ${OS})
endif()
message(STATUS "${target_name}")
# switch to ros CMake file if building ros
......@@ -193,6 +183,11 @@ foreach(conf ${px4_required_config})
endif()
endforeach()
# List the DriverFramework drivers
if(DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
#=============================================================================
# project definition
#
......@@ -243,12 +238,12 @@ px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
add_custom_target(submodule_clean
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
......@@ -293,6 +288,7 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(${include_dirs})
#message("INCLUDE_DIRS=${include_dirs}")
link_directories(${link_dirs})
add_definitions(${definitions})
......@@ -324,12 +320,29 @@ include_directories(${ep_base}/Install/include)
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
#=============================================================================
# DriverFramework Drivers
#
set(df_driver_libs)
foreach(driver ${config_df_driver_list})
add_subdirectory(src/lib/DriverFramework/drivers/${driver})
list(APPEND df_driver_libs df_${driver})
message("Adding DF driver: ${driver}")
endforeach()
#=============================================================================
# subdirectories
#
set(module_libraries)
foreach(module ${config_module_list})
add_subdirectory(src/${module})
string(REGEX MATCH "^[./]" external_module ${module})
if(external_module)
STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
add_subdirectory(src/${module})
endif()
px4_mangle_name(${module} mangled_name)
list(APPEND module_libraries ${mangled_name})
#message(STATUS "adding module: ${module}")
......@@ -337,7 +350,6 @@ endforeach()
add_subdirectory(src/firmware/${OS})
add_subdirectory(src/lib/DriverFramework/framework/src)
#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
if (NOT "${OS}" STREQUAL "nuttx")
endif()
......
......@@ -599,8 +599,7 @@ RECURSIVE = YES
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
EXCLUDE = ../src/lib/mathlib/CMSIS \
../src/modules/attitude_estimator_ekf/codegen
EXCLUDE = ../src/modules/attitude_estimator_ekf/codegen
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
# directories that are symbolic links (a Unix filesystem feature) are excluded
......
......@@ -9,7 +9,7 @@ http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
Then go to the following website for inforamtion on the install:
http://www.stack.nl/~dimitri/doxygen/install.html
Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
Then to generate the html, run the following code while you are in this directory:
$doxygen Doxyfile
The html file index.html should be in doc/html unless you changed the output directory.
......
......@@ -70,6 +70,13 @@
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"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
}
]
}
{
"board_id": 9,
"magic": "PX4FWv2",
"description": "Firmware for the MindPx-V2 board",
"image": "",
"build_time": 0,
"summary": "MindPx-v2",
"version": "2.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015 - 2016 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
......@@ -109,9 +109,9 @@ endif
# describe how to build a cmake config
define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+Tools/check_submodules.sh
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
......@@ -121,6 +121,12 @@ $(1):
.PHONY: $(1)
endef
define colorecho
@tput setaf 6
@echo $1
@tput sgr0
endef
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
......@@ -140,8 +146,8 @@ px4-stm32f4discovery_default:
px4fmu-v2_ekf2:
$(call cmake-build,nuttx_px4fmu-v2_ekf2)
px4fmu-v2_lpe:
$(call cmake-build,nuttx_px4fmu-v2_lpe)
mindpx-v2_default:
$(call cmake-build,nuttx_mindpx-v2_default)
posix_sitl_default:
$(call cmake-build,$@)
......@@ -152,24 +158,40 @@ posix_sitl_lpe:
posix_sitl_ekf2:
$(call cmake-build,$@)
posix_sitl_replay:
$(call cmake-build,$@)
posix_sitl_broadcast:
$(call cmake-build,$@)
ros_sitl_default:
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
qurt_eagle_travis:
$(call cmake-build,$@)
qurt_eagle_release:
qurt_eagle_default:
$(call cmake-build,$@)
posix_eagle_release:
posix_eagle_default:
$(call cmake-build,$@)
qurt_eagle_default:
eagle_default: posix_eagle_default qurt_eagle_default
qurt_eagle_legacy_driver_default:
$(call cmake-build,$@)
posix_eagle_legacy_driver_default:
$(call cmake-build,$@)
qurt_excelsior_default:
$(call cmake-build,$@)
posix_eagle_default:
posix_excelsior_default:
$(call cmake-build,$@)
excelsior_default: posix_excelsior_default qurt_excelsior_default
posix_rpi2_default:
$(call cmake-build,$@)
......@@ -178,6 +200,8 @@ posix_rpi2_release:
posix: posix_sitl_default
broadcast: posix_sitl_broadcast
sitl_deprecation:
@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
......@@ -188,34 +212,67 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
check_format:
$(call colorecho,"Checking formatting with astyle")
@./Tools/fix_code_style.sh
@./Tools/check_code_style.sh
check_%:
@echo
$(call colorecho,"Building" $(subst check_,,$@))
@$(MAKE) --no-print-directory $(subst check_,,$@)
@echo
check_px4fmu-v4_default: uavcan_firmware
check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
@echo
ifeq ($(VECTORCONTROL),1)
@echo "Cleaning up vectorcontrol firmware"
@rm -rf vectorcontrol
@rm -rf ROMFS/px4fmu_common/uavcan
endif
unittest: posix_sitl_default
@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)
package_firmware:
@zip --junk-paths Firmware.zip `find . -name \*.px4`
clean:
@rm -rf build_*/
@(cd NuttX && git clean -d -f -x)
@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
@(git submodule sync)
@(cd NuttX/nuttx && make clean)
submodulesclean:
@git submodule sync
@git submodule deinit -f .
@git submodule update --init --recursive --force
distclean: submodulesclean
@git clean -ff -x -d
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
# Future:
#$(CONFIGS):
## @cd Build/$@ && cmake ../.. -DCONFIG=$@
# @cd Build/$@ && make
#
#clean-all:
# @rm -rf Build/*
#
#help:
# @echo
# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
......
Subproject commit 3009fb230ec8232c4c4fd7798fd70ea9632692ec
Subproject commit f0f4bdc872d324f64e9d93d6f8989d3c1dfa2633
## PX4 Flight Core and PX4 Middleware ##
## PX4 Pro Drone Autopilot ##
[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
This repository contains the [PX4 Flight Core](http://px4.io), with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.
This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
* Official Website: http://px4.io
* License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
* Supported airframes (more experimental are supported):
* [Multicopters](http://px4.io/portfolio_category/multicopter/)
* [Fixed wing](http://px4.io/portfolio_category/vtol/)
* [VTOL](http://px4.io/portfolio_category/plane/)
* [Fixed wing](http://px4.io/portfolio_category/plane/)
* [VTOL](http://px4.io/portfolio_category/vtol/)
* Releases
* [Downloads](https://github.com/PX4/Firmware/releases)
......
......@@ -20,7 +20,8 @@ then
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 14
param set FW_ATT_TC 0.3
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
......
......@@ -14,7 +14,8 @@ then
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
......
......@@ -33,13 +33,12 @@ then
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set MAV_TYPE 19
fi
set MIXER caipirinha_vtol
set PWM_OUT 12
set PWM_MAX 2000
set PWM_RATE 400
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
set PWM_OUT 1234
......@@ -31,6 +31,11 @@ then
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
param set VT_MOT_COUNT 6
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
fi
set MIXER firefly6
......@@ -40,8 +45,3 @@ set PWM_RATE 400
set MIXER_AUX firefly6
set MAV_TYPE 21
param set VT_MOT_COUNT 6
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
......@@ -9,13 +9,17 @@
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi
set MIXER quad_x_vtol
set PWM_OUT 1234
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
......@@ -9,13 +9,17 @@
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi
set MIXER quad_+_vtol
set PWM_OUT 1234
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
......@@ -43,6 +43,10 @@ then
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_THR_CRUISE 0.75
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
set MIXER vtol_quad_x
......@@ -54,7 +58,3 @@ set PWM_ACHDIS 5
set PWM_AUX_DISARMED 950
set MAV_TYPE 22
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
......@@ -31,6 +31,10 @@ then
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
set MIXER vtol_quad_x
......@@ -42,7 +46,3 @@ set PWM_ACHDIS 3