From 4351eb147c4d208640a41934a02c1b611bb3b8d7 Mon Sep 17 00:00:00 2001
From: Mohammed Kabir <mhkabir98@gmail.com>
Date: Sun, 17 Jan 2016 11:04:11 +0000
Subject: [PATCH] Add native RPi2 build config
---
Makefile | 3 ++
cmake/configs/posix_rpi2_default.cmake | 28 ++++++++++
posix-configs/rpi2/init/rcS_navio | 71 ++++++++++++++++++++++++++
src/lib/version/version.h | 5 ++
4 files changed, 107 insertions(+)
create mode 100644 cmake/configs/posix_rpi2_default.cmake
create mode 100644 posix-configs/rpi2/init/rcS_navio
diff --git a/Makefile b/Makefile
index e9ab6f06e1..6f9fb0f706 100644
--- a/Makefile
+++ b/Makefile
@@ -170,6 +170,9 @@ qurt_eagle_default:
posix_eagle_default:
$(call cmake-build,$@)
+
+posix_rpi2_default:
+ $(call cmake-build,$@)
posix: posix_sitl_default
diff --git a/cmake/configs/posix_rpi2_default.cmake b/cmake/configs/posix_rpi2_default.cmake
new file mode 100644
index 0000000000..45aefdbf64
--- /dev/null
+++ b/cmake/configs/posix_rpi2_default.cmake
@@ -0,0 +1,28 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+ drivers/device
+
+ systemcmds/param
+ systemcmds/ver
+
+ modules/mavlink
+
+ modules/param
+ modules/systemlib
+ modules/uORB
+ modules/dataman
+
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/geo
+ lib/geo_lookup
+ lib/conversion
+
+ platforms/common
+ platforms/posix/px4_layer
+ platforms/posix/work_queue
+
+)
diff --git a/posix-configs/rpi2/init/rcS_navio b/posix-configs/rpi2/init/rcS_navio
new file mode 100644
index 0000000000..6fd1d59db1
--- /dev/null
+++ b/posix-configs/rpi2/init/rcS_navio
@@ -0,0 +1,71 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.8
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set MIS_TAKEOFF_ALT 5.0
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_HOLD_Z_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index 9492cec90f..9c1caf8e83 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -66,7 +66,12 @@
#ifdef CONFIG_ARCH_BOARD_SITL
#define HW_ARCH "LINUXTEST"
#endif
+
#ifdef CONFIG_ARCH_BOARD_EAGLE
#define HW_ARCH "LINUXTEST"
#endif
+
+#ifdef CONFIG_ARCH_BOARD_RPI2
+#define HW_ARCH "LINUXTEST"
+#endif
#endif /* VERSION_H_ */
--
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