diff options
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/.gitignore | 1 | ||||
-rw-r--r-- | ROMFS/Makefile | 124 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.FMU_quad_x (renamed from ROMFS/scripts/rc.FMU_quad_x) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.IO_QUAD (renamed from ROMFS/scripts/rc.IO_QUAD) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IO (renamed from ROMFS/scripts/rc.PX4IO) | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IOAR (renamed from ROMFS/scripts/rc.PX4IOAR) | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.boarddetect (renamed from ROMFS/scripts/rc.boarddetect) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil (renamed from ROMFS/scripts/rc.hil) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.jig (renamed from ROMFS/scripts/rc.jig) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.logging (renamed from ROMFS/scripts/rc.logging) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors (renamed from ROMFS/scripts/rc.sensors) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.standalone (renamed from ROMFS/scripts/rc.standalone) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb (renamed from ROMFS/scripts/rc.usb) | 0 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS (renamed from ROMFS/scripts/rcS) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/logging/logconv.m (renamed from ROMFS/logging/logconv.m) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AERT.mix (renamed from ROMFS/mixers/FMU_AERT.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AET.mix (renamed from ROMFS/mixers/FMU_AET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_Q.mix (renamed from ROMFS/mixers/FMU_Q.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_RET.mix (renamed from ROMFS/mixers/FMU_RET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_X5.mix (renamed from ROMFS/mixers/FMU_X5.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_delta.mix | 50 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_+.mix (renamed from ROMFS/mixers/FMU_hex_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_x.mix (renamed from ROMFS/mixers/FMU_hex_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_+.mix (renamed from ROMFS/mixers/FMU_octo_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_x.mix (renamed from ROMFS/mixers/FMU_octo_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_pass.mix (renamed from ROMFS/mixers/FMU_pass.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_+.mix (renamed from ROMFS/mixers/FMU_quad_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_v.mix (renamed from ROMFS/mixers/FMU_quad_v.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_w.mix | 6 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_x.mix (renamed from ROMFS/mixers/FMU_quad_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/README (renamed from ROMFS/mixers/README) | 0 |
31 files changed, 58 insertions, 127 deletions
diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore deleted file mode 100644 index 30d3d7fe5..000000000 --- a/ROMFS/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/img diff --git a/ROMFS/Makefile b/ROMFS/Makefile deleted file mode 100644 index 5ff079a93..000000000 --- a/ROMFS/Makefile +++ /dev/null @@ -1,124 +0,0 @@ -# -# Makefile to generate a PX4FMU ROMFS image. -# -# In normal use, 'make install' will generate a new ROMFS header and place it -# into the px4fmu configuration in the appropriate location. -# - -# -# Directories of interest -# -SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST))) -BUILDROOT ?= $(SRCROOT)/img -ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h - -# -# List of files to install in the ROMFS, specified as <source>~<destination> -# -ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ - $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \ - $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \ - $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \ - $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \ - $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ - $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ - $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \ - $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \ - $(SRCROOT)/scripts/rc.IO_QUAD~scripts/rc.IO_QUAD \ - $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ - $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ - $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ - $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ - $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ - $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ - $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \ - $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \ - $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \ - $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \ - $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \ - $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \ - $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \ - $(SRCROOT)/logging/logconv.m~logging/logconv.m - -# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts -# to ROMFS. -ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS) - -# -# Add the PX4IO firmware to the spec if someone has dropped it into the -# source directory, or otherwise specified its location. -# -# Normally this is only something you'd do when working on PX4IO; most -# users will upgrade with firmware off the microSD card. -# -PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin -ifneq ($(wildcard $(PX4IO_FIRMWARE)),) -ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin -endif - -################################################################################ -# No user-serviceable parts below -################################################################################ - -# -# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't -# exist -# -ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec)))) - -# -# Just the destination directories from the ROMFS spec -# -ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec)))))) - - -# -# Intermediate products -# -ROMFS_IMG = $(BUILDROOT)/romfs.img -ROMFS_WORKDIR = $(BUILDROOT)/romfs - -# -# Convenience target for rebuilding the ROMFS header -# -all: $(ROMFS_HEADER) - -$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER)) - @echo Generating the ROMFS header... - @(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@ - -$(ROMFS_IMG): $(ROMFS_WORKDIR) - @echo Generating the ROMFS image... - @genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol" - -$(ROMFS_WORKDIR): $(ROMFS_SRCFILES) - @echo Rebuilding the ROMFS work area... - @rm -rf $(ROMFS_WORKDIR) - @mkdir -p $(ROMFS_WORKDIR) - @for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done - @for spec in $(ROMFS_FSSPEC) ; do \ - echo $$spec | sed -e 's%^.*~% %' ;\ - `echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\ - done - -$(BUILDROOT): - @mkdir -p $(BUILDROOT) - -clean: - @rm -rf $(BUILDROOT) - -distclean: clean - @rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER) - -.PHONY: all install clean distclean - -# -# Hacks and fixups -# -SYSTYPE = $(shell uname) - -ifeq ($(SYSTYPE),Darwin) -# PATH inherited by Eclipse may not include toolchain install location -export PATH := $(PATH):/usr/local/bin -endif - diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x index 8787443ea..8787443ea 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x diff --git a/ROMFS/scripts/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD index 287cb0483..287cb0483 100644 --- a/ROMFS/scripts/rc.IO_QUAD +++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO index 625f23bdd..7ae4a5586 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -104,4 +104,4 @@ then blinkm systemstate else echo "no BlinkM found, OK." -fi
\ No newline at end of file +fi diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR index 6af91992e..ab29e21c7 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -96,4 +96,4 @@ fi # echo "[init] startup done" -exit
\ No newline at end of file +exit diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect index f233e51df..f233e51df 100644 --- a/ROMFS/scripts/rc.boarddetect +++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect diff --git a/ROMFS/scripts/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 980b78edd..980b78edd 100644 --- a/ROMFS/scripts/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil diff --git a/ROMFS/scripts/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig index e2b5d8f30..e2b5d8f30 100644 --- a/ROMFS/scripts/rc.jig +++ b/ROMFS/px4fmu_common/init.d/rc.jig diff --git a/ROMFS/scripts/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 09c2d00d1..09c2d00d1 100644 --- a/ROMFS/scripts/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 42c2f52e9..42c2f52e9 100644 --- a/ROMFS/scripts/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone index 67e95215b..67e95215b 100644 --- a/ROMFS/scripts/rc.standalone +++ b/ROMFS/px4fmu_common/init.d/rc.standalone diff --git a/ROMFS/scripts/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 31af3991a..31af3991a 100644 --- a/ROMFS/scripts/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb diff --git a/ROMFS/scripts/rcS b/ROMFS/px4fmu_common/init.d/rcS index c0a70f7dd..c0a70f7dd 100755 --- a/ROMFS/scripts/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m index 3750ddae2..3750ddae2 100644 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/px4fmu_common/logging/logconv.m diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix index 75e82bb00..75e82bb00 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix index 20cb88b91..20cb88b91 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix index ebcb66b24..ebcb66b24 100644 --- a/ROMFS/mixers/FMU_Q.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix index 95beb8927..95beb8927 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix index 9f81e1dc3..9f81e1dc3 100644 --- a/ROMFS/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix index b5e38ce9e..b5e38ce9e 100644 --- a/ROMFS/mixers/FMU_hex_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix index 8e8d122ad..8e8d122ad 100644 --- a/ROMFS/mixers/FMU_hex_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix index 2cb70e814..2cb70e814 100644 --- a/ROMFS/mixers/FMU_octo_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix index edc71f013..edc71f013 100644 --- a/ROMFS/mixers/FMU_octo_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix index e9a81f2bb..e9a81f2bb 100644 --- a/ROMFS/mixers/FMU_pass.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix index dfdf1d58e..dfdf1d58e 100644 --- a/ROMFS/mixers/FMU_quad_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix diff --git a/ROMFS/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix index 2a4a0f341..2a4a0f341 100644 --- a/ROMFS/mixers/FMU_quad_v.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix new file mode 100644 index 000000000..81b4af30b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix @@ -0,0 +1,6 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%. + +R: 4w 10000 10000 10000 0 diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix index 12a3bee20..12a3bee20 100644 --- a/ROMFS/mixers/FMU_quad_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_common/mixers/README index 6649c53c2..6649c53c2 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README |