From 7eca090f217f3c7cea96f993cd53835550a99e41 Mon Sep 17 00:00:00 2001 From: neo Date: Tue, 4 Jun 2024 14:48:34 +0200 Subject: [PATCH] main fts module dev --- ROMFS/px4fmu_common/init.d/airframes/0001_main_fts | 1 + ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts | 1 + build_afts.sh | 3 ++- openocd.cfg | 3 ++- .../{fts_controller_params.c => fts_control_params.c} | 3 +++ 5 files changed, 9 insertions(+), 2 deletions(-) rename src/modules/fts_control/{fts_controller_params.c => fts_control_params.c} (96%) diff --git a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts index ea4400a..7882763 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts +++ b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts @@ -21,3 +21,4 @@ param set-default FTS_TYPE 1 param set-default FTS_SIM_MODE 0 +param set-default MAV_TYPE 37 diff --git a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts index 558bd8c..e554255 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts +++ b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts @@ -21,3 +21,4 @@ param set-default FTS_TYPE 2 param set-default FTS_SIM_MODE 0 +param set-default MAV_TYPE 37 diff --git a/build_afts.sh b/build_afts.sh index e2aa61a..de3dca3 100755 --- a/build_afts.sh +++ b/build_afts.sh @@ -1,5 +1,6 @@ #!/bin/bash -xe - +# BUILD AUTO-FTS FIRMWARE +source venv/bin/activate rm -rf build/ git submodule update --recursive #make -j$(nproc) px4_fts-can diff --git a/openocd.cfg b/openocd.cfg index 6bdd2ef..a4d574a 100644 --- a/openocd.cfg +++ b/openocd.cfg @@ -5,4 +5,5 @@ transport select hla_swd source [find target/stm32h7x_dual_bank.cfg] -reset_config srst_only +#reset_config srst_only +reset_config none \ No newline at end of file diff --git a/src/modules/fts_control/fts_controller_params.c b/src/modules/fts_control/fts_control_params.c similarity index 96% rename from src/modules/fts_control/fts_controller_params.c rename to src/modules/fts_control/fts_control_params.c index c92e8d4..824a197 100644 --- a/src/modules/fts_control/fts_controller_params.c +++ b/src/modules/fts_control/fts_control_params.c @@ -46,6 +46,9 @@ */ PARAM_DEFINE_INT32(FTS_EN, 0); +PARAM_DEFINE_INT32(FTS_TYPE, 1); +PARAM_DEFINE_INT32(FTS_SIM_MODE, 1); + /** * The timeout for fts_state message *