new airframe for sih, HIL_STATE_QUATERION sent through MAVLink

914a9b78 · Beat Küng · c09e9ec9 · 914a9b78 · 914a9b78 · 914a9b78
Commit 914a9b78 authored 5 years ago by Beat Küng
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+#!/bin/sh
+#
+# @name SIH Quadcopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+# set HIL to avoid sensors startup
+param set SYS_HITL 1
+
+param set SYS_SIH 1
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -38,6 +38,7 @@ px4_add_romfs_files(
 	1000_rc_fw_easystar.hil
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
+	1100_rc_quad_x_sih.hil
 	
 	# [2000, 2999] Standard planes"
 	2100_standard_plane

--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -337,6 +337,12 @@ else
 		# disable GPS
 		param set GPS_1_CONFIG 0

+		# start the SIH if needed
+		if  param compare SYS_SIH 1
+		then
+			sih start
+		fi
+
 	else
 		#
 		# board sensors: rc.sensors

--- a/boards/aerotenna/ocpoc/ubuntu.cmake
+++ b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -84,6 +84,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		simulator
 		vmount
 		vtol_att_control

--- a/boards/atlflight/eagle/qurt-default.cmake
+++ b/boards/atlflight/eagle/qurt-default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -84,6 +84,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		simulator
 		vmount
 		vtol_att_control

--- a/boards/atlflight/excelsior/qurt-default.cmake
+++ b/boards/atlflight/excelsior/qurt-default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -77,6 +77,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/beaglebone/blue/cross.cmake
+++ b/boards/beaglebone/blue/cross.cmake
@@ -48,6 +48,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/beaglebone/blue/native.cmake
+++ b/boards/beaglebone/blue/native.cmake
@@ -46,6 +46,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -37,6 +37,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vtol_att_control
 		wind_estimator


--- a/boards/emlid/navio2/cross.cmake
+++ b/boards/emlid/navio2/cross.cmake
@@ -52,6 +52,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

--- a/boards/emlid/navio2/native.cmake
+++ b/boards/emlid/navio2/native.cmake
@@ -50,6 +50,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -53,6 +53,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		#vtol_att_control
 		#wind_estimator

--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -56,6 +56,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		#vtol_att_control
 		#wind_estimator

--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -65,6 +65,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vmount
 		#vtol_att_control
 		#wind_estimator

--- a/boards/parrot/bebop/default.cmake
+++ b/boards/parrot/bebop/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vtol_att_control
 		wind_estimator