From ff5a481c34ce4d5af28cde627a5ca30a286c0bba Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 28 May 2016 11:34:08 +0200
Subject: [PATCH] Remove unneeded EKF2 configs
---
Makefile | 3 -
cmake/configs/posix_sitl_ekf2.cmake | 92 -------------------
posix-configs/SITL/init/rc.fixed_wing | 51 ----------
posix-configs/SITL/init/rcS_ekf2_gazebo_iris | 74 ---------------
posix-configs/SITL/init/rcS_ekf2_jmavsim_iris | 65 -------------
5 files changed, 285 deletions(-)
delete mode 100644 cmake/configs/posix_sitl_ekf2.cmake
delete mode 100644 posix-configs/SITL/init/rc.fixed_wing
delete mode 100644 posix-configs/SITL/init/rcS_ekf2_gazebo_iris
delete mode 100644 posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
diff --git a/Makefile b/Makefile
index d97a18a1fd..382e8ded72 100644
--- a/Makefile
+++ b/Makefile
@@ -167,9 +167,6 @@ posix_sitl_default:
posix_sitl_test:
$(call cmake-build,$@)
-posix_sitl_ekf2:
- $(call cmake-build,$@)
-
posix_sitl_replay:
$(call cmake-build,$@)
diff --git a/cmake/configs/posix_sitl_ekf2.cmake b/cmake/configs/posix_sitl_ekf2.cmake
deleted file mode 100644
index d92ed793a0..0000000000
--- a/cmake/configs/posix_sitl_ekf2.cmake
+++ /dev/null
@@ -1,92 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
- drivers/device
- drivers/boards/sitl
- drivers/pwm_out_sim
- platforms/common
- platforms/posix/px4_layer
- platforms/posix/work_queue
- platforms/posix/drivers/adcsim
- platforms/posix/drivers/gpssim
- platforms/posix/drivers/tonealrmsim
- platforms/posix/drivers/accelsim
- platforms/posix/drivers/airspeedsim
- platforms/posix/drivers/barosim
- platforms/posix/drivers/gyrosim
- platforms/posix/drivers/rgbledsim
- platforms/posix/drivers/ledsim
- systemcmds/param
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/topic_listener
- systemcmds/perf
- modules/uORB
- modules/param
- modules/systemlib
- modules/systemlib/mixer
- modules/sensors
- modules/simulator
- modules/mavlink
- modules/attitude_estimator_ekf
- modules/attitude_estimator_q
- modules/ekf_att_pos_estimator
- modules/ekf2
- modules/position_estimator_inav
- modules/navigator
- modules/vtol_att_control
- modules/mc_pos_control
- modules/mc_att_control
- modules/mc_pos_control_multiplatform
- modules/mc_att_control_multiplatform
- modules/land_detector
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/dataman
- modules/sdlog2
- modules/logger
- modules/commander
- modules/load_mon
- lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/conversion
- lib/ecl
- lib/external_lgpl
- lib/geo
- lib/geo_lookup
- lib/launchdetection
- lib/terrain_estimation
- lib/runway_takeoff
- lib/tailsitter_recovery
- lib/DriverFramework/framework
- examples/px4_simple_app
- )
-
-set(config_extra_builtin_cmds
- serdis
- sercon
- )
-
-set(config_sitl_rcS
- posix-configs/SITL/init/rcS_ekf2
- CACHE FILEPATH "init script for sitl"
- )
-
-set(config_sitl_viewer
- jmavsim
- CACHE STRING "viewer for sitl"
- )
-set_property(CACHE config_sitl_viewer
- PROPERTY STRINGS "jmavsim;none")
-
-set(config_sitl_debugger
- disable
- CACHE STRING "debugger for sitl"
- )
-set_property(CACHE config_sitl_debugger
- PROPERTY STRINGS "disable;gdb;lldb")
diff --git a/posix-configs/SITL/init/rc.fixed_wing b/posix-configs/SITL/init/rc.fixed_wing
deleted file mode 100644
index bc8a314e2f..0000000000
--- a/posix-configs/SITL/init/rc.fixed_wing
+++ /dev/null
@@ -1,51 +0,0 @@
-uorb start
-param load
-param set MAV_TYPE 1
-param set SYS_AUTOSTART 3033
-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 COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-simulator start -s
-rgbled start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-measairspeedsim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-commander start
-land_detector start fixedwing
-navigator start
-ekf_att_pos_estimator start
-fw_att_control start
-fw_pos_control_l1 start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/IO_pass.main.mix
-mavlink start -u 14556 -r 60000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
-mavlink boot_complete
-sdlog2 start -r 100 -e -t -a
diff --git a/posix-configs/SITL/init/rcS_ekf2_gazebo_iris b/posix-configs/SITL/init/rcS_ekf2_gazebo_iris
deleted file mode 100644
index ab0e045afc..0000000000
--- a/posix-configs/SITL/init/rcS_ekf2_gazebo_iris
+++ /dev/null
@@ -1,74 +0,0 @@
-uorb start
-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 SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set COM_DISARM_LAND 3
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MIS_TAKEOFF_ALT 2.5
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
-param set MPC_Z_VEL_MAX 2.0
-param set MPC_Z_VEL_P 0.4
-simulator start -s
-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
-ekf2 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 -t 127.0.0.1
-mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
-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_QUATERNION -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/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
deleted file mode 100644
index 2504e9f4e3..0000000000
--- a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
+++ /dev/null
@@ -1,65 +0,0 @@
-uorb start
-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 SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-simulator start -s
-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
-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 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_QUATERNION -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 boot_complete
-sdlog2 start -r 100 -e -t -a
-ekf2 start
--
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