diff --git a/README.md b/README.md
index fe8d862..4f9f151 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# VTOL HITL Dynamics Simulator
+# UAV HITL Dynamics Simulator
-VTOL HITL Dynamics Simulator is a set of ROS packages proposed full simulation for UAV based on PX4/Ardupilot autopilot.
+UAV HITL Dynamics Simulator is a set of ROS packages proposed full simulation for UAV based on PX4/Ardupilot autopilot.
@@ -8,55 +8,21 @@ The key feature of this simulation is to run it in such a way that the hardware
## 1. Design
-VTOL HITL Dynamics Simulator is designed to be flexible.
-
-It supports multiple dynamics:
-- [inno_vtol](https://github.com/RaccoonlabDev/inno_vtol_dynamics),
-- [flightgoggles_multicopter](https://github.com/mit-aera/FlightGoggles)
-
-and protocols:
-- `MAVLink SITL`,
-- `DroneCAN HITL`,
-- `Cyphal HITL`.
-
-It is expected to use either PX4 or ArduPilot autopilots.
-
-The simulator is divided into the following main components:
+VTOL HITL Dynamics Simulator is designed to be modular. It is divided into the following main components:
1. `UAV dynamics` is the main node that handles actuator commands from the communicator, performs dynamics simulation, and publishes vehicle and sensors states.
2. `Communicator` is the set of nodes that communicate with the `PX4 flight stack` in HITL (via Cyphal/DroneCAN) and SITL (via MAVLink) modes.
-3. `inno_sim_interface` is a bridge for interaction with `Inno Simulator` through ROS.
+3. `inno_sim_interface` is a bridge for interaction with `3D-Simulator` through ROS.
The design of the simulator is shown below.
-## 2. Supported modes
-
-The primaries modes are:
-
-| № | Autopilot | Communicator | dynamics | Airframe |
-| - | -------- | --------- | ------------ | -------- |
-| 1 | PX4 v1.12/v1.13 | DroneCAN HITL | inno_vtol | inno_standard_vtol [(13070)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d/airframes/13070_innopolis_vtol)
-| 2 | PX4 v1.13 | Cyphal HITL | inno_vtol | Generic Quadcopter [(4001)](https://dev.px4.io/master/en/airframes/airframe_reference.html#quadrotor-x)
-
-The following modes are supported as well, but they are not well-tested:
-
-| № | Autopilot | Communicator | dynamics | Airframe |
-| - | -------- | --------- | ------------ | -------- |
-| 1 | PX4 v1.12| DroneCAN HITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
-| 2 | PX4 v1.12 | MAVLink SITL | inno_vtol | innopolis_vtol [(1050)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/1050_innopolis_vtol) |
-| 3 | PX4 v1.12 | MAVLink SITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
-| 4 | ArduPilot v4.3/v4.4 | DroneCAN HITL | inno_vtol | copter |
-| 5 | ArduPilot v4.3/v4.4 | Cyphal HITL | inno_vtol | copter |
-
-New modes will be extended step by step.
-
-## 3. Usage
+## 2. Usage
-The instruction below discribes the most common use case: PX4 v1.13 in DroneCAN VTOL and Cyphal Quadcopter modes. If you want to use ArduPilot, another dynamic, airframe or SITL mode, you can still use this instruction, but it is recommended to read additional instructions.
-
-The simulator is distributed as a Docker image. If you want to contribute or try it without Docker, you can find more details in [the developer docs](docs/dev_docs.md).
+The simulator is distributed as a Docker image. It is recommended to use the `./scripts/docker.sh` script. It configures all the necessary Docker flags, performs automatic firmware upload,
+configuration, creates a CAN interface, and generally provides a simple interface to interact with
+the simulator.
**Step 1. Clone repository with submodules**
@@ -72,29 +38,17 @@ git submodule update --init --recursive
**Step 2. Build/pull the docker image**
-It is recommended to use the `./scripts/docker.sh` script. It configures all the necessary Docker flags, SLCAN and provides a simple interface to interact with the simulator.
-
-To get help, just type:
-
-```bash
-./scripts/docker.sh --help
-```
-
To build docker image, type:
```bash
./scripts/docker.sh build
```
-To pull docker image, type:
-
-```bash
-./scripts/docker.sh pull
-```
+> An image on dockerhub usually is not up to date, so it's better to build manually
-**Step 3. Connect everything together**
+**Step 3. Connect everything together for HITL**
-> This step is not necessary if you want to run PX4 MAVLink SITL mode. Please follow [docs/px4/mavlink](docs/px4/mavlink.md) instead.
+> You should skip this step if you want to run PX4 MAVLink SITL mode. Please follow [docs/px4/mavlink](docs/px4/mavlink.md) for details.
Typically we use [CUAV v5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html) and [RL-programmer-sniffer](https://docs.raccoonlab.co/guide/programmer_sniffer/), but it might be anything else.
@@ -102,87 +56,69 @@ An example of a connection is shown in the picture below.
-If you have a choice, it is sometimes preferable to use CAN1 on the autopilot side.
+All default parameters expect that you use CAN1 on the autopilot side.
-**Step 4. Upload firmware**
+**Step 4. Run the container in force mode**
-HITL simulator may require some additional features that the official PX4 and ArduPilot doesn't have.
+In `--force` mode the script automatically upload the required firmware and parameters corresponded
+to the specified mode, create SLCAN and run the container with required docker flags.
-The appropriated and ready to use binaries are uploaded here: [PX4](https://github.com/ZilantRobotics/PX4-Autopilot/releases) and [ArduPilot](https://github.com/ZilantRobotics/ardupilot/releases). Alternativelly, you can build the firmware manually.
+To run force mode you need to install `autopilot_tools` python package: `pip install autopilot_tools`.
-For PX4 DroneCAN you can upload the firmware by typing the following 2 lines:
-
-```bash
-wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.13.0_hitl/px4_fmu-v5_default.px4
-./scripts/px4/upload.sh px4_fmu-v5_default.px4
-```
-
-For PX4 Cyphal you can upload the firmware by typing:
-
-```bash
-wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.13.0_hitl/px4_fmu-v5_cyphal.px4
-./scripts/px4/upload.sh px4_fmu-v5_cyphal.px4
-```
-
-**Step 5. Configure autopilot**
-
-You need to run the [scripts/parameters_configurator.py](scripts/parameters_configurator.py). It will automatically will reset your parameters to default, and then configure exactly the parameters your autopilot needs for the HITL simulation. It will automatically restart the autopilot a few times.
-
-```bash
-pip install mavlink_tools
-./scripts/parameters_configurator.py
-```
-
-If your desired mode is not supported, refer to the corresponded section for the details:
-- [PX4 Autopilot](docs/px4/README.md)
-- [Ardupilot](docs/ardupilot/README.md)
-
-**Step 6. Run the container**
-
-You can run the simulator with the same `./scripts/docker.sh` script.
-
-To get help, type:
+To get the list of all supported modes, just type:
```bash
./scripts/docker.sh --help
```
-To run Cyphal VTOL, type:
+To run PX4 Cyphal quadcopter, type:
```bash
-./scripts/docker.sh cv
+./scripts/docker.sh cq # cq = cyphal_quadrotor
```
-To run Dronecan VTOL, type:
+To run PX4 Dronecan VTOL, type:
```bash
-./scripts/docker.sh dv
+./scripts/docker.sh dv # cq = dronecan_vtol
```
-Here the commands are similar for both PX4 and ArduPilot.
+Troubleshooting:
+- If your sniffer connection is not found or something else is missing, it will exit in a few seconds.
-The scripts will automatically attach SLCAN. If your sniffer connection is not found, it will exit in a few seconds.
+If something doesn't work, please open an issue.
-**Step 7. Run QGC**
+**Step 5. Run ground control station**
-Run QGroundControl or any other MAVLink based ground station you need to start the flight.
+Here 2 options are suggested.
+1. You can run QGroundControl or MissionPlanner to have manual flight
+2. (soon) You can run a script to run one of the test scenario in automatic mode.
-**Step 8. (optional) InnoSimulator**
+**Step 6. (optional) 3D Simulator**
-InnoSimulator is a photorealistic simulator.
+> A new 3D simulator will appear here soon.
-At that moment we use it for visualization purposes only.
+## 3. Supported modes
-To use it you need to download it from [inno-robolab/InnoSimulator](https://github.com/inno-robolab/InnoSimulator) repository.
+You can obrain the actual list of the suported modes by typing `./scripts/docker.sh --help`.
-An example of running might be:
+Well, here is the output of the command:
```bash
-~/software/InnoSimulator-Linux64-2021.1.3/InnoSimulator.x86_64
+Primary well-supported modes (with aliases):
+ cyphal_quadrotor,cq Cyphal PX4 v1.14-beta Quadrotor x (4001)
+ cyphal_octorotor,co Cyphal PX4 v1.14-beta Octorotor Coaxial (12001)
+ dronecan_quadrotor,dq DroneCAN PX4 v1.14-beta Quadrotor (4001)
+
+Other modes:
+ cyphal_standard_vtol,csv Cyphal PX4 v1.14-beta Standard VTOL (13000)
+ dronecan_vtol,dv DroneCAN PX4 v1.12 inno_vtol
+ sitl_inno_vtol MAVLink PX4 v1.12 inno_vtol
+ sitl_flight_goggles MAVLink PX4 v1.12 Quadrotor (4001)
+ cyphal_and_dronecan 2 CAN AP v4.4.0 Copter
```
-Then choose a drone and press the Launch button.
-
+New modes will be extended step by step.
## 4. Example
@@ -190,11 +126,15 @@ Check the video below.
[](https://youtu.be/e9MREW6tCmE)
-## 5. Repos used as references
+## 5. Auxilliary documentation
+
+Docs:
+
+- [Developer docs](docs/dev_docs.md)
+- [PX4 MAVLink SITL manual configuration instructions](docs/px4/mavlink.md)
+
+Outdated manual instructions:
-1. [flightgoggles_uav_dynamics (multicopter)](https://github.com/mit-fast/FlightGoggles/blob/master/flightgoggles_uav_dynamics/) - read their [paper](https://arxiv.org/pdf/1905.11377.pdf)
-2. [PX4 mavlink communicator](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge)
-3. [sitl_gazebo](https://github.com/PX4/sitl_gazebo)
-4. [innopolis_vtol_indi](https://github.com/RaccoonlabDev/innopolis_vtol_indi) - dynamics written in Octave
-5. [InnoSimulator](https://github.com/inno-robolab/InnoSimulator) - photorealistic simulator
-6. [inno_sim_interface](https://github.com/RaccoonlabDev/inno_sim_interface) - the bridge between dynamics and photorealistic simulator
+- [PX4 Cyphal manual configuration instructions](docs/px4/cyphal.md)
+- [PX4 DroneCAN manual configuration instructions](docs/px4/dronecan.md)
+- [ArduPilot manual configuration instructions](docs/ardupilot/README.md)
diff --git a/scripts/ardupilot_configurator.py b/scripts/ardupilot_configurator.py
deleted file mode 100755
index cf850aa..0000000
--- a/scripts/ardupilot_configurator.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import time
-from os.path import dirname, abspath
-
-from vehicle import Vehicle
-
-ardupilot_configs = [
- "ardupilot_cyphal_lua/cuav_v5.yaml",
- "ardupilot_cyphal_lua/lua_parameters.yaml",
-]
-
-if __name__ == '__main__':
- configs = ardupilot_configs
- path = dirname(dirname(abspath(__file__))) + "/configs/"
-
- vehicle = Vehicle("ArduPilot")
- vehicle.connect()
- vehicle.reset_params_to_default()
- for config in configs:
- print("")
- print(f"Config {config}:")
- vehicle.configure(path + config) #, reboot=True)
-
- # # For ardupilot only:
- time.sleep(5)
- vehicle.force_calibrate()
- print("force calibrated")
- vehicle.reboot()
diff --git a/scripts/autopilot_configurator.sh b/scripts/autopilot_configurator.sh
deleted file mode 100755
index 51d3bde..0000000
--- a/scripts/autopilot_configurator.sh
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/bash
-
-echo ""
-echo "Automatical configuration:"
-echo "1. Download firmware"
-echo "2. Upload firmware to the autopilot"
-echo "3. Configure parameters"
-
-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
-REPOSITORY_DIR="$(dirname "$SCRIPT_DIR")"
-DOWNLOADS_DIR=$REPOSITORY_DIR/downloads
-CYPHAL_BINARY_PATH=$DOWNLOADS_DIR/px4_fmu-v5_cyphal.px4
-CYPHAL_BINARY_LINK=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.3.0-beta1/px4_fmu-v5_cyphal.px4
-
-download_cyphal_px4_firmware_and_load_it_to_autopilot() {
- mkdir $DOWNLOADS_DIR
- wget -O $CYPHAL_BINARY_PATH $CYPHAL_BINARY_LINK
- ./px4/upload.sh $CYPHAL_BINARY_PATH
-}
-
-
-if [[ $1 == 4001 ]]; then
- download_cyphal_px4_firmware_and_load_it_to_autopilot
- ./parameters_configurator.py px4_v1_14_cyphal_quadcopter_configs
-elif [[ $1 == 12001 ]]; then
- download_cyphal_px4_firmware_and_load_it_to_autopilot
- ./parameters_configurator.py px4_v1_14_cyphal_octorotor_configs
-elif [[ $1 == 13000 ]]; then
- download_cyphal_px4_firmware_and_load_it_to_autopilot
- ./parameters_configurator.py px4_v1_14_cyphal_inno_quadcopter_configs
-elif [[ $1 == 13050 ]]; then
- echo $1
-fi
diff --git a/scripts/calibrate_ardupilot_mag.sh b/scripts/calibrate_ardupilot_mag.sh
deleted file mode 100755
index 5e7861d..0000000
--- a/scripts/calibrate_ardupilot_mag.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/bash
-while :
-do
- for VARIABLE in 7 8 9
- do
- echo $VARIABLE
- rostopic pub --once /uav/calibration std_msgs/UInt8 "data: $VARIABLE"
- sleep 1
- done
- echo "Press [CTRL+C] to stop.."
-done
\ No newline at end of file
diff --git a/scripts/configure.sh b/scripts/configure.sh
new file mode 100755
index 0000000..6b3dafe
--- /dev/null
+++ b/scripts/configure.sh
@@ -0,0 +1,91 @@
+#!/bin/bash
+SCRIPT_NAME=$(basename $BASH_SOURCE)
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+REPOSITORY_DIR="$(dirname "$SCRIPT_DIR")"
+RED='\033[0;31m'
+YELLOW='\033[0;33m'
+NC='\033[0m' # No Color
+print_help() {
+ echo "usage: docker.sh COMMAND [OPTIONS]
+
+Automatical configuration:
+1. Download firmware
+2. Upload firmware to the autopilot
+3. Configure parameters"
+}
+
+configure_px4_v1_14_cyphal_quadcopter() {
+ wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_CYPHAL_URL
+ autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
+ ${REPOSITORY_DIR}/configs/px4_v1.14_quadcopter_airframe.yaml \
+ ${REPOSITORY_DIR}/configs/px4_cyphal.yaml \
+ ${REPOSITORY_DIR}/configs/px4_common.yaml
+}
+
+configure_px4_v1_14_cyphal_octorotor() {
+ wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_CYPHAL_URL
+ autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
+ ${REPOSITORY_DIR}/configs/px4_v1.14_octorotor_airframe.yaml \
+ ${REPOSITORY_DIR}/configs/px4_cyphal.yaml \
+ ${REPOSITORY_DIR}/configs/px4_common.yaml
+}
+
+configure_px4_v1_14_dronecan_quadrotor() {
+ wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_DRONECAN_URL
+ autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
+ ${REPOSITORY_DIR}/configs/px4_v1.14_quadcopter_airframe.yaml \
+ ${REPOSITORY_DIR}/configs/px4_dronecan.yaml \
+ ${REPOSITORY_DIR}/configs/px4_common.yaml
+}
+
+configure_px4_v1_12_dronecan_vtol() {
+ wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_12_1_DRONECAN_URL
+ autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
+ ${REPOSITORY_DIR}/configs/px4_v1.13_inno_vtol_airframe.yaml \
+ ${REPOSITORY_DIR}/configs/px4_dronecan.yaml \
+ ${REPOSITORY_DIR}/configs/px4_common.yaml
+}
+
+if [ -z $1 ]; then
+ printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Argument is not specified!$NC\n"
+ exit 1
+fi
+
+# Check autopilot_tools version
+autopilot_tools_version=$(pip show autopilot_tools | grep Version)
+if [ ! -z "$autopilot_tools_version" ]; then
+ IFS=':' read -ra version <<< "$autopilot_tools_version"
+ IFS='.' read -ra version <<< ${version[1]}
+ if (( ${version[1]} >= 4 )); then
+ printf "$SCRIPT_NAME INFO: autopilot-tools: $autopilot_tools_version\n"
+ else
+ printf "$YELLOW$SCRIPT_NAME WARN: autopilot-tools: $autopilot_tools_version (Consider updating)$NC\n"
+ fi
+else
+ printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): autopilot-tools is not installed!$NC\n"
+ exit 1
+fi
+
+
+DOWNLOADS_DIR=$REPOSITORY_DIR/downloads
+DOWNLOADED_BINARY_PATH=$DOWNLOADS_DIR/px4_fmu-v5_latest_downloaded_firmware.px4
+PX4_V1_12_1_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.12.1_hitl/px4_fmu-v5_default.px4
+PX4_V1_14_0_BETA_CYPHAL_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.3.0-beta1/px4_fmu-v5_cyphal.px4
+PX4_V1_14_0_BETA_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.3.0-beta1/px4_fmu-v5_default.px4
+
+
+mkdir -p $DOWNLOADS_DIR
+rm -f $DOWNLOADED_BINARY_PATH
+
+if [[ $1 == "cyphal_quadrotor" ]]; then
+ configure_px4_v1_14_cyphal_quadcopter
+elif [[ $1 == "cyphal_octorotor" ]]; then
+ configure_px4_v1_14_cyphal_octorotor
+elif [[ $1 == "dronecan_quadrotor" ]]; then
+ configure_px4_v1_14_dronecan_quadrotor
+elif [[ $1 == "dronecan_vtol" ]]; then
+ configure_px4_v1_12_dronecan_vtol
+else
+ printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Unknown argument: '$1' $NC\n"
+ exit 1
+fi
diff --git a/scripts/docker.sh b/scripts/docker.sh
index a84b556..043fe35 100755
--- a/scripts/docker.sh
+++ b/scripts/docker.sh
@@ -8,23 +8,27 @@ It encapsulates all necessary docker flags and properly handles image versions.
https://github.com/RaccoonlabDev/innopolis_vtol_dynamics
Options:
- --force Upload the required firmware and update parameters.
- This option has effect only in HITL mode.
-
-Commands to run the simulator (with aliases):
- cyphal_quadrotor,cq Cyphal HITL PX4 Quadrotor (4001)
- cyphal_octorotor,co Cyphal HITL PX4 Octorotor Coaxial (12001)
- cyphal_standard_vtol,csv Cyphal HITL PX4 Standard VTOL (12001) (quadcopter only)
- dronecan_vtol,dv DroneCAN HITL PX4 inno_vtol
- dronecan_quadrotor DroneCAN HITL PX4 Quadrotor (4001)
- sitl_inno_vtol MAVLink SITL PX4 inno_vtol
- sitl_flight_goggles MAVLink SITL PX4 Quadrotor (4001)
- cyphal_and_dronecan 2 CAN HITL ArduPilot quadrotor
-
-Not ready yet:
- cyphal_vtol_octoplane,cvo Cyphal HITL PX4 VTOL Octoplane (13050)
-
-Auxilliary commands (with aliases):
+ --force Upload the required firmware and update parameters.
+ This option has effect only in HITL mode.
+
+Supported modes (with aliases):
+-------------------------------------------------------------------------------
+ Command | Protocol Autopilot SW Airframe
+-------------------------------------------------------------------------------
+ cyphal_quadrotor,cq | Cyphal PX4 v1.14-beta Quadrotor x (4001)
+ dronecan_quadrotor,dq | DroneCAN PX4 v1.14-beta Quadrotor (4001)
+ dronecan_vtol,dv | DroneCAN PX4 v1.12 inno_vtol
+-------------------------------------------------------------------------------
+ cyphal_standard_vtol,csv | Cyphal PX4 v1.14-beta Standard VTOL (13000)
+ cyphal_octorotor,co | Cyphal PX4 v1.14-beta Octorotor Coaxial (12001)
+ sitl_inno_vtol | MAVLink PX4 v1.12 inno_vtol
+ sitl_flight_goggles | MAVLink PX4 v1.12 Quadrotor (4001)
+ cyphal_and_dronecan | 2 CAN AP v4.4.0 Copter
+-------------------------------------------------------------------------------
+ cyphal_vtol_octoplane,cvo | Cyphal PX4 v1.14-beta VTOL Octoplane (13050)
+-------------------------------------------------------------------------------
+
+Commands (with aliases):
build,b Build docker image
pull Pull docker image
push Push docker image
@@ -120,12 +124,18 @@ push_docker_image() {
dronecan_vtol() {
kill_all_related_containers
setup_dronecan_hitl_config
+ if [[ $OPTIONS == "--force" ]]; then
+ ./configure.sh dronecan_vtol
+ fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh dronecan_inno_vtol
}
dronecan_quadrotor() {
kill_all_related_containers
setup_dronecan_hitl_config
+ if [[ $OPTIONS == "--force" ]]; then
+ ./configure.sh dronecan_quadrotor
+ fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh dronecan_flight_goggles
}
@@ -145,7 +155,7 @@ cyphal_quadrotor() {
kill_all_related_containers
setup_cyphal_hitl_config
if [[ $OPTIONS == "--force" ]]; then
- ./autopilot_configurator.sh 4001
+ ./configure.sh cyphal_quadrotor
fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh cyphal_quadrotor
}
@@ -154,7 +164,7 @@ cyphal_octorotor() {
kill_all_related_containers
setup_cyphal_hitl_config
if [[ $OPTIONS == "--force" ]]; then
- ./autopilot_configurator.sh 12001
+ ./configure.sh cyphal_octorotor
fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh cyphal_octorotor
}
@@ -162,9 +172,6 @@ cyphal_octorotor() {
cyphal_standard_vtol() {
kill_all_related_containers
setup_cyphal_hitl_config
- if [[ $OPTIONS == "--force" ]]; then
- ./autopilot_configurator.sh 13000
- fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh cyphal_standard_vtol
}
@@ -196,6 +203,7 @@ test() {
}
## Start from here
+set -e
cd "$(dirname "$0")"
setup_image_name_and_version
OPTIONS=$2
diff --git a/scripts/parameters_configurator.py b/scripts/parameters_configurator.py
deleted file mode 100755
index 52dbb00..0000000
--- a/scripts/parameters_configurator.py
+++ /dev/null
@@ -1,72 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-from os.path import dirname, abspath
-from pathlib import Path
-
-SCRIPT_DIR = Path(dirname(abspath(__file__)))
-SRC_DIR = SCRIPT_DIR.parent.parent / "autopilot_tools" / "src"
-sys.path.append(SRC_DIR.absolute().as_posix())
-from autopilot_tools.vehicle import Vehicle
-
-ardupilot_cyphal_quadcopter_configs = [
- "ardupilot_cyphal_common_params.yaml",
- "ardupilot_cyphal_gazebo_registers.yaml",
-]
-
-px4_v1_13_dronecan_inno_vtol_configs = [
- "px4_v1.13_inno_vtol_airframe.yaml",
- "px4_dronecan.yaml",
- "px4_common.yaml"
-]
-
-px4_v1_14_cyphal_quadcopter_configs = [
- "px4_v1.14_quadcopter_airframe.yaml",
- "px4_cyphal.yaml",
- "px4_common.yaml"
-]
-
-px4_v1_14_cyphal_octorotor_configs = [
- "px4_v1.14_octorotor_airframe.yaml",
- "px4_cyphal.yaml",
- "px4_common.yaml"
-]
-
-px4_v1_14_cyphal_inno_quadcopter_configs = [
- "px4_v1.14_inno_quadcopter_airframe.yaml",
- "px4_cyphal.yaml",
- "px4_common.yaml"
-]
-
-supported_modes = {
- "px4_v1_13_dronecan_inno_vtol_configs" : px4_v1_13_dronecan_inno_vtol_configs,
- "px4_v1_14_cyphal_quadcopter_configs" : px4_v1_14_cyphal_quadcopter_configs,
- "px4_v1_14_cyphal_octorotor_configs" : px4_v1_14_cyphal_octorotor_configs,
- "px4_v1_14_cyphal_inno_quadcopter_configs" : px4_v1_14_cyphal_inno_quadcopter_configs,
-}
-
-def print_help():
- print("Usage: `python3 configurate_autopilot.py `")
- print(f"Supported modes: {list(supported_modes.keys())}")
-
-if __name__ == '__main__':
- if len(sys.argv) < 2 or sys.argv[1] not in supported_modes:
- print_help()
- exit()
-
- mode = sys.argv[1]
- configs = supported_modes[mode]
- path = dirname(dirname(abspath(__file__))) + "/configs/"
-
- vehicle = Vehicle()
- vehicle.connect()
- vehicle.reset_params_to_default()
- for config in configs:
- print("")
- print(f"Config {config}:")
- vehicle.configure(path + config, reboot=True)
-
- if mode == "ardupilot_lua_configs":
- time.sleep(5)
- vehicle.force_calibrate()
- vehicle.reboot()
diff --git a/scripts/px4/px_uploader.py b/scripts/px4/px_uploader.py
deleted file mode 100755
index 4a30080..0000000
--- a/scripts/px4/px_uploader.py
+++ /dev/null
@@ -1,960 +0,0 @@
-#!/usr/bin/env python3
-############################################################################
-#
-# Copyright (c) 2012-2017 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.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-# The firmware that will be uploaded.
-# image_size
-# The size of the firmware in bytes.
-# board_id
-# The board for which the firmware is intended.
-# board_revision
-# Currently only used for informational purposes.
-#
-
-# for python2.7 compatibility
-from __future__ import print_function
-
-import sys
-import argparse
-import binascii
-import socket
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-import os
-
-from sys import platform as _platform
-
-try:
- import serial
-except ImportError as e:
- print("Failed to import serial: " + str(e))
- print("")
- print("You may need to install it using:")
- print(" pip3 install --user pyserial")
- print("")
- sys.exit(1)
-
-
-# Define time to use time.time() by default
-def _time():
- return time.time()
-
-# Detect python version
-if sys.version_info[0] < 3:
- runningPython3 = False
-else:
- runningPython3 = True
- if sys.version_info[1] >=3:
- # redefine to use monotonic time when available
- def _time():
- try:
- return time.monotonic()
- except Exception:
- return time.time()
-
-class FirmwareNotSuitableException(Exception):
- def __init__(self, message):
- super(FirmwareNotSuitableException, self).__init__(message)
-
-class firmware(object):
- '''Loads a firmware file'''
-
- desc = {}
- image = bytes()
- crctab = array.array('I', [
- 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
- 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
- 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
- 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
- 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
- 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
- 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
- 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
- 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
- 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
- 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
- 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
- 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
- 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
- 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
- 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
- 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
- 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
- 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
- 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
- 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
- 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
- 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
- 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
- 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
- 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
- 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
- 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
- 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
- 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
- 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
- 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
- crcpad = bytearray(b'\xff\xff\xff\xff')
-
- def __init__(self, path):
-
- # read the file
- f = open(path, "r")
- self.desc = json.load(f)
- f.close()
-
- self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
- # pad image to 4-byte length
- while ((len(self.image) % 4) != 0):
- self.image.extend(b'\xff')
-
- def property(self, propname):
- return self.desc[propname]
-
- def __crc32(self, bytes, state):
- for byte in bytes:
- index = (state ^ byte) & 0xff
- state = self.crctab[index] ^ (state >> 8)
- return state
-
- def crc(self, padlen):
- state = self.__crc32(self.image, int(0))
- for i in range(len(self.image), (padlen - 1), 4):
- state = self.__crc32(self.crcpad, state)
- return state
-
-
-class uploader(object):
- '''Uploads a firmware file to the PX FMU bootloader'''
-
- # protocol bytes
- INSYNC = b'\x12'
- EOC = b'\x20'
-
- # reply bytes
- OK = b'\x10'
- FAILED = b'\x11'
- INVALID = b'\x13' # rev3+
- BAD_SILICON_REV = b'\x14' # rev5+
-
- # command bytes
- NOP = b'\x00' # guaranteed to be discarded by the bootloader
- GET_SYNC = b'\x21'
- GET_DEVICE = b'\x22'
- CHIP_ERASE = b'\x23'
- CHIP_VERIFY = b'\x24' # rev2 only
- PROG_MULTI = b'\x27'
- READ_MULTI = b'\x28' # rev2 only
- 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
- GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
- MAX_DES_LENGTH = 20
-
- REBOOT = b'\x30'
-
- INFO_BL_REV = b'\x01' # bootloader protocol revision
- BL_REV_MIN = 2 # minimum supported bootloader protocol
- BL_REV_MAX = 5 # maximum supported bootloader protocol
- INFO_BOARD_ID = b'\x02' # board type
- INFO_BOARD_REV = b'\x03' # board revision
- INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
-
- PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4
- READ_MULTI_MAX = 252 # protocol max is 255
-
- NSH_INIT = bytearray(b'\x0d\x0d\x0d')
- NSH_REBOOT_BL = b"reboot -b\n"
- NSH_REBOOT = b"reboot\n"
- MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
- MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
-
- MAX_FLASH_PRGRAM_TIME = 0.001 # Time on an F7 to send SYNC, RESULT from last data in multi RXed
-
- def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
- # Open the port, keep the default timeout short so we can poll quickly.
- # On some systems writes can suddenly get stuck without having a
- # write_timeout > 0 set.
- # chartime 8n1 * bit rate is us
- self.chartime = 10 * (1.0 / baudrate_bootloader)
-
- # we use a window approche to SYNC, gathring
- self.window = 0
- self.window_max = 256
- self.window_per = 2 # Sync,
- self.ackWindowedMode = False # Assume Non Widowed mode for all USB CDC
- self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
- self.otp = b''
- self.sn = b''
- self.baudrate_bootloader = baudrate_bootloader
- self.baudrate_flightstack = baudrate_flightstack
- self.baudrate_flightstack_idx = -1
-
- def close(self):
- if self.port is not None:
- self.port.close()
-
- def open(self):
- # upload timeout
- timeout = _time() + 0.2
-
- # attempt to open the port while it exists and until timeout occurs
- while self.port is not None:
- portopen = True
- try:
- portopen = self.port.is_open
- except AttributeError:
- portopen = self.port.isOpen()
-
- if not portopen and _time() < timeout:
- try:
- self.port.open()
- except OSError:
- # wait for the port to be ready
- time.sleep(0.04)
- except serial.SerialException:
- # if open fails, try again later
- time.sleep(0.04)
- else:
- break
-
- # debugging code
- def __probe(self, state):
- # self.port.setRTS(state)
- return
-
- def __send(self, c):
- # print("send " + binascii.hexlify(c))
- self.port.write(c)
-
- def __recv(self, count=1):
- c = self.port.read(count)
- if len(c) < 1:
- raise RuntimeError("timeout waiting for data (%u bytes)" % count)
- # print("recv " + binascii.hexlify(c))
- return c
-
- def __recv_int(self):
- raw = self.__recv(4)
- val = struct.unpack(" for a window of programing
- # in about 13.81 Ms for 256 blocks written
- def __ackSyncWindow(self, count):
- if (count > 0):
- data = bytearray(bytes(self.__recv(count)))
- if (len(data) != count):
- raise RuntimeError("Ack Window %i not %i " % (len(data), count))
- for i in range(0, len(data), 2):
- if bytes([data[i]]) != self.INSYNC:
- raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
- if bytes([data[i+1]]) == self.INVALID:
- raise RuntimeError("bootloader reports INVALID OPERATION")
- if bytes([data[i+1]]) == self.FAILED:
- raise RuntimeError("bootloader reports OPERATION FAILED")
- if bytes([data[i+1]]) != self.OK:
- raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
-
- # attempt to get back into sync with the bootloader
- def __sync(self):
- # send a stream of ignored bytes longer than the longest possible conversation
- # that we might still have in progress
- # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
- self.port.flushInput()
- self.__send(uploader.GET_SYNC +
- uploader.EOC)
- self.__getSync()
-
- def __trySync(self):
- try:
- self.port.flush()
- if (self.__recv() != self.INSYNC):
- # print("unexpected 0x%x instead of INSYNC" % ord(c))
- return False
- c = self.__recv()
- if (c == self.BAD_SILICON_REV):
- raise NotImplementedError()
- if (c != self.OK):
- # print("unexpected 0x%x instead of OK" % ord(c))
- return False
- return True
-
- except NotImplementedError:
- raise RuntimeError("Programing not supported for this version of silicon!\n"
- "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
- except RuntimeError:
- # timeout, no response yet
- return False
-
- # attempt to determins if the device is CDCACM or A FTDI
- def __determineInterface(self):
- self.port.flushInput()
- # Set a baudrate that can not work on a real serial port
- # in that it is 233% off.
- try:
- self.port.baudrate = self.baudrate_bootloader * 2.33
- except NotImplementedError as e:
- # This error can occur because pySerial on Windows does not support odd baudrates
- print(str(e) + " -> could not check for FTDI device, assuming USB connection")
- return
-
- self.__send(uploader.GET_SYNC +
- uploader.EOC)
- try:
- self.__getSync(False)
- except:
- # if it fails we are on a real serial port - only leave this enabled on Windows
- if sys.platform.startswith('win'):
- self.ackWindowedMode = True
- finally:
- self.port.baudrate = self.baudrate_bootloader
-
- # send the GET_DEVICE command and wait for an info parameter
- def __getInfo(self, param):
- self.__send(uploader.GET_DEVICE + param + uploader.EOC)
- value = self.__recv_int()
- self.__getSync()
- return value
-
- # send the GET_OTP command and wait for an info parameter
- def __getOTP(self, param):
- t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
- self.__send(uploader.GET_OTP + t + uploader.EOC)
- value = self.__recv(4)
- self.__getSync()
- return value
-
- # 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)
- value = self.__recv(4)
- 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
-
- # send the GET_CHIP command
- def __getCHIPDes(self):
- self.__send(uploader.GET_CHIP_DES + uploader.EOC)
- length = self.__recv_int()
- value = self.__recv(length)
- self.__getSync()
- pieces = value.split(b",")
- return pieces
-
- def __drawProgressBar(self, label, progress, maxVal):
- if maxVal < progress:
- progress = maxVal
-
- percent = (float(progress) / float(maxVal)) * 100.0
-
- sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
- sys.stdout.flush()
-
- # send the CHIP_ERASE command and wait for the bootloader to become ready
- def __erase(self, label):
- print("Windowed mode: %s" % self.ackWindowedMode)
- print("\n", end='')
- self.__send(uploader.CHIP_ERASE +
- uploader.EOC)
-
- # erase is very slow, give it 30s
- deadline = _time() + 30.0
- while _time() < deadline:
-
- usualEraseDuration = 15.0
- estimatedTimeRemaining = deadline-_time()
- if estimatedTimeRemaining >= usualEraseDuration:
- self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
- else:
- self.__drawProgressBar(label, 10.0, 10.0)
- sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
- sys.stdout.flush()
-
- if self.__trySync():
- self.__drawProgressBar(label, 10.0, 10.0)
- return
-
- raise RuntimeError("timed out waiting for erase")
-
- # send a PROG_MULTI command to write a collection of bytes
- def __program_multi(self, data, windowMode):
-
- length = len(data).to_bytes(1, byteorder='big')
-
- self.__send(uploader.PROG_MULTI)
- self.__send(length)
- self.__send(data)
- self.__send(uploader.EOC)
- if (not windowMode):
- self.__getSync(False)
- else:
- # The following is done to have minimum delay on the transmission
- # of the ne fw. The per block cost of __getSync was about 16 mS per.
- # Passively wait on Sync and Result using board rates and
- # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
- self.__probe(False)
- self.__probe(True)
- time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
- self.__probe(False)
-
- # verify multiple bytes in flash
- def __verify_multi(self, data):
-
- length = len(data).to_bytes(1, byteorder='big')
-
- self.__send(uploader.READ_MULTI)
- self.__send(length)
- self.__send(uploader.EOC)
- self.port.flush()
- programmed = self.__recv(len(data))
- if programmed != data:
- print("got " + binascii.hexlify(programmed))
- print("expect " + binascii.hexlify(data))
- return False
- self.__getSync()
- return True
-
- # send the reboot command
- def __reboot(self):
- self.__send(uploader.REBOOT +
- uploader.EOC)
- self.port.flush()
-
- # v3+ can report failure if the first word flash fails
- if self.bl_rev >= 3:
- self.__getSync()
-
- # split a sequence into a list of size-constrained pieces
- def __split_len(self, seq, length):
- return [seq[i:i+length] for i in range(0, len(seq), length)]
-
- # upload code
- def __program(self, label, fw):
- self.__probe(False)
- print("\n", end='')
- code = fw.image
- groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
- # Give imedate feedback
- self.__drawProgressBar(label, 0, len(groups))
- uploadProgress = 0
- for bytes in groups:
- self.__program_multi(bytes, self.ackWindowedMode)
- # If in Window mode, extend the window size for the __ackSyncWindow
- if self.ackWindowedMode:
- self.window += self.window_per
-
- # Print upload progress (throttled, so it does not delay upload progress)
- uploadProgress += 1
- if uploadProgress % 256 == 0:
- self.__probe(True)
- self.__probe(False)
- self.__probe(True)
- self.__ackSyncWindow(self.window)
- self.__probe(False)
- self.window = 0
- self.__drawProgressBar(label, uploadProgress, len(groups))
-
- # Do any remaining fragment
- self.__ackSyncWindow(self.window)
- self.window = 0
- self.__drawProgressBar(label, 100, 100)
-
- # verify code
- def __verify_v2(self, label, fw):
- print("\n", end='')
- self.__send(uploader.CHIP_VERIFY +
- uploader.EOC)
- self.__getSync()
- code = fw.image
- groups = self.__split_len(code, uploader.READ_MULTI_MAX)
- verifyProgress = 0
- for bytes in groups:
- verifyProgress += 1
- if verifyProgress % 256 == 0:
- self.__drawProgressBar(label, verifyProgress, len(groups))
- if (not self.__verify_multi(bytes)):
- raise RuntimeError("Verification failed")
- self.__drawProgressBar(label, 100, 100)
-
- def __verify_v3(self, label, fw):
- print("\n", end='')
- self.__drawProgressBar(label, 1, 100)
- expect_crc = fw.crc(self.fw_maxsize)
- self.__send(uploader.GET_CRC + uploader.EOC)
- time.sleep(0.5)
- report_crc = self.__recv_int()
- self.__getSync()
- if report_crc != expect_crc:
- print("Expected 0x%x" % expect_crc)
- print("Got 0x%x" % report_crc)
- 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):
- self.__determineInterface()
- # make sure we are in sync before starting
- self.__sync()
-
- # get the bootloader protocol ID first
- self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
- if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
- print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
- raise RuntimeError("Bootloader protocol mismatch")
-
- self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
- self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
- self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
- # upload the firmware
- def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
- # select correct binary
- found_suitable_firmware = False
- for file in fw_list:
- fw = firmware(file)
- if self.board_type == fw.property('board_id'):
- if len(fw_list) > 1: print("using firmware binary {}".format(file))
- found_suitable_firmware = True
- break
-
- if not found_suitable_firmware:
- msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
- self.board_type, fw.property('board_id'))
- print("WARNING: %s" % msg)
- if force:
- if len(fw_list) > 1:
- raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
- print("FORCED WRITE, FLASHING ANYWAY!")
- else:
- raise FirmwareNotSuitableException(msg)
-
- percent = fw.property('image_size') / fw.property('image_maxsize')
- binary_size = float(fw.property('image_size'))
- binary_max_size = float(fw.property('image_maxsize'))
- percent = (binary_size / binary_max_size) * 100
-
- print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
- print()
-
- # Make sure we are doing the right thing
- start = _time()
- if self.board_type != fw.property('board_id'):
- msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
- self.board_type, fw.property('board_id'))
- print("WARNING: %s" % msg)
- if force:
- print("FORCED WRITE, FLASHING ANYWAY!")
- else:
- raise FirmwareNotSuitableException(msg)
-
- # Prevent uploads where the image would overflow the flash
- if self.fw_maxsize < fw.property('image_size'):
- raise RuntimeError("Firmware image is too large for this board")
-
- # OTP added in v4:
- if self.bl_rev >= 4:
- for byte in range(0, 32*6, 4):
- x = self.__getOTP(byte)
- self.otp = self.otp + x
- # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
- # see src/modules/systemlib/otp.h in px4 code:
- self.otp_id = self.otp[0:4]
- self.otp_idtype = self.otp[4:5]
- self.otp_vid = self.otp[8:4:-1]
- self.otp_pid = self.otp[12:8:-1]
- self.otp_coa = self.otp[32:160]
- # show user:
- try:
- print("sn: ", end='')
- for byte in range(0, 12, 4):
- x = self.__getSN(byte)
- x = x[::-1] # reverse the bytes
- self.sn = self.sn + x
- print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
- print('')
- print("chip: %08x" % self.__getCHIP())
-
- otp_id = self.otp_id.decode('Latin-1')
- if ("PX4" in otp_id):
- print("OTP id: " + otp_id)
- print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
- print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
- print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
- print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-
- except Exception:
- # ignore bad character encodings
- pass
-
- # Silicon errata check was added in v5
- if (self.bl_rev >= 5):
- des = self.__getCHIPDes()
- if (len(des) == 2):
- print("family: %s" % des[0])
- print("revision: %s" % des[1])
- print("flash: %d bytes" % self.fw_maxsize)
-
- # Prevent uploads where the maximum image size of the board config is smaller than the flash
- # of the board. This is a hint the user chose the wrong config and will lack features
- # for this particular board.
-
- # This check should also check if the revision is an unaffected revision
- # and thus can support the full flash, see
- # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
-
- if self.fw_maxsize > fw.property('image_maxsize') and not force:
- raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
- % (self.fw_maxsize, fw.property('image_maxsize')))
- else:
- # If we're still on bootloader v4 on a Pixhawk, we don't know if we
- # have the silicon errata and therefore need to flash px4_fmu-v2
- # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
- if fw.property('board_id') == 9 \
- and fw.property('image_size') > 1032192 \
- and not force:
- raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
- "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
- "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
- "\n"
- "If you know you that the board does not have the silicon errata, use\n"
- "this script with --force, or update the bootloader. If you are invoking\n"
- "upload using make, you can use force-upload target to force the upload.\n")
- self.__erase("Erase ")
- self.__program("Program", fw)
-
- if self.bl_rev == 2:
- self.__verify_v2("Verify ", fw)
- else:
- self.__verify_v3("Verify ", fw)
-
- if boot_delay is not None:
- self.__set_boot_delay(boot_delay)
-
- print("\nRebooting.", end='')
- self.__reboot()
- self.port.close()
- print(" Elapsed Time %3.3f\n" % (_time() - start))
-
- def __next_baud_flightstack(self):
- if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
- return False
- try:
- self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
- self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
- except serial.SerialException:
- # Sometimes _configure_port fails
- time.sleep(0.04)
-
- return True
-
- def send_protocol_splitter_format(self, data):
- # Header Structure:
- # bits: 1 2 3 4 5 6 7 8
- # header[0] - | Magic | (='S')
- # header[1] - |T| LenH | (T - 0: mavlink; 1: rtps)
- # header[2] - | LenL |
- # header[3] - | Checksum |
-
- MAGIC = 83
-
- len_bytes = len(data).to_bytes(2, "big")
- LEN_H = len_bytes[0] & 127
- LEN_L = len_bytes[1] & 255
- CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
-
- header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
- header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
-
- self.__send(header_bytes)
- self.__send(data)
-
- def send_reboot(self, use_protocol_splitter_format=False):
- if (not self.__next_baud_flightstack()):
- return False
-
- print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
- if "ttyS" in self.port.port:
- print("If the board does not respond, check the connection to the Flight Controller")
- else:
- print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
-
- try:
- send_fct = self.__send
- if use_protocol_splitter_format:
- send_fct = self.send_protocol_splitter_format
-
- # try MAVLINK command first
- self.port.flush()
- send_fct(uploader.MAVLINK_REBOOT_ID1)
- send_fct(uploader.MAVLINK_REBOOT_ID0)
- # then try reboot via NSH
- send_fct(uploader.NSH_INIT)
- send_fct(uploader.NSH_REBOOT_BL)
- send_fct(uploader.NSH_INIT)
- send_fct(uploader.NSH_REBOOT)
- self.port.flush()
- self.port.baudrate = self.baudrate_bootloader
- except Exception:
- try:
- self.port.flush()
- self.port.baudrate = self.baudrate_bootloader
- except Exception:
- pass
-
- return True
-
-
-def main():
- # Python2 is EOL
- if not runningPython3:
- raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-
- # Parse commandline arguments
- parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
- parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
- parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
- parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
- parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
- parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
- parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
- parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
- args = parser.parse_args()
-
- for fw in args.firmware:
- if not os.path.exists(fw):
- raise ValueError(f"Firmware file {fw} does not exist!")
-
- if args.use_protocol_splitter_format:
- print("Using protocol splitter format to reboot pixhawk!")
-
- # warn people about ModemManager which interferes badly with Pixhawk
- if os.path.exists("/usr/sbin/ModemManager"):
- print("==========================================================================================================")
- print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
- print("==========================================================================================================")
-
- print("Waiting for bootloader...")
- # tell any GCS that might be connected to the autopilot to give up
- # control of the serial port
-
- # send to localhost and default GCS port
- ipaddr = '127.0.0.1'
- portnum = 14550
-
- # COMMAND_LONG in MAVLink 1
- heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
- commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
-
- # initialize an UDP socket
- s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
- # send heartbeat to initialize connection and command to free the link
- s.sendto(heartbeatpacket, (ipaddr, portnum))
- s.sendto(commandpacket, (ipaddr, portnum))
-
- # close the socket
- s.close()
-
- # Spin waiting for a device to show up
- try:
- while True:
- portlist = []
- patterns = args.port.split(",")
- # on unix-like platforms use glob to support wildcard ports. This allows
- # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
- # causing modem hangups etc
- if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
- import glob
- for pattern in patterns:
- portlist += glob.glob(pattern)
- else:
- portlist = patterns
-
- baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
-
- successful = False
- unsuitable_board = False
- for port in portlist:
-
- # print("Trying %s" % port)
-
- # create an uploader attached to the port
- try:
- if "linux" in _platform:
- # Linux, don't open Mac OS and Win ports
- if "COM" not in port and "tty.usb" not in port:
- up = uploader(port, args.baud_bootloader, baud_flightstack)
- elif "darwin" in _platform:
- # OS X, don't open Windows and Linux ports
- if "COM" not in port and "ACM" not in port:
- up = uploader(port, args.baud_bootloader, baud_flightstack)
- elif "cygwin" in _platform:
- # Cygwin, don't open native Windows COM and Linux ports
- if "COM" not in port and "ACM" not in port:
- up = uploader(port, args.baud_bootloader, baud_flightstack)
- elif "win" in _platform:
- # Windows, don't open POSIX ports
- if "/" not in port:
- up = uploader(port, args.baud_bootloader, baud_flightstack)
- except Exception:
- # open failed, rate-limit our attempts
- time.sleep(0.05)
-
- # and loop to the next port
- continue
-
- found_bootloader = False
- while True:
- up.open()
-
- # port is open, try talking to it
- try:
- # identify the bootloader
- up.identify()
- found_bootloader = True
- print()
- print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
- break
-
- except Exception:
-
- if not up.send_reboot(args.use_protocol_splitter_format):
- break
-
- # wait for the reboot, without we might run into Serial I/O Error 5
- time.sleep(0.25)
-
- # always close the port
- up.close()
-
- # wait for the close, without we might run into Serial I/O Error 6
- time.sleep(0.3)
-
- if not found_bootloader:
- # Go to the next port
- continue
-
- try:
- # ok, we have a bootloader, try flashing it
- up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
-
- # if we made this far without raising exceptions, the upload was successful
- successful = True
-
- except RuntimeError as ex:
- # print the error
- print("\nERROR: %s" % ex.args)
-
- except FirmwareNotSuitableException:
- unsuitable_board = True
- up.close()
- continue
-
- except IOError:
- up.close()
- continue
-
- finally:
- # always close the port
- up.close()
-
- # we could loop here if we wanted to wait for more boards...
- if successful:
- sys.exit(0)
- else:
- sys.exit(1)
-
- if unsuitable_board:
- # If we land here, we went through all ports, did not flash any
- # board and found at least one unsuitable board.
- # Exit with 2, so a caller can distinguish from other errors
- sys.exit(2)
-
- # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
- time.sleep(0.05)
-
- # CTRL+C aborts the upload/spin-lock by interrupt mechanics
- except KeyboardInterrupt:
- print("\n Upload aborted by user.")
- sys.exit(0)
-
-
-if __name__ == '__main__':
- main()
-
-# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
diff --git a/scripts/px4/upload.sh b/scripts/px4/upload.sh
deleted file mode 100755
index e5cc1c8..0000000
--- a/scripts/px4/upload.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env bash
-
-EXEDIR=`pwd`
-BASEDIR=$(dirname $0)
-
-SYSTYPE=`uname -s`
-
-#
-# Serial port defaults.
-#
-# XXX The uploader should be smarter than this.
-#
-if [ $SYSTYPE = "Darwin" ]; then
-SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
-fi
-
-if [ $SYSTYPE = "Linux" ]; then
-SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/ARK*,"
-fi
-
-if [[ $SYSTYPE = *"CYGWIN"* ]]; then
-SERIAL_PORTS="/dev/ttyS*"
-fi
-
-if [ $SYSTYPE = "" ]; then
-SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
-fi
-
-python3 $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
diff --git a/scripts/tools b/scripts/tools
index 60beb0d..f3d4f39 160000
--- a/scripts/tools
+++ b/scripts/tools
@@ -1 +1 @@
-Subproject commit 60beb0dd1ddc70126624557c2d6d880c92e42dc5
+Subproject commit f3d4f39ee73ba0d8b5c429de22853e0da1316e60
diff --git a/scripts/vehicle.py b/scripts/vehicle.py
deleted file mode 100755
index 8b87d76..0000000
--- a/scripts/vehicle.py
+++ /dev/null
@@ -1,213 +0,0 @@
-#!/usr/bin/env python3
-import time
-import struct
-import yaml
-import os
-import sys
-import serial
-from pymavlink import mavutil
-from pymavlink.mavutil import mavlink
-
-SOURCE_SYSTEM = 2
-SOURCE_COMPONENT = 1
-
-MAV_PARAM_TYPE_INT8 = 2
-MAV_PARAM_TYPE_INT16 = 4
-MAV_PARAM_TYPE_INT32 = 6
-MAV_PARAM_TYPE_REAL32 = 9
-PARAM_TYPE_TO_STRING = {
- MAV_PARAM_TYPE_INT8 : "INT8",
- MAV_PARAM_TYPE_INT16 : "INT16",
- MAV_PARAM_TYPE_INT32 : "INT32",
- MAV_PARAM_TYPE_REAL32 : "FLOAT"
-}
-
-def float_to_integer(float_number):
- return struct.unpack('!I', struct.pack('!f', float_number))[0]
-
-def integer_to_float(int_number):
- return struct.unpack('!f', struct.pack('!I', int_number))[0]
-
-def is_integer_param(param_type):
- integer_types = [
- MAV_PARAM_TYPE_INT8,
- MAV_PARAM_TYPE_INT16,
- MAV_PARAM_TYPE_INT32
- ]
- return True if param_type in integer_types else False
-
-
-class Vehicle:
- """
- autopilot should be either `PX4` or `ArduPilot`
- """
- def __init__(self, autopilot) -> None:
- self.autopilot = autopilot
-
- def connect(self):
- while True:
- try:
- self.device_path = Vehicle.get_autopilot_path(self.autopilot)
- if self.device_path is not None:
- self._connect()
- print(f"Connected: {self.device_path}")
- break
- except serial.serialutil.SerialException:
- pass
-
- time.sleep(1)
- print(f"Waiting for the Autopilot {self.device_path}...")
-
- @staticmethod
- def get_autopilot_path(autopilot):
- serial_devices = os.popen('ls /dev/serial/by-id').read().splitlines()
- device_path = None
- for serial_device in serial_devices:
- if -1 != serial_device.find(autopilot):
- device_path = serial_device
- break
- return f"/dev/serial/by-id/{device_path}"
-
- def configure(self, file_with_params, verbose=False):
- self._read_yaml_parameters(file_with_params)
-
- for param_name in self.params:
- param_value = self.params[param_name]
- self.set_specific_param(param_name, param_value)
- self.read_specific_param(param_name, verbose)
-
- self.reboot()
- time.sleep(2)
- self.connect()
-
- def _read_yaml_parameters(self, filename, verbose=False):
- with open(filename) as f:
- self.params = yaml.load(f, Loader=yaml.FullLoader)
-
- if verbose:
- print(f"{filename} has : {self.params}")
-
- def _connect(self):
- self.master = mavutil.mavlink_connection(
- self.device_path,
- source_component=SOURCE_COMPONENT,
- source_system=SOURCE_SYSTEM)
- self.master.mav.heartbeat_send(
- type=mavlink.MAV_TYPE_CHARGING_STATION,
- autopilot=6,
- base_mode=12,
- custom_mode=0,
- system_status=4)
- self.master.wait_heartbeat()
-
- print("Heartbeat from system (system %u component %u)" % (self.master.target_system, self.master.target_component))
-
- def download_log(self):
- self.master.mav.log_request_list_send(
- self.master.target_system,
- self.master.target_component,
- 0,
- 1024)
-
- ack_msg = None
- while ack_msg is None:
- ack_msg = self.master.recv_match(type='LOG_ENTRY', blocking=False)
- print(f"last log number is {ack_msg.last_log_num}")
-
- self.master.mav.log_request_data_send(
- self.master.target_system,
- self.master.target_component,
- id=ack_msg.last_log_num,
- ofs=0,
- count=90)
-
- ack_msg = None
- while ack_msg is None:
- ack_msg = self.master.recv_match(type='LOG_DATA', blocking=False)
- print(f"loaded: {ack_msg.ofs}, {ack_msg.count}")
-
- def read_all_params(self):
- self.master.mav.param_request_list_send(
- self.master.target_system, self.master.target_component
- )
- self.params = {}
- prev_recv_time_sec = time.time()
- while prev_recv_time_sec + 1.0 > time.time():
- time.sleep(0.01)
- try:
- message = self.master.recv_match(type='PARAM_VALUE', blocking=False)
- if message is not None:
- if message.param_type == MAV_PARAM_TYPE_INT32:
- message.param_value = float_to_integer(message.param_value)
- message = message.to_dict()
- self.params[message['param_id']] = message['param_value']
- print(f"name: {message['param_id']} value: {message['param_value']}")
- prev_recv_time_sec = time.time()
- except Exception as error:
- print(error)
- sys.exit(0)
- print("Done!")
-
- def read_specific_param(self, param_name, verbose=False):
- if verbose:
- print(f"{param_name: <18}", end = '', flush=True)
-
- for attempt in range(100):
- self.master.mav.param_request_read_send(
- self.master.target_system,
- self.master.target_component,
- bytes(param_name, 'utf-8'),
- -1
- )
-
- msg = self.master.recv_match(type='PARAM_VALUE', blocking=True).to_dict()
- recv_msg_name = msg['param_id']
- recv_msg_type = PARAM_TYPE_TO_STRING[msg['param_type']]
- if is_integer_param(msg['param_type']):
- msg['param_value'] = int(msg['param_value'])
-
- if recv_msg_name == param_name:
- if verbose:
- print(f"{recv_msg_type: <6} {msg['param_value']}")
- break
-
-
- def set_specific_param(self, param_name, param_value):
- if isinstance(param_value, int):
- param_value = integer_to_float(param_value)
-
- self.master.mav.param_set_send(
- self.master.target_system,
- self.master.target_component,
- bytes(param_name, 'utf-8'),
- param_value,
- mavutil.mavlink.MAV_PARAM_TYPE_INT32
- )
- message = self.master.recv_match(type='PARAM_VALUE', blocking=True).to_dict()
- if message['param_type'] == MAV_PARAM_TYPE_INT32:
- message['param_value'] = float_to_integer(message['param_value'])
-
- def reset_params_to_default(self):
- self._reset_params_to_default()
- self.reboot()
- time.sleep(2)
- self.connect()
-
- def _reset_params_to_default(self):
- self.master.mav.command_long_send(
- self.master.target_system,
- self.master.target_component,
- mavutil.mavlink.MAV_CMD_PREFLIGHT_STORAGE,
- 0,
- 2, -1, 0, 0, 0, 0, 0)
-
- def force_calibrate(self):
- param2 = 76
- param5 = 76
- self.master.mav.command_long_send(self.master.target_system, self.master.target_component,
- mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
- 0, param2, 0, 0, param5, 0, 0)
-
- def reboot(self):
- self.master.reboot_autopilot()
- self.master.close()