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v2.8.0 bug fix #438

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merged 3 commits into from
Dec 14, 2024
+143 −134
Merged

v2.8.0 bug fix #438

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c035cd1
bug fix
buildko89 Dec 14, 2024
e79ba1c
bug fix
buildko89 Dec 14, 2024
9cb20bf
fix build error
buildko89 Dec 14, 2024
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9 changes: 9 additions & 0 deletions drone_physics/body_physics.hpp
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@@ -1,6 +1,15 @@
#ifndef _BODY_PHYSICS_HPP_
#define _BODY_PHYSICS_HPP_


#ifdef WIN32
#define _USE_MATH_DEFINES
#include <cmath>
#else
#include <cmath>
#endif



#ifdef BP_INCLUDE_IO /* for printint out */
#include <iostream>
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8 changes: 4 additions & 4 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/apps/run-camera.bat
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@@ -1,4 +1,4 @@


python camera.py ..\DroneAppWin\custom.json

python camera.py ..\DroneAppWin\custom.json
8 changes: 4 additions & 4 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/apps/run-rc-custom.bat
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@@ -1,4 +1,4 @@


python rc-custom.py ..\DroneAppWin\custom.json rc_config/hori4mini-control-win.json

python rc-custom.py ..\DroneAppWin\custom.json rc_config/hori4mini-control-win.json
8 changes: 4 additions & 4 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/apps/run-rc.bat
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@@ -1,4 +1,4 @@


python rc.py ..\DroneAppWin\custom.json

python rc.py ..\DroneAppWin\custom.json
8 changes: 4 additions & 4 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/apps/run-sample.bat
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@@ -1,4 +1,4 @@


python sample.py ..\DroneAppWin\custom.json

python sample.py ..\DroneAppWin\custom.json
60 changes: 30 additions & 30 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/bin/run-FlightControl.bat
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@@ -1,30 +1,30 @@
@echo off
setlocal

set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_fc"
set "HAKO_CONTROLLER_PARAM_FILE=..\drone_control\config\param-api-mixer.txt"

if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)

if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)

if not exist "%HAKO_CONTROLLER_PARAM_FILE%" (
echo ERROR: can not find "%HAKO_CONTROLLER_PARAM_FILE%"
exit /b 1
)

REM create_mmap.bat を呼び出す
call create_mmap.bat

..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 ext

popd

endlocal
@echo off
setlocal
set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_fc"
set "HAKO_CONTROLLER_PARAM_FILE=..\drone_control\config\param-api-mixer.txt"
if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)
if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)
if not exist "%HAKO_CONTROLLER_PARAM_FILE%" (
echo ERROR: can not find "%HAKO_CONTROLLER_PARAM_FILE%"
exit /b 1
)
REM create_mmap.bat を呼び出す
call create_mmap.bat
..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 ext
popd
endlocal
68 changes: 34 additions & 34 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/bin/run-PX4Control.bat
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@@ -1,34 +1,34 @@
@echo off
setlocal

set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_px4"

if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)

if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)

REM create_mmap.bat を呼び出す
call create_mmap.bat

for /f "tokens=3" %%a in ('netsh interface ip show address "vEthernet (WSL)" ^| findstr "IP Address"') do set "WSL_IP=%%a"

if not defined WSL_IP (
echo WSL IP address could not be found.
exit /b 1
)

echo WSL IP Address: %WSL_IP%


..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe %WSL_IP% 4560 sim

popd

endlocal
@echo off
setlocal
set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_px4"
if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)
if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)
REM create_mmap.bat を呼び出す
call create_mmap.bat
for /f "tokens=3" %%a in ('netsh interface ip show address "vEthernet (WSL)" ^| findstr "IP Address"') do set "WSL_IP=%%a"
if not defined WSL_IP (
echo WSL IP address could not be found.
exit /b 1
)
echo WSL IP Address: %WSL_IP%
..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe %WSL_IP% 4560 sim
popd
endlocal
60 changes: 30 additions & 30 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/bin/run-RadioControl.bat
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Original file line number Diff line number Diff line change
@@ -1,30 +1,30 @@
@echo off
setlocal

set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_rc"
set "HAKO_CONTROLLER_PARAM_FILE=..\drone_control\config\param-api-mixer.txt"

if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)

if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)

if not exist "%HAKO_CONTROLLER_PARAM_FILE%" (
echo ERROR: can not find "%HAKO_CONTROLLER_PARAM_FILE%"
exit /b 1
)

REM create_mmap.bat を呼び出す
call create_mmap.bat

..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 ext

popd

endlocal
@echo off
setlocal
set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_rc"
set "HAKO_CONTROLLER_PARAM_FILE=..\drone_control\config\param-api-mixer.txt"
if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)
if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)
if not exist "%HAKO_CONTROLLER_PARAM_FILE%" (
echo ERROR: can not find "%HAKO_CONTROLLER_PARAM_FILE%"
exit /b 1
)
REM create_mmap.bat を呼び出す
call create_mmap.bat
..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 ext
popd
endlocal
48 changes: 24 additions & 24 deletions tools/win/template/hakoniwa-px4-win/hakoniwa/bin/run-replay.bat
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Original file line number Diff line number Diff line change
@@ -1,24 +1,24 @@
@echo off
setlocal

set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_rc"

if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)

if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)

REM create_mmap.bat を呼び出す
call create_mmap.bat

..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 replay

popd

endlocal
@echo off
setlocal
set "HAKO_CUSTOM_JSON_PATH=..\DroneAppWin\custom.json"
set "DRONE_CONFIG_PATH=..\config_rc"
if not exist "%HAKO_CUSTOM_JSON_PATH%" (
echo ERROR: can not find "%HAKO_CUSTOM_JSON_PATH%"
exit /b 1
)
if not exist "%DRONE_CONFIG_PATH%\" (
echo ERROR: can not find "%DRONE_CONFIG_PATH%"
exit /b 1
)
REM create_mmap.bat を呼び出す
call create_mmap.bat
..\..\out\build\x64-Release\hakoniwa\src\hako-px4sim.exe 127.0.0.1 4560 replay
popd
endlocal
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