Commit 2d657732 authored by Damien SIX's avatar Damien SIX
Browse files

Merge branch 'release/v1.12' into ls2n-drones-simulation

# Conflicts:
#	Tools/sitl_gazebo
parents 7c8e9b23 047fb139
......@@ -45,7 +45,9 @@ pipeline {
"cuav_can-gps-v1_canbootloader",
"cuav_can-gps-v1_default",
"cuav_nora_default",
"cuav_nora_test",
"cuav_x7pro_default",
"cuav_x7pro_test",
"cubepilot_cubeorange_console",
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_console",
......@@ -53,9 +55,11 @@ pipeline {
"holybro_can-gps-v1_canbootloader",
"holybro_can-gps-v1_default",
"holybro_durandal-v1_default",
"holybro_durandal-v1_test",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7_default",
......
This diff is collapsed.
......@@ -26,7 +26,9 @@ jobs:
cuav_can-gps-v1_debug,
cuav_can-gps-v1_default,
cuav_nora_default,
cuav_nora_test,
cuav_x7pro_default,
cuav_x7pro_test,
cubepilot_cubeorange_console,
cubepilot_cubeorange_default,
cubepilot_cubeyellow_console,
......@@ -36,9 +38,11 @@ jobs:
holybro_can-gps-v1_debug,
holybro_can-gps-v1_default,
holybro_durandal-v1_default,
holybro_durandal-v1_test,
holybro_kakutef7_default,
holybro_pix32v5_default,
modalai_fc-v1_default,
modalai_fc-v1_rtps,
mro_ctrl-zero-f7-oem_default,
mro_ctrl-zero-f7_default,
mro_ctrl-zero-h7-oem_default,
......
......@@ -28,9 +28,9 @@ jobs:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Download MAVSDK
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
- name: Install MAVSDK
run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
......
......@@ -59,7 +59,7 @@
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
url = https://github.com/UAVCAN/public_regulated_data_types
url = https://github.com/UAVCAN/public_regulated_data_types.git
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
path = src/drivers/uavcannode_gps_demo/libcanard
url = https://github.com/UAVCAN/libcanard
url = https://github.com/UAVCAN/libcanard.git
......@@ -96,16 +96,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: cuav_x7pro_default
cubepilot_cubeorange_default:
cubepilot_cubeorange_console:
short: cubepilot_cubeorange
buildType: MinSizeRel
settings:
CONFIG: cubepilot_orange_default
cubepilot_cubeyellow_default:
short: cubepilot_cubeyellow
buildType: MinSizeRel
settings:
CONFIG: cubepilot_cubeyellow_default
CONFIG: cubepilot_orange_console
emlid_navio2_default:
short: emlid_navio2
buildType: MinSizeRel
......
......@@ -89,6 +89,7 @@ pipeline {
}
steps {
sh 'make distclean'
sh 'git fetch --all --tags'
sh 'make airframe_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
......@@ -108,6 +109,7 @@ pipeline {
}
steps {
sh 'make distclean'
sh 'git fetch --all --tags'
sh 'make parameters_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
......@@ -127,6 +129,7 @@ pipeline {
}
steps {
sh 'make distclean'
sh 'git fetch --all --tags'
sh 'make module_documentation'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'modules/*.md')
......@@ -150,6 +153,7 @@ pipeline {
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --all --tags'
sh 'make uorb_graphs'
dir('Tools/uorb_graph') {
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
......
......@@ -303,7 +303,7 @@ check_%:
@echo
uorb_graphs:
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
......
......@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
* [Rover](https://docs.px4.io/master/en/frames_rover/)
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
......@@ -85,23 +85,24 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
### Pixhawk Standard Boards
* FMUv2
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
* FMUv3
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
* FMUv5 and FMUv5X (STM32F7, 2019/20)
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
* FMUv4 (STM32F4, 2015)
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv3 (STM32F4, 2014)
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
* FMUv4 (STM32F4)
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv5 (STM32F7)
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* FMUv6X and FMUv6U (STM32H7)
* Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
* FMUv2 (STM32F4, 2013)
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
### Manufacturer and Community supported
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
......
......@@ -10,43 +10,39 @@
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set-default MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set CA_MC_R0_PX 0.1515
param set CA_MC_R0_PY 0.245
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM 0.05
param set CA_MC_R1_PX -0.1515
param set CA_MC_R1_PY -0.1875
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.1515
param set CA_MC_R2_PY -0.245
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.1515
param set CA_MC_R3_PY 0.1875
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM -0.05
fi
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
......@@ -7,8 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set EKF2_RNG_AID 1
param set EKF2_RNG_A_HMAX 10
fi
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 10
......@@ -8,15 +8,12 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_MODE_OUT 2
param set MNT_DO_STAB 2
fi
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set-default SENS_GPS_MASK 7
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_DO_STAB 2
set MIXER quad_x
......@@ -7,16 +7,14 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
param set MPC_ALT_MODE 2
fi
......@@ -7,12 +7,9 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# enable fusion of landing target velocity
param set LTEST_MODE 1
param set PLD_HACC_RAD 0.1
fi
# enable fusion of landing target velocity
param set-default LTEST_MODE 1
param set-default PLD_HACC_RAD 0.1
# Start up Landing Target Estimator module
landing_target_estimator start
......@@ -7,7 +7,5 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set LPE_FUSION 242
fi
param set-default LPE_FUSION 242
......@@ -7,15 +7,13 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2: Vision position and heading
param set EKF2_AID_MASK 24
param set EKF2_EV_DELAY 5
# EKF2: Vision position and heading
param set-default EKF2_AID_MASK 24
param set-default EKF2_EV_DELAY 5
# LPE: Vision + baro
param set LPE_FUSION 132
# LPE: Vision + baro
param set-default LPE_FUSION 132
# AEQ: External heading set to use vision input
param set-default ATT_EXT_HDG_M 1
# AEQ: External heading set to use vision input
param set ATT_EXT_HDG_M 1
fi
......@@ -7,10 +7,7 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.1
param set MC_ROLLRATE_P 0.1
fi
param set-default MC_PITCHRATE_P 0.1
param set-default MC_ROLLRATE_P 0.1
set MIXER quad_x
......@@ -7,8 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set COM_OBS_AVOID 1
param set MPC_XY_CRUISE 5.0
fi
param set-default COM_OBS_AVOID 1
param set-default MPC_XY_CRUISE 5.0
......@@ -7,15 +7,12 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set SENS_FLOW_ROT 0
# EKF2
param set-default EKF2_AID_MASK 2
param set-default SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set MPC_ALT_MODE 2
fi
param set-default MPC_ALT_MODE 2
......@@ -7,9 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2: Vision velocity and heading
param set EKF2_AID_MASK 272
param set EKF2_EV_DELAY 5
fi
# EKF2: Vision velocity and heading
param set-default EKF2_AID_MASK 272
param set-default EKF2_EV_DELAY 5
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