diff options
Diffstat (limited to 'Tools')
| -rw-r--r-- | Tools/Matlab/motors.m | 58 | ||||
| -rwxr-xr-x | Tools/boot_now.py | 59 | ||||
| -rwxr-xr-x | Tools/check_code_style.sh | 3 | ||||
| -rwxr-xr-x | Tools/check_submodules.sh | 22 | ||||
| -rwxr-xr-x | Tools/px_uploader.py | 30 | ||||
| -rwxr-xr-x | Tools/ros/px4_ros_installation_ubuntu.sh | 2 | ||||
| -rwxr-xr-x | Tools/ros/px4_workspace_setup.sh | 8 |
7 files changed, 173 insertions, 9 deletions
diff --git a/Tools/Matlab/motors.m b/Tools/Matlab/motors.m new file mode 100644 index 000000000..6d688a307 --- /dev/null +++ b/Tools/Matlab/motors.m @@ -0,0 +1,58 @@ +clear all; +close all; + +% Measurement data +% 1045 propeller +% Robbe Roxxy Motor (1100 kV, data collected in 2010) +data = [ 45, 7.4;... + 38, 5.6;... + 33, 4.3;... + 26, 3.0;... + 18, 2.0;... + 10, 1.0 ]; + +% Normalize the data, as we're operating later +% anyways in normalized units +data(:,1) = data(:,1) ./ max(data(:,1)); +data(:,2) = data(:,2) ./ max(data(:,2)); + +% Fit a 2nd degree polygon to the data and +% print the x2, x1, x0 coefficients +p = polyfit(data(:,2), data(:,1),2) + +% Override the first coffefficient for testing +% purposes +pf = 0.62; + +% Generate plotting data +px1 = linspace(0, max(data(:,2))); +py1 = polyval(p, px1); + +pyt = zeros(size(data, 1), 1); +corr = zeros(size(data, 1), 1); + +% Actual code test +% the two lines below are the ones needed to be ported to C: +% pf: Power factor parameter. +% px1(i): The current normalized motor command (-1..1) +% corr(i): The required correction. The motor speed is: +% px1(i) +for i=1:size(px1, 2) + + % The actual output throttle + pyt(i) = -pf * (px1(i) * px1(i)) + (1 + pf) * px1(i); + + % Solve for input throttle + % y = -p * x^2 + (1+p) * x; + % +end + +plot(data(:,2), data(:,1), '*r'); +hold on; +plot(px1, py1, '*b'); +hold on; +plot([0 px1(end)], [0 py1(end)], '-k'); +hold on; +plot(px1, pyt, '-b'); +hold on; +plot(px1, corr, '-m'); diff --git a/Tools/boot_now.py b/Tools/boot_now.py new file mode 100755 index 000000000..5a9e608da --- /dev/null +++ b/Tools/boot_now.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2012-2015 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# send BOOT command to a device + +import argparse +import serial, sys + +from sys import platform as _platform + +# Parse commandline arguments +parser = argparse.ArgumentParser(description="Send boot command to a device") +parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port") +parser.add_argument('port', action="store", help="Serial port(s) to which the FMU may be attached") +args = parser.parse_args() + +REBOOT = b'\x30' +EOC = b'\x20' + +print("Sending reboot to %s" % args.port) +try: + port = serial.Serial(args.port, args.baud, timeout=0.5) +except Exception: + print("Unable to open %s" % args.port) + sys.exit(1) +port.write(REBOOT + EOC) +port.close() +sys.exit(0) diff --git a/Tools/check_code_style.sh b/Tools/check_code_style.sh index 8d1ab6363..b8806f316 100755 --- a/Tools/check_code_style.sh +++ b/Tools/check_code_style.sh @@ -3,7 +3,8 @@ set -eu failed=0 for fn in $(find . -path './src/lib/uavcan' -prune -o \ -path './src/lib/mathlib/CMSIS' -prune -o \ - -path './src/modules/attitude_estimator_ekf/codegen/' -prune -o \ + -path './src/lib/eigen' -prune -o \ + -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \ -path './NuttX' -prune -o \ -path './Build' -prune -o \ -path './mavlink' -prune -o \ diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh index 5e6e57164..4b251642c 100755 --- a/Tools/check_submodules.sh +++ b/Tools/check_submodules.sh @@ -74,6 +74,28 @@ else git submodule update; fi +if [ -d src/lib/eigen ] +then + STATUSRETVAL=$(git submodule summary | grep -A20 -i eigen | grep "<") + if [ -z "$STATUSRETVAL" ] + then + echo "Checked Eigen submodule, correct version found" + else + echo "" + echo "" + echo "New commits required:" + echo "$(git submodule summary)" + echo "" + echo "" + echo "eigen sub repo not at correct version. Try 'git submodule update'" + echo "or follow instructions on http://pixhawk.org/dev/git/submodules" + exit 1 + fi +else + git submodule init; + git submodule update; +fi + if [ -d Tools/gencpp ] then STATUSRETVAL=$(git submodule summary | grep -A20 -i gencpp | grep "<") diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index 859c821e5..3cdd9d1a6 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -160,6 +160,8 @@ class uploader(object): GET_CRC = b'\x29' # rev3+ GET_OTP = b'\x2a' # rev4+ , get a word from OTP area GET_SN = b'\x2b' # rev4+ , get a word from SN area + GET_CHIP = b'\x2c' # rev5+ , get chip version + SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay REBOOT = b'\x30' INFO_BL_REV = b'\x01' # bootloader protocol revision @@ -258,7 +260,7 @@ class uploader(object): self.__getSync() return value - # send the GET_OTP command and wait for an info parameter + # send the GET_SN command and wait for an info parameter def __getSN(self, param): t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. self.__send(uploader.GET_SN + t + uploader.EOC) @@ -266,6 +268,13 @@ class uploader(object): self.__getSync() return value + # send the GET_CHIP command + def __getCHIP(self): + self.__send(uploader.GET_CHIP + uploader.EOC) + value = self.__recv_int() + self.__getSync() + return value + def __drawProgressBar(self, label, progress, maxVal): if maxVal < progress: progress = maxVal @@ -397,6 +406,12 @@ class uploader(object): raise RuntimeError("Program CRC failed") self.__drawProgressBar(label, 100, 100) + def __set_boot_delay(self, boot_delay): + self.__send(uploader.SET_BOOT_DELAY + + struct.pack("b", boot_delay) + + uploader.EOC) + self.__getSync() + # get basic data about the board def identify(self): # make sure we are in sync before starting @@ -416,7 +431,12 @@ class uploader(object): def upload(self, fw): # Make sure we are doing the right thing if self.board_type != fw.property('board_id'): - raise IOError("Firmware not suitable for this board") + msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % ( + self.board_type, fw.property('board_id')) + if args.force: + print("WARNING: %s" % msg) + else: + raise IOError(msg) if self.fw_maxsize < fw.property('image_size'): raise RuntimeError("Firmware image is too large for this board") @@ -446,6 +466,7 @@ class uploader(object): self.sn = self.sn + x print(binascii.hexlify(x).decode('Latin-1'), end='') # show user print('') + print("chip: %08x" % self.__getCHIP()) except Exception: # ignore bad character encodings pass @@ -458,6 +479,9 @@ class uploader(object): else: self.__verify_v3("Verify ", fw) + if args.boot_delay is not None: + self.__set_boot_delay(args.boot_delay) + print("\nRebooting.\n") self.__reboot() self.port.close() @@ -486,6 +510,8 @@ else: parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached") parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.") +parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') +parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") args = parser.parse_args() diff --git a/Tools/ros/px4_ros_installation_ubuntu.sh b/Tools/ros/px4_ros_installation_ubuntu.sh index 7efc400cd..b65df8dce 100755 --- a/Tools/ros/px4_ros_installation_ubuntu.sh +++ b/Tools/ros/px4_ros_installation_ubuntu.sh @@ -27,7 +27,7 @@ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc sudo apt-get -y install python-rosinstall # additional dependencies -sudo apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy +sudo apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy ros-indigo-mavros ros-indigo-mavros-extras ## drcsim setup (for models) ### add osrf repository diff --git a/Tools/ros/px4_workspace_setup.sh b/Tools/ros/px4_workspace_setup.sh index 3e4bf06a5..5599ab999 100755 --- a/Tools/ros/px4_workspace_setup.sh +++ b/Tools/ros/px4_workspace_setup.sh @@ -10,21 +10,19 @@ git clone https://github.com/PX4/Firmware.git # euroc simulator git clone https://github.com/PX4/euroc_simulator.git -cd euroc_simulator -git checkout px4_nodes -cd .. # mav comm git clone https://github.com/PX4/mav_comm.git +# gflags catkin +git clone https://github.com/ethz-asl/gflags_catkin.git + # glog catkin git clone https://github.com/ethz-asl/glog_catkin.git # catkin simple git clone https://github.com/catkin/catkin_simple.git -# drcsim (for scenery and models) - cd .. catkin_make |