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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 12:47:08 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 12:47:08 +0100 |
commit | f3a224e30d8a70418541a6185ce5765b37745a7a (patch) | |
tree | 938bd443fc9f53cdbea3294d2e702e72ddd8493c /ROMFS | |
parent | 821c06f7cc58b50afe80442ee2258bf99cbe1fd2 (diff) | |
parent | 685d3965a81b3f6a1ada4aa8bf9ebdd16b029c58 (diff) | |
download | px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.tar.gz px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.tar.bz2 px4-firmware-f3a224e30d8a70418541a6185ce5765b37745a7a.zip |
Merged master
Diffstat (limited to 'ROMFS')
40 files changed, 87 insertions, 103 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index d114fe21a..4d6d350b8 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -1,14 +1,10 @@ #!nsh # -# HILStar / X-Plane -# -# Lorenz Meier <lm@inf.ethz.ch> +# HILStar +# <lorenz@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "X Plane HIL starting.." - set HIL yes - set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c4be16943..c8379e3a1 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Quadcopter # -# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.mc_defaults @@ -27,3 +27,4 @@ fi set MIXER FMU_quad_w set PWM_OUTPUTS 1234 +set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 3f47390c1..0b422de7e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -2,7 +2,7 @@ # # 3DR Iris Quadcopter # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 6179855f6..a621de7ce 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -2,8 +2,7 @@ # # Steadidrone QU4D # -# Thomas Gubler <thomasgubler@gmail.com> -# Lorenz Meier <lm@inf.ethz.ch> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 7a7a9542c..1c4f6803b 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter X # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index c47500c7a..0cbdd75be 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter + # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index 4e3e18326..fb440d2fc 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -2,13 +2,11 @@ # # HIL Rascal 110 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "HIL Rascal 110 starting.." - set HIL yes set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 941f5664a..00b97d675 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -2,7 +2,7 @@ # # HIL Malolo 1 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index daa04a4de..e4d96fbd5 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,12 +2,12 @@ # # Generic 10" Hexa coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_cox -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 8703f5f2f..f820251ad 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,7 +2,7 @@ # # Generic 10" Octo coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 83c470234..0f0cb3a89 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -3,3 +3,6 @@ sh /etc/init.d/rc.fw_defaults set MIXER FMU_Q +# Provide ESC a constant 1000 us pulse while disarmed +set PWM_OUTPUTS 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 53c48d8aa..a7749cba6 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,7 +2,7 @@ # # Phantom FPV Flying Wing # -# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -21,8 +21,6 @@ then param set FW_PR_P 0.03 param set FW_P_LIM_MAX 50 param set FW_P_LIM_MIN -50 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 1 param set FW_RR_FF 0.5 param set FW_RR_I 0.02 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 7d0dc5bff..26c7c95e6 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -2,7 +2,7 @@ # # Skywalker X5 Flying Wing # -# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> +# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -19,10 +19,6 @@ then param set FW_PR_I 0 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.03 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 1 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index f4dedef15..919eefb4a 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -2,7 +2,7 @@ # # Wing Wing (aka Z-84) Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index f4bd18269..4a76ba6eb 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -2,7 +2,7 @@ # # FX-79 Buffalo Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper index 3714b612f..0f5f5502a 100644 --- a/ROMFS/px4fmu_common/init.d/3035_viper +++ b/ROMFS/px4fmu_common/init.d/3035_viper @@ -2,11 +2,10 @@ # # Viper # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults set MIXER Viper -set FAILSAFE "-c567 -p 1000" diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9a2150403..9bfd9d9ed 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -1,8 +1,8 @@ #!nsh # -# TBS Caipirinha Flying Wing +# TBS Caipirinha # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -22,10 +22,6 @@ then param set FW_PR_I 0 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.03 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 0 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 06c54a41d..8fe8961c5 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -2,7 +2,7 @@ # # Generic 10" Quad X geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index e6007db0e..0488e3928 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -3,9 +3,6 @@ # ARDrone # -echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board" - -# Just use the default multicopter settings. sh /etc/init.d/rc.mc_defaults # diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 282ab620d..f0cc05207 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F330 Quadcopter +# DJI Flame Wheel F330 # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 517b4aa86..1ca716a6b 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F450 Quadcopter +# DJI Flame Wheel F450 # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 8c5a4fbf2..5c4a6497a 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -2,7 +2,7 @@ # # F450-sized quadrotor with CAN # -# Lorenz Meier <lm@inf.ethz.ch> +# Pavel Kirienko <pavel@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb index 99ffd73a5..9fe310dde 100644 --- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb @@ -3,7 +3,7 @@ # Hobbyking Micro Integrated PCB Quadcopter # with SimonK ESC firmware and Mystery A1510 motors # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # echo "HK Micro PCB Quad" diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 1fb25e5d8..5512aa738 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -2,7 +2,7 @@ # # Generic 10" Quad + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 34fc6523f..1043ad8ad 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -2,12 +2,12 @@ # # Generic 10" Hexa X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 235e376a6..84ab88883 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -2,12 +2,12 @@ # # Generic 10" Hexa + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 769217dc7..74e304cd9 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -2,7 +2,7 @@ # # Generic 10" Octo X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 28b074a54..f7c06c6c8 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -2,7 +2,7 @@ # # Generic 10" Octo + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 9de7d9ecd..496a52c5f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -1,5 +1,4 @@ # -# Check if auto-setup from one of the standard scripts is wanted # SYS_AUTOSTART = 0 means no autostart (default) # # AUTOSTART PARTITION: @@ -18,9 +17,15 @@ # 12000 .. 12999 Octo Cox # -# Simulation setups +# Simulation # +if param compare SYS_AUTOSTART 901 +then + sh /etc/init.d/901_bottle_drop_test.hil + set MODE custom +fi + if param compare SYS_AUTOSTART 1000 then sh /etc/init.d/1000_rc_fw_easystar.hil @@ -47,7 +52,7 @@ then fi # -# Standard plane +# Plane # if param compare SYS_AUTOSTART 2100 100 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 9aca3fc5f..c97b3477f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -13,3 +13,5 @@ ekf_att_pos_estimator start # fw_att_control start fw_pos_control_l1 start + +bottle_drop start diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig deleted file mode 100644 index e2b5d8f30..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.jig +++ /dev/null @@ -1,10 +0,0 @@ -#!nsh -# -# Test jig startup script -# - -echo "[testing] doing production test.." - -tests jig - -echo "[testing] testing done" diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 739df7ac0..858df4f28 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -54,10 +54,8 @@ then fi fi -# Start airspeed sensors if meas_airspeed start then - echo "[init] Using MEAS airspeed sensor" else if ets_airspeed start then @@ -74,10 +72,7 @@ then fi # -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. +# Start sensors -> preflight_check # if sensors start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index fa5e8bf7c..e2691ab58 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -137,9 +137,7 @@ then # if param compare SYS_AUTOCONFIG 1 then - # We can't be sure the defaults haven't changed, so - # if someone requests a re-configuration, we do it - # cleanly from scratch (except autostart / autoconfig) + # Wipe out params param reset_nostart set DO_AUTOCONFIG yes else @@ -202,12 +200,10 @@ then if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK" echo "PX4IO CRC OK" >> $LOG_FILE set IO_PRESENT yes else - echo "[init] Trying to update" echo "PX4IO Trying to update" >> $LOG_FILE tone_alarm MLL32CP8MB @@ -217,18 +213,15 @@ then usleep 500000 if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK, update successful" echo "PX4IO CRC OK after updating" >> $LOG_FILE tone_alarm MLL8CDE set IO_PRESENT yes else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi @@ -281,16 +274,12 @@ then fi fi - # - # Start the datamanager (and do not abort boot if it fails) - # + # waypoint storage if dataman start then fi - # - # Start the Commander (needs to be this early for in-air-restarts) - # + # Needs to be this early for in-air-restarts commander start # @@ -424,9 +413,6 @@ then fi fi - # - # MAVLink - # if [ $MAVLINK_FLAGS == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s @@ -461,10 +447,6 @@ then # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors - - # - # Start logging in all modes, including HIL - # sh /etc/init.d/rc.logging if [ $GPS == yes ] diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix index 112d9b891..b8879af9e 100755 --- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -52,21 +52,18 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / flaps / payload mixer for last four channels +Inputs to the mixer come from channel group 2 (payload), channels 0 +(bay servo 1), 1 (bay servo 2) and 3 (drop release). ----------------------------------------------------- M: 1 O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 +S: 2 2 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix index 5a0381bd8..5aa3828f2 100755 --- a/ROMFS/px4fmu_common/mixers/Viper.mix +++ b/ROMFS/px4fmu_common/mixers/Viper.mix @@ -66,6 +66,6 @@ S: 2 1 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 -S: 2 2 -10000 -10000 0 -10000 10000 +S: 2 2 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 56482d140..bc248ac04 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ] then tests mount fi + +# +# Run unit tests at board boot, reporting failure as needed. +# Add new unit tests using the same pattern as below. +# + +set unit_test_failure 0 + +if mavlink_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} mavlink_tests" +fi + +if commander_tests +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} commander_tests" +fi + +if [ $unit_test_failure == 0 ] +then + echo + echo "All Unit Tests PASSED" +else + echo + echo "Some Unit Tests FAILED:${unit_test_failure_list}" +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data Binary files differnew file mode 100644 index 000000000..973de16e5 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data Binary files differnew file mode 100644 index 000000000..7e8764c03 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data Binary files differnew file mode 100644 index 000000000..f3fe31687 --- /dev/null +++ b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data |