Port PX4 to BeagleBone Blue

.gitmodules

@@ -58,3 +58,6 @@
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
+[submodule "src/lib/Robotics_Cape_Installer"]
+	path = src/lib/Robotics_Cape_Installer
+	url = https://github.com/StrawsonDesign/Robotics_Cape_Installer

CMakeLists.txt

@@ -312,6 +312,8 @@ add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
+add_subdirectory(src/lib/Robotics_Cape_Installer)
+
 #=============================================================================
 # DriverFramework
 #

cmake/common/px4_base.cmake

@@ -632,4 +632,3 @@ function(px4_find_python_module module)
 		#message(FATAL_ERROR "python module not found, exiting")
 	#endif()
 endfunction(px4_find_python_module)
-

cmake/configs/posix_bbblue_common.cmake

@@ -0,0 +1,105 @@
+# This file is shared between posix_bbblue_native.cmake
+# and posix_bbblue_cross.cmake.
+
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the bbblue.
+add_definitions(
+	-D__PX4_POSIX_BBBLUE
+	-D__PX4_POSIX
+	-D__DF_LINUX    # For DriverFramework
+	-D__DF_BBBLUE   # For DriverFramework
+#	-D__RC_V0_3     # option for Robotics Cape v0.3
+#	-DDEBUG_BUILD
+)
+
+#optional __DF_BBBLUE_USE_RC_BMP280_IMP
+add_definitions(
+	-D__DF_BBBLUE_USE_RC_BMP280_IMP
+)
+
+#optional __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI, default is "SoftAp"
+#add_definitions(
+#	-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
+#)
+
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	#drivers/barometer
+	drivers/batt_smbus
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/telemetry
+	#drivers/boards
+
+	modules/sensors
+
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/led_control
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/tune_control
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/landing_target_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/gnd_att_control
+	modules/gnd_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/linux_sbus
+	drivers/gps
+	drivers/bbblue_adc
+	drivers/linux_gpio
+	drivers/linux_pwm_out
+	drivers/pwm_out_sim
+
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	bmp280
+)

cmake/configs/posix_bbblue_cross.cmake

@@ -0,0 +1,3 @@
+include(configs/posix_bbblue_common)
+
+SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

cmake/configs/posix_bbblue_native.cmake

@@ -0,0 +1,7 @@
+include(configs/posix_bbblue_common)
+
+add_definitions(
+	 -D __DF_BBBLUE
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

platforms/posix/CMakeLists.txt

@@ -69,6 +69,24 @@ if ("${BOARD}" STREQUAL "rpi")
 		USES_TERMINAL
 		)
 
+elseif ("${BOARD}" STREQUAL "bbblue")
+	target_link_libraries(px4 PRIVATE robotics_cape)
+
+	add_custom_target(upload
+		COMMAND scp -r ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config  debian@BBBluePX4:/home/debian/px4/posix-configs
+		COMMAND scp -r ${PX4_SOURCE_DIR}/ROMFS   $<TARGET_FILE:px4>     debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4 and data files"
+		USES_TERMINAL
+		)
+
+	add_custom_target(upload_px4
+		COMMAND scp -r  $<TARGET_FILE:px4>   debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4"
+		USES_TERMINAL
+		)
+
 elseif ("${BOARD}" STREQUAL "bebop")
 
 	add_custom_target(upload

platforms/posix/src/main.cpp

@@ -335,8 +335,10 @@ int main(int argc, char **argv)
 	string data_path;
 	string node_name;
 
+	bool skippingOutputRedirect = false;
+
 	// parse arguments
-	while (index < argc) {
+	while (index < argc && !skippingOutputRedirect) {
 		//cout << "arg: " << index << " : " << argv[index] << endl;
 
 		if (argv[index][0] == '-') {
@@ -366,6 +368,9 @@ int main(int argc, char **argv)
 				cout << "node name: " << node_name << endl;
 			}
 
+		} else if (strchr(argv[index], '>')) {
+			skippingOutputRedirect = true;
+
 		} else {
 			//cout << "positional argument" << endl;
 

posix-configs/bbblue/px4.config

@@ -0,0 +1,92 @@
+# config for a quad
+# modified from ../rpi/px4.config
+
+uorb start
+param load
+
+# Auto-start script index. Defines the auto-start script used to bootstrap the system.
+# It seems that SYS_AUTOSTART does not work as intended on posix platform.
+# For now, find the corresponding settings, and manually set them in ground control.
+#
+# 4001: Generic Quadrotor X;  4011: DJI Flame Wheel F450
+param set SYS_AUTOSTART 4011
+
+# DJI ESCs do not support calibration and need higher PWM_MIN
+# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
+# It seems that all latest DJI ESC have the same range.
+# Note that the setting here applies to all PWM channels.
+# param set PWM_MIN 1120
+# param set PWM_MAX 1920
+# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+#    each random motor stop would cause a scary flip in the fly
+# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
+
+# Broadcast heartbeats on local network. This allows a ground control station
+# to automatically find the drone on the local network.
+param set MAV_BROADCAST 1
+
+# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
+param set MAV_TYPE 2
+
+# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
+param set SYS_MC_EST_GROUP 2
+
+# Three possible main power battery sources for BBBlue:
+# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
+# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
+# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+#    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. 
+param set BAT_ADC_CHANNEL 	5
+
+# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
+param set BAT_CNT_V_VOLT 	 0.0004394531
+
+# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
+param set BAT_V_DIV 		11.0
+
+#param set BAT_CNT_V_CURR 	 0.001
+#param set BAT_A_PER_V 		15.391030303
+
+dataman start
+
+df_bmp280_wrapper  start -D /dev/i2c-2
+
+df_mpu9250_wrapper start
+# options:  -R rotation
+
+gps start -d /dev/ttyS2 -s -p ubx
+
+#rgbled start -b 1
+bbblue_adc start
+bbblue_adc test
+
+sensors start
+commander start
+navigator start
+ekf2 start
+#land_detector start multicopter
+
+mc_pos_control start
+mc_att_control start
+#fw_att_control start
+#fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000 
+# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+# e.g., -n wlan . The default on BBBlue is SoftAp
+
+sleep 1
+
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+linux_sbus start -d /dev/ttyS4 -c 16
+# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
+
+# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
+linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
+logger start -t -b 200
+mavlink boot_complete

posix-configs/bbblue/px4_fw.config

@@ -0,0 +1,92 @@
+# config for fixed wing (FW)
+# modified from ./px4.config, switch att/pos_control & mixer
+
+uorb start
+param load
+
+# Auto-start script index. Defines the auto-start script used to bootstrap the system.
+# It seems that SYS_AUTOSTART does not work as intended on posix platform.
+# For now, find the corresponding settings, and manually set them in ground control.
+#
+# 4001: Generic Quadrotor X;  4011: DJI Flame Wheel F450
+param set SYS_AUTOSTART 4011
+
+# DJI ESCs do not support calibration and need higher PWM_MIN
+# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
+# It seems that all latest DJI ESC have the same range.
+# Note that the setting here applies to all PWM channels.
+# param set PWM_MIN 1120
+# param set PWM_MAX 1920
+# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+#    each random motor stop would cause a scary flip in the fly
+# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
+
+# Broadcast heartbeats on local network. This allows a ground control station
+# to automatically find the drone on the local network.
+param set MAV_BROADCAST 1
+
+# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
+param set MAV_TYPE 2
+
+# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
+param set SYS_MC_EST_GROUP 2
+
+# Three possible main power battery sources for BBBlue:
+# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
+# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
+# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+#    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. 
+param set BAT_ADC_CHANNEL 	5
+
+# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
+param set BAT_CNT_V_VOLT 	 0.0004394531
+
+# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
+param set BAT_V_DIV 		11.0
+
+#param set BAT_CNT_V_CURR 	 0.001
+#param set BAT_A_PER_V 		15.391030303
+
+dataman start
+
+df_bmp280_wrapper  start -D /dev/i2c-2
+
+df_mpu9250_wrapper start
+# options:  -R rotation
+
+gps start -d /dev/ttyS2 -s -p ubx
+
+#rgbled start -b 1
+bbblue_adc start
+bbblue_adc test
+
+sensors start
+commander start
+navigator start
+ekf2 start
+#land_detector start multicopter
+
+#mc_pos_control start
+#mc_att_control start
+fw_att_control start
+fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000 
+# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+# e.g., -n wlan . The default on BBBlue is SoftAp
+
+sleep 1
+
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+linux_sbus start -d /dev/ttyS4 -c 16
+# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
+
+# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
+#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
+logger start -t -b 200
+mavlink boot_complete