fix to match with latest PX4

Signed-off-by: ncerzzk <[email protected]>

ROMFS/px4fmu_common/init.d/airframes/3001_generic_wing_with_2rotors

@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# @name Generic Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_PX -0.15
+param set-default CA_ROTOR0_PY -0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY 0.15
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -49,6 +49,7 @@ px4_add_romfs_files(
 
 	# [3000, 3999] Flying wing"
 	3000_generic_wing
+	3001_generic_wing_with_2rotors
 
 	# [4000, 4999] Quadrotor x"
 	4001_quad_x

boards/autopilotpi/v3s/default.px4board

@@ -1,20 +1,21 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a7"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_IMU=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_FPGA_SPI_PWM_OUT=y
-CONFIG_DRIVERS_FPGA_I2C_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPI_RC_IN=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -23,14 +24,17 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -46,28 +50,22 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
+CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
-CONFIG_I2C=y
-CONFIG_SPI=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -80,10 +78,7 @@ CONFIG_EXAMPLES_DYN_HELLO=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_EXAMPLES_FAKE_IMU=y
 CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y

posix-configs/autopilotpi/v3s.config

@@ -3,50 +3,30 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh
 
+# navio config for FW
 
-if [ -f eeprom/parameters ]
-then
-        param load eeprom/parameters
-fi
-param set SYS_AUTOCONFIG 0
-param select eeprom/parameters
+param select parameters.bson
+param import
+# system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set MAV_TYPE 2
 
-param set COM_FLTMODE1 8
-param set COM_FLTMODE2 8
-param set COM_FLTMODE3 8
-param set COM_FLTMODE4 8
-param set COM_FLTMODE5 8
-param set COM_FLTMODE6 8
-param set COM_RC_LOSS_T 15
+param set-default BAT1_V_DIV 5.7
+
+# always keep current config
+param set SYS_AUTOCONFIG 0
+# useless but required for parameter completeness
+param set MAV_TYPE 2
+param set SYS_AUTOSTART 4001
 
 # Multi-EKF
 param set EKF2_MULTI_IMU 2
 param set SENS_IMU_MODE 0
-param set PWM_MAIN_RATE 8000
-
-param set PWM_MAIN_MAX1 10000
-param set PWM_MAIN_MAX2 10000
-param set PWM_MAIN_MAX3 10000
-param set PWM_MAIN_MAX4 10000
-
-
-param set PWM_MAIN_MIN1 0
-param set PWM_MAIN_MIN2 0
-param set PWM_MAIN_MIN3 0
-param set PWM_MAIN_MIN4 0
-
-
-param set PWM_MAIN_DIS1 0
-param set PWM_MAIN_DIS2 0
-param set PWM_MAIN_DIS3 0
-param set PWM_MAIN_DIS4 0
 
 dataman start
 load_mon start
 
+battery_status start
+
 spl06 -X -a 0x77 start
 qmc5883l -X start
 icm20602 -s start
@@ -65,11 +45,11 @@ mc_att_control start
 mc_rate_control start
 
 mavlink start -x -d /dev/ttyS1
-mavlink start -u 14556 -p
+mavlink start -x -u 14556 -p
 
 rc_input start -d /dev/ttyS2
-fpga_i2c_pwm_out start
-mixer load /dev/pwm_output etc/mixers/quad_x.main.mix
+fpga_pwm_out start -b 0 -s 2
+control_allocator start
 logger start -t -b 200
 
 mavlink boot_complete

posix-configs/autopilotpi/wing.config

@@ -4,63 +4,49 @@
 . px4-alias.sh
 
 
-if [ -f eeprom/parameters ]
-then
-        param load eeprom/parameters
-fi
-param set SYS_AUTOCONFIG 0
-param select eeprom/parameters
+param select parameters.bson
+param import
+# system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 3000
-param set MAV_TYPE 1
 
-param set COM_FLTMODE1 8
-param set COM_FLTMODE2 8
-param set COM_FLTMODE3 8
-param set COM_FLTMODE4 8
-param set COM_FLTMODE5 8
-param set COM_FLTMODE6 8
-param set COM_RC_LOSS_T 15
-param set CBRK_AIRSPD_CHK 162128
-param set COM_DISARM_PRELT -1
+param set-default BAT1_V_DIV 5.7
+
+# always keep current config
+param set SYS_AUTOCONFIG 0
+param set SYS_AUTOSTART 3001
+param set MAV_TYPE 1
 
 # Multi-EKF
 param set EKF2_MULTI_IMU 2
 param set SENS_IMU_MODE 0
-param set PWM_MAIN_RATE 200
-param set PWM_AUX_RATE 10000
-param set PWM_AUX_OUT  26
-param set PWM_AUX_MAX2 10000
-param set PWM_AUX_MAX6 10000
-param set PWM_AUX_MIN2 0
-param set PWM_AUX_MIN6 0
-param set PWM_AUX_DIS2 0
-param set PWM_AUX_DIS6 0
+
+. etc/init.d/airframes/3001_generic_wing_with_2rotors
 
 dataman start
 load_mon start
 
+battery_status start
+
 spl06 -X -a 0x77 start
 qmc5883l -X start
-icm20602 -s -m 0 start
+icm20602 -m 0 -s start
 
 rc_update start
 sensors start
 commander start
 navigator start
 ekf2 start
-#land_detector start multicopter
-#mc_hover_thrust_estimator start
 flight_mode_manager start
 manual_control start
 fw_att_control start
+fw_pos_control start
+fw_rate_control start
 
-#mavlink start -x -d /dev/ttyS1
-mavlink start -u 14556
+mavlink start -x -u 14556 -p
 
 rc_input start -d /dev/ttyS1
-fpga_pwm_out -s -m 0 -p 4 start
-mixer load /dev/pwm_output0 etc/mixers/my_wing.main.mix
+fpga_pwm_out start -b 0 -s 2
+control_allocator start
 logger start -t -b 200
 
 mavlink boot_complete

src/drivers/fpga_spi_pwm_out/CMakeLists.txt

@@ -35,13 +35,10 @@ px4_add_module(
 	MAIN fpga_pwm_out
 	COMPILE_FLAGS
 	SRCS
-		#main.cpp
-		#fpga_i2c_pwm_out.cpp
 		fpga_spi_pwm_out.cpp
-		fpga_pwm_main.cpp
+		main.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
-		mixer
 		mixer_module
 	)