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Parameter throught callback #3

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Parameter throught callback #3

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45deddd
update
Sep 22, 2020
0150b4b
minor change
Sep 22, 2020
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2 changes: 1 addition & 1 deletion Tools/sitl_gazebo
Open in desktop
Submodule sitl_gazebo updated 38 files
+3 −3 CMakeLists.txt
+2 −1 include/mavlink_interface.h
+137 −0 models/3DR_gps_mag/3DR_gps_mag.sdf
+1 −1 models/3DR_gps_mag/model.config
+80 −0 models/c920/c920.sdf
+1 −1 models/c920/model.config
+677 −0 models/cloudship/cloudship.sdf
+1 −1 models/cloudship/model.config
+1,771 −0 models/indus/indus.sdf
+ − models/indus/meshes/corps_azymut.stl
+160 −0 models/indus/meshes/iris_prop_ccw.dae
+160 −0 models/indus/meshes/iris_prop_cw.dae
+64 −0 models/indus/meshes/untitled.dae
+ − models/indus/meshes/untitled.stl
+56 −0 models/indus/meshes/x8_elevon_left.dae
+56 −0 models/indus/meshes/x8_elevon_right.dae
+56 −0 models/indus/meshes/x8_wing.dae
+14 −0 models/indus/model.config
+705 −0 models/matrice_100/matrice_100.sdf
+1 −1 models/matrice_100/model.config
+57 −0 models/mb1240-xl-ez4/mb1240-xl-ez4.sdf
+1 −1 models/mb1240-xl-ez4/model.config
+1 −1 models/pixhawk/model.config
+161 −0 models/pixhawk/pixhawk.sdf
+1 −1 models/plane/model.config
+771 −0 models/plane/plane.sdf
+1 −1 models/px4flow/model.config
+107 −0 models/px4flow/px4flow.sdf
+1 −1 models/r200/model.config
+92 −0 models/r200/r200.sdf
+1 −1 models/sf10a/model.config
+79 −0 models/sf10a/sf10a.sdf
+1 −1 models/standard_vtol/model.config
+1,033 −0 models/standard_vtol/standard_vtol.sdf
+1 −1 scripts/jinja_gen.py
+2 −2 scripts/validate_sdf.bash
+4 −1 src/gazebo_geotagged_images_plugin.cpp
+5 −8 src/mavlink_interface.cpp
2 changes: 1 addition & 1 deletion src/lib/mixer/MultirotorMixer
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Submodule MultirotorMixer updated 5 files
+47 −29 MultirotorMixer.cpp
+1 −1 MultirotorMixer.hpp
+0 −176 geometries/tools/indus/CMakeLists_parameters.txt
+26 −2 geometries/tools/indus/generate_indus_model.sh
+19 −0 geometries/tools/indus/params.txt
75 changes: 75 additions & 0 deletions src/lib/mixer_module/mixer_module.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -517,6 +517,81 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
{
const MixingOutput *output = (const MixingOutput *)handle;

if(control_group==100)
{
int input_int=0;
input_int--;
switch (control_index)
{//AUTOGENERATED START
case 18: ///AUTOGENERATED
param_get(param_find("PWM_TILT_MAX2"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 17: ///AUTOGENERATED
param_get(param_find("PWM_TILT_MAX1"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 16: ///AUTOGENERATED
param_get(param_find("PWM_TILT_MIN2"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 15: ///AUTOGENERATED
param_get(param_find("PWM_TILT_MIN1"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 14: ///AUTOGENERATED
param_get(param_find("PWM_MIN"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 13: ///AUTOGENERATED
param_get(param_find("PWM_MAX"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 12: ///AUTOGENERATED
param_get(param_find("MC_YAWRATE_K"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 11: ///AUTOGENERATED
param_get(param_find("MC_PITCHRATE_K"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 10: ///AUTOGENERATED
param_get(param_find("MC_ROLLRATE_K"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 9: ///AUTOGENERATED
param_get(param_find("ANG_TILT_MIN2"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 8: ///AUTOGENERATED
param_get(param_find("ANG_TILT_MAX2"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 7: ///AUTOGENERATED
param_get(param_find("ANG_TILT_MIN1"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 6: ///AUTOGENERATED
param_get(param_find("ANG_TILT_MAX1"), &input_int); ///AUTOGENERATED
input=input_int; ///AUTOGENERATED
break; ///AUTOGENERATED
case 5: ///AUTOGENERATED
param_get(param_find("MC_CM_DRAG"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 4: ///AUTOGENERATED
param_get(param_find("MC_CT_LIFT"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 3: ///AUTOGENERATED
param_get(param_find("MC_INERTIA_ZZ"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 2: ///AUTOGENERATED
param_get(param_find("MC_INERTIA_YY"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 1: ///AUTOGENERATED
param_get(param_find("MC_INERTIA_XX"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
case 0: ///AUTOGENERATED
param_get(param_find("MC_MASS"), &input); ///AUTOGENERATED
break; ///AUTOGENERATED
break;
}//AUTOGENERATED END
return 0;
}

input = output->_controls[control_group].control[control_index];

/* limit control input */
Expand Down
19 changes: 9 additions & 10 deletions src/lib/parameters/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -41,8 +41,6 @@ endif()
get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)



if(DISABLE_PARAMS_MODULE_SCOPING)
# search all directories with .c files (potentially containing parameters)
file(GLOB_RECURSE c_files
Expand Down Expand Up @@ -80,7 +78,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
--params-file ${generated_serial_params_file}
--serial-ports ${board_serial_ports} ${added_arguments}
--config-files ${module_config_files} #--verbose
--config-files ${module_config_files} #--verbose
DEPENDS
${module_config_files}
${jinja_templates}
Expand All @@ -91,8 +89,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file}
set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c)

add_custom_command(OUTPUT ${parameters_xml} ${parameters_json}
add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.gz
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
--src-path ${module_list} ${generated_params_dir}
--xml ${parameters_xml}
Expand All @@ -101,7 +98,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json}
--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
--overrides ${PARAM_DEFAULT_OVERRIDES}
--board ${PX4_BOARD}
#--verbose
#--verbose
DEPENDS
${param_src_files}
${generated_serial_params_file}
Expand All @@ -112,7 +109,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json}
px4params/xmlout.py
px_process_params.py
parameters_injected.xml
COMMENT "Generating parameters.xml [${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py]"
COMMENT "Generating parameters.xml"
)
add_custom_target(parameters_xml DEPENDS ${parameters_xml})

Expand All @@ -126,7 +123,6 @@ add_custom_command(OUTPUT px4_parameters.c px4_parameters.h px4_parameters_publi
templates/px4_parameters.c.jinja
templates/px4_parameters.h.jinja
templates/px4_parameters_public.h.jinja
COMMENT " [${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py]"
)

set(SRCS)
Expand All @@ -148,14 +144,15 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
endif()

# TODO: find a better way to do this
if (NOT "${PX4_BOARD}" MATCHES "px4_io")
add_library(parameters
${SRCS}
px4_parameters.c
px4_parameters.h
px4_parameters_public.h
)

if ("${CONFIG_SHMEM}" STREQUAL "1")
if ("${CONFIG_SHMEM}" STREQUAL "1")
target_link_libraries(parameters PRIVATE px4_layer)
endif()

Expand All @@ -166,7 +163,9 @@ endif()
-Wno-cast-align # TODO: fix and enable
-Wno-sign-compare # TODO: fix and enable
)

else()
add_library(parameters ${PX4_SOURCE_DIR}/platforms/common/empty.c)
endif()
add_dependencies(parameters prebuild_targets)

if(${PX4_PLATFORM} STREQUAL "nuttx")
Expand Down