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Commit 273988c1 authored by Beat Küng's avatar Beat Küng Committed by Daniel Agar
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SITL: move all models to unified rcS startup and remove old scripts

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ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow 0 → 100644
+ 30
− 0
View file @ 273988c1
#!nsh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF == yes ]
then
param set EKF2_AID_MASK 2
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
param set INAV_LIDAR_EST 1
param set INAV_W_XY_FLOW 1.0
param set INAV_W_XY_GPS_P 0.0
param set INAV_W_XY_GPS_V 0.0
param set INAV_W_Z_GPS_P 0.0
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
param set MPC_ALT_MODE 2
fi
ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post 0 → 100644
+ 4
− 0
View file @ 273988c1
mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock 0 → 100644
+ 17
− 0
View file @ 273988c1
#!nsh
#
# @name 3DR Iris Quadrotor SITL (irlock)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF == yes ]
then
# enable fusion of landing target velocity
param set LTEST_MODE 1
param set PLD_HACC_RAD 0.1
fi
ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar 0 → 100644
+ 14
− 0
View file @ 273988c1
#!nsh
#
# @name 3DR Iris Quadrotor SITL (rplidar)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF == yes ]
then
param set LPE_FUSION 242
fi
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision 0 → 100644
+ 16
− 0
View file @ 273988c1
#!nsh
#
# @name 3DR Iris Quadrotor SITL (Vision)
#
# @type Quadrotor Wide
#
sh /etc/init.d-posix/1010_iris_opt_flow
if [ $AUTOCNF == yes ]
then
param set EKF2_AID_MASK 8
param set EKF2_EV_DELAY 5
fi
ROMFS/px4fmu_common/init.d-posix/1014_solo 0 → 100644
+ 17
− 0
View file @ 273988c1
#!nsh
#
# @name Solo
#
# @type Quadrotor
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_PITCHRATE_P 0.15
param set MC_ROLLRATE_P 0.15
fi
set MIXER quad_x
ROMFS/px4fmu_common/init.d-posix/1020_hippocampus 0 → 100644
+ 10
− 0
View file @ 273988c1
#!nsh
#
# @name Hippocampus UUV
#
sh /etc/init.d/rc.mc_defaults
set MIXER uuv_quad_x
ROMFS/px4fmu_common/init.d-posix/1030_plane 0 → 100644
+ 42
− 0
View file @ 273988c1
#!nsh
#
# @name Plane SITL
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 1
param set EKF2_ARSP_THR 8.0
param set EKF2_FUSE_BETA 1
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set FW_LND_ANG 8
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_THR_IDLE 0.15
param set FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
param set WEST_EN 1
fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol 0 → 100644
+ 45
− 0
View file @ 273988c1
#!nsh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 22
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set VT_F_TRANS_DUR 5
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TYPE 2
param set WEST_EN 1
fi
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1041_tailsitter 0 → 100644
+ 47
− 0
View file @ 273988c1
#!nsh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 20
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.15
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.05
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.8
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
param set VT_MOT_COUNT 0
param set VT_TYPE 0
param set WEST_EN 1
fi
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor 0 → 100644
+ 50
− 0
View file @ 273988c1
#!nsh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 21
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.15
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.05
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.8
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TILT_FW 3.1415
param set VT_TILT_TRANS 1.2
param set VT_TYPE 1
param set WEST_EN 1
fi
set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1060_rover 0 → 100644
+ 38
− 0
View file @ 273988c1
#!nsh
#
# @name Rover
#
sh /etc/init.d/rc.ugv_defaults
if [ $AUTOCNF == yes ]
then
param set MAV_TYPE 10
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_THR_CRUISE 0.3
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_SPEED_TRIM 4
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_P 2
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
fi
set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/rcS
+ 46
− 1
View file @ 273988c1
......@@ -4,8 +4,9 @@
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
#
# Main SITL startup script
#
# check for ekf2 replay
if [ "$replay_mode" == "ekf2" ]
......@@ -21,6 +22,7 @@ set LOG_FILE bootlog.txt
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set OUTPUT_MODE sim
set PWM_OUT none
set SDCARD_MIXERS_PATH etc/mixers
......@@ -34,6 +36,28 @@ if [ "$PX4_SIM_MODEL" == "shell" ]; then
set RUN_MINIMAL_SHELL yes
elif [ "$PX4_SIM_MODEL" == "iris" ]; then
set REQUESTED_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "iris_opt_flow" ]; then
set REQUESTED_AUTOSTART 1010
elif [ "$PX4_SIM_MODEL" == "iris_irlock" ]; then
set REQUESTED_AUTOSTART 1011
elif [ "$PX4_SIM_MODEL" == "iris_rplidar" ]; then
set REQUESTED_AUTOSTART 1012
elif [ "$PX4_SIM_MODEL" == "iris_vision" ]; then
set REQUESTED_AUTOSTART 1013
elif [ "$PX4_SIM_MODEL" == "solo" ]; then
set REQUESTED_AUTOSTART 1014
elif [ "$PX4_SIM_MODEL" == "hippocampus" ]; then
set REQUESTED_AUTOSTART 1020
elif [ "$PX4_SIM_MODEL" == "plane" ]; then
set REQUESTED_AUTOSTART 1030
elif [ "$PX4_SIM_MODEL" == "standard_vtol" ]; then
set REQUESTED_AUTOSTART 1040
elif [ "$PX4_SIM_MODEL" == "tailsitter" ]; then
set REQUESTED_AUTOSTART 1041
elif [ "$PX4_SIM_MODEL" == "tiltrotor" ]; then
set REQUESTED_AUTOSTART 1042
elif [ "$PX4_SIM_MODEL" == "rover" ]; then
set REQUESTED_AUTOSTART 1060
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
set REQUESTED_AUTOSTART 6011
else
......@@ -96,6 +120,8 @@ then
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set SENS_DPRES_OFF 0.001
param set CBRK_AIRSPD_CHK 0
param set COM_DISARM_LAND 3
param set COM_OBL_ACT 2
......@@ -114,6 +140,7 @@ then
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2
param set MIS_TAKEOFF_ALT 2.5
param set MPC_ALT_MODE 0
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
......@@ -127,6 +154,11 @@ then
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SYS_RESTART_TYPE 2
# LPE: GPS only mode
param set LPE_FUSION 145
param set WEST_EN 0
fi
# Autostart ID
......@@ -153,6 +185,10 @@ sensors start
commander start
navigator start
if param compare WEST_EN 1
then
wind_estimator start
fi
if ! param compare MNT_MODE_IN -1
then
......@@ -166,6 +202,15 @@ then
camera_feedback start
fi
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
if param compare CBRK_AIRSPD_CHK 0
then
measairspeedsim start
fi
fi
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
......
ROMFS/px4fmu_common/init.d/rc.fw_apps
+ 0
− 4
View file @ 273988c1
......@@ -29,7 +29,3 @@ fw_pos_control_l1 start
#
land_detector start fixedwing
#
# Start Wind and Airspeed Scale Estimator.
#
#wind_estimator start
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+ 0
− 4
View file @ 273988c1
......@@ -55,7 +55,3 @@ fw_pos_control_l1 start
#
land_detector start vtol
#
# Start Wind and Airspeed Scale Estimator
#
#wind_estimator start
ROMFS/px4fmu_common/init.d/rcS
+ 4
− 1
View file @ 273988c1
......@@ -486,7 +486,10 @@ else
#
# Start the standalone wind estimator.
#
wind_estimator start
if param compare WEST_EN 1
then
wind_estimator start
fi
#
# Start a thermal calibration if required.
......
Tools/sitl_run.sh
+ 2
− 8
View file @ 273988c1
......@@ -98,16 +98,10 @@ pushd "$rootfs" >/dev/null
# Do not exit on failure now from here on because we want the complete cleanup
set +e
# Use the new unified rcS for the supported models
# (All models will be transitioned over)
if [[ ($rcS_path == posix-configs/SITL/init/ekf2 || $rcS_path == posix-configs/SITL/init/lpe)
&& ($model == "iris" || $model == "typhoon_h480") ]]; then
echo "Using new unified rcS for $model"
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
elif [[ ${model} == tests* ]]; then
if [[ ${model} == tests* ]]; then
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
else
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
fi
echo SITL COMMAND: $sitl_command
......
launch/iris_env.sh deleted 100644 → 0
+ 0
− 2
View file @ 5ebd0116
#!/bin/bash
export PX4_SIM_MODEL="iris"
launch/mavros_posix_sitl.launch
+ 0
− 2
View file @ 273988c1
......@@ -14,7 +14,6 @@
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
......@@ -38,7 +37,6 @@
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="sdf" value="$(arg sdf)"/>
<arg name="rcS" value="$(arg rcS)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="interactive" value="$(arg interactive)"/>
<arg name="debug" value="$(arg debug)"/>
......
launch/multi_uav_mavros_sitl.launch
+ 0
− 2
View file @ 273988c1
......@@ -33,7 +33,6 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" value="14561"/>
<arg name="ID" value="$(arg ID)"/>
</include>
......@@ -59,7 +58,6 @@
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" value="14562"/>
<arg name="ID" value="$(arg ID)"/>
</include>
......
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