Architecture
[email protected]:~/src$ cd Firmware/
[email protected]:~/src/Firmware$
[email protected]:~/src/Firmware$ ls
build Documentation LICENSE README.md
circle.yml eclipse.cproject Makefile ROMFS
cmake eclipse.project mavlink src
CMakeLists.txt Firmware.sublime-project msg test_data
CODE_OF_CONDUCT.md Images nuttx-configs Tools
CONTRIBUTING.md integrationtests package.xml Vagrantfile
CTestConfig.cmake Jenkinsfile platforms
Debug launch posix-configs
[email protected]:~/src/Firmware$
[email protected]:~/src/Firmware$ cat .git/config
[core]
repositoryformatversion = 0
filemode = true
bare = false
logallrefupdates = true
[remote "origin"]
url = https://github.com/PX4/Firmware.git
fetch = +refs/heads/*:refs/remotes/origin/*
[branch "master"]
remote = origin
merge = refs/heads/master
[submodule "src/lib/ecl"]
url = https://github.com/PX4/ecl.git
[submodule "src/lib/matrix"]
url = https://github.com/PX4/Matrix.git
[submodule "Tools/gencpp"]
url = https://github.com/ros/gencpp.git
[submodule "Tools/genmsg"]
url = https://github.com/ros/genmsg.git
[submodule "src/lib/DriverFramework"]
url = https://github.com/PX4/DriverFramework.git
[submodule "src/drivers/gps/devices"]
url = https://github.com/PX4/GpsDrivers.git
[submodule "mavlink/include/mavlink/v2.0"]
url = https://github.com/mavlink/c_library_v2.git
[submodule "mavlink/include/mavlink/v1.0"]
url = https://github.com/mavlink/c_library_v1.git
[submodule "Tools/sitl_gazebo"]
url = https://github.com/PX4/sitl_gazebo.git
[submodule "Tools/jMAVSim"]
url = https://github.com/PX4/jMAVSim.git
[email protected]:~/src/Firmware$
[email protected]:~/src/Firmware$ ls src/
drivers examples firmware include lib modules platforms systemcmds
[email protected]:~/src/Firmware$ ls src/drivers/
adis16448 drv_batt_smbus.h drv_pwm_trigger.h l3gd20 navio_rgbled sdp3x_airspeed
aerofc_adc drv_blinkm.h drv_px4flow.h led navio_sysfs_rc_in sf0x
airspeed drv_board_led.h drv_range_finder.h linux_gpio ocpoc_adc sf1xx
batt_smbus drv_device.h drv_rc_input.h linux_pwm_out oreoled snapdragon_pwm_out
blinkm drv_gpio.h drv_sbus.h linux_sbus pca8574 snapdragon_rc_pwm
bma180 drv_gps.h drv_sensor.h lis3mdl pca9685 spektrum_rc
bmi055 drv_gyro.h drv_tone_alarm.h ll40ls protocol_splitter srf02
bmi160 drv_hrt.h ets_airspeed lps25h pwm_input srf02_i2c
bmm150 drv_input_capture.h frsky_telemetry lsm303d pwm_out_rc_in stm32
bmp280 drv_io_expander.h fxas21002c mb12xx pwm_out_sim tap_esc
boards drv_iridiumsbd.h fxos8701cq md25 px4flow teraranger
bootloaders drv_irlock.h gps mkblctrl px4fmu test_ppm
bst drv_led.h hc_sr04 mpl3115a2 px4io ulanding
camera_trigger drv_mag.h hmc5883 mpu6000 qshell vmount
device drv_mixer.h hott mpu9250 rgbled
drv_accel.h drv_orb_dev.h iridiumsbd ms4525_airspeed rgbled_pwm
drv_adc.h drv_oreoled.h irlock ms5525_airspeed roboclaw
drv_airspeed.h drv_pwm_input.h ist8310 ms5611 rpi_rc_in
drv_baro.h drv_pwm_output.h kinetis navio_adc samv7
[email protected]:~/src/Firmware$ ls src/examples/
bottle_drop hwtest publisher px4_mavlink_debug rover_steering_control subscriber
fixedwing_control matlab_csv_serial px4_daemon_app px4_simple_app segway uuv_example_app
[email protected]:~/src/Firmware$ ls src/firmware/
nuttx posix qurt

Directory src/

[email protected]:~/src/Firmware$ ls src/include/
containers px4.h unit_test.h visibility.h
[email protected]:~/src/Firmware$ ls src/lib/
controllib ecl launchdetection matrix rc terrain_estimation
conversion geo led mixer runway_takeoff version
DriverFramework geo_lookup mathlib px4_eigen.h tailsitter_recovery
[email protected]:~/src/Firmware$ ls src/modules/
attitude_estimator_q fw_att_control load_mon micrortps_bridge sdlog2 uavcanesc
camera_feedback fw_pos_control_l1 local_position_estimator muorb sensors uavcannode
commander gnd_att_control logger navigator simulator uORB
dataman gnd_pos_control mavlink position_estimator_inav syslink vtol_att_control
ekf2 gpio_led mc_att_control px4iofirmware systemlib
events land_detector mc_pos_control replay uavcan
[email protected]:~/src/Firmware$ ls src/platforms/
apps.cpp.in posix px4_getopt.h px4_micro_hal.h px4_posix.h px4_spi.h qurt
apps.h.in px4_app.h px4_i2c.h px4_middleware.h px4_publisher.h px4_subscriber.h ros
common px4_common.h px4_includes.h px4_module.h px4_sem.h px4_tasks.h shmem.h
empty.c px4_config.h px4_log.h px4_nodehandle.h px4_sem.hpp px4_time.h
nuttx px4_defines.h px4_message.h px4_parameter.h px4_shutdown.h px4_workqueue.h
[email protected]:~/src/Firmware$ ls src/systemcmds/
bl_update esc_calib mixer mtd perf reflect top ver
config hardfault_log motor_ramp nshterm pwm sd_bench topic_listener
dumpfile led_control motor_test param reboot tests usb_connected
[email protected]:~/src/Firmware$

Directory nuttx-configs/

[email protected]:~/src/Firmware$ ls nuttx-configs/
aerocore2 esc35-v1 PX4_Config.mk px4fmu-v4 px4nucleoF767ZI-v1 s2740vc-v1
aerofc-v1 mindpx-v2 px4esc-v1 px4fmu-v4pro px4-same70xplained-v1 tap-v1
auav-x21 nxphlite-v3 px4flow-v2 px4fmu-v5 px4-stm32f4discovery zubaxgnss-v1
crazyflie px4cannode-v1 px4fmu-v2 px4io-v2 PX4_Warnings.mk

Directory posix-configs/

[email protected]:~/src/Firmware$ ls posix-configs/
bebop eagle excelsior ocpoc rpi SITL
[email protected]:~/src/Firmware$
[email protected]:~/src/Firmware$ nano posix-configs/SITL/init/rcS_gazebo_delta_wing
uorb start
param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
dataman start
param set BAT_N_CELLS 3
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set SENS_BOARD_ROT 8
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set FW_THR_IDLE 0.6
param set FS_GCS_ENABLE 2
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
navigator start
ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
mavlink boot_complete
replay trystart

Directory Images/

[email protected]:~/src/Firmware$ ls Images/
aerocore2.prototype mindpx-v2.prototype px4fmu-v2.prototype px4io-v2.prototype tap-v1.prototype
aerofc-v1.prototype nxphlite-v3.prototype px4fmu-v3.prototype px4nucleoF767ZI-v1.prototype zubaxgnss-v1.prototype
auav-x21.prototype px4cannode-v1.prototype px4fmu-v4pro.prototype px4-same70xplained-v1.prototype
crazyflie.prototype px4esc-v1.prototype px4fmu-v4.prototype px4-stm32f4discovery.prototype
esc35-v1.prototype px4flow-v2.prototype px4fmu-v5.prototype s2740vc-v1.prototype
[email protected]:~/src/Firmware$
[email protected]:~/src/Firmware$ cat Images/aerocore2.prototype
{
"board_id": 98,
"magic": "AeroCore2",
"description": "Firmware for the Gumstix AeroCore2 board",
"image": "",
"build_time": 0,
"summary": "AEROCORE2",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
[email protected]:~/src/Firmware$

Directory mavlink/

[email protected]:~/src/Firmware$ ls mavlink/include/mavlink/v2.0/
ardupilotmega checksum.h mavlink_conversions.h mavlink_sha256.h minimal standard
ASLUAV common mavlink_get_info.h mavlink_types.h protocol.h test
autoquad matrixpilot mavlink_helpers.h message_definitions slugs uAvionix
[email protected]:~/src/Firmware$
Last modified 4yr ago