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HAL_QURT: revived QURT HAL #27091

Merged
merged 9 commits into from
Jul 12, 2024
Merged

HAL_QURT: revived QURT HAL #27091

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a12e77e
Replay: use AP_Filesystem to load parameter file
tridge Jul 12, 2024
a4b6279
HAL_QURT: revived QURT HAL
tridge Jul 5, 2024
098de75
waf: don't build CAN libraries if CAN not supported
tridge Jul 5, 2024
fb427e5
waf: added QURT board target
tridge Jul 5, 2024
efc45e7
AP_HAL: added QURT board type and header
tridge Jul 5, 2024
f15220b
AP_Common: support QURT
tridge Jul 5, 2024
0aa6bba
AP_Filesystem: support QURT with posix filesystem
tridge Jul 5, 2024
3af189f
Tools: added ModalAI dev kit parameters
tridge Jul 8, 2024
ee36c25
CI: added QURT build to CI
tridge Jul 8, 2024
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163 changes: 163 additions & 0 deletions .github/workflows/qurt_build.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,163 @@
name: QURT Build

on:
push:
paths-ignore:
# remove other vehicles
- 'AntennaTracker/**'
- 'Blimp/**'
# remove non SITL HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_ESP32/**'
# remove non SITL directories
- 'Tools/AP_Bootloader/**'
- 'Tools/AP_Periph/**'
- 'Tools/CHDK-Script/**'
- 'Tools/CPUInfo/**'
- 'Tools/CodeStyle/**'
- 'Tools/FilterTestTool/**'
- 'Tools/Frame_params/**'
- 'Tools/GIT_Test/**'
- 'Tools/Hello/**'
- 'Tools/IO_Firmware/**'
- 'Tools/Linux_HAL_Essentials/**'
- 'Tools/LogAnalyzer/**'
- 'Tools/Pozyx/**'
- 'Tools/PrintVersion.py'
- 'Tools/Replay/**'
- 'Tools/UDP_Proxy/**'
- 'Tools/Vicon/**'
- 'Tools/bootloaders/**'
- 'Tools/completion/**'
- 'Tools/debug/**'
- 'Tools/environment_install/**'
- 'Tools/geotag/**'
- 'Tools/gittools/**'
- 'Tools/mavproxy_modules/**'
- 'Tools/simulink/**'
- 'Tools/vagrant/**'
# Discard python file from Tools/scripts as not used
- 'Tools/scripts/**.py'
- 'Tools/scripts/build_sizes/**'
- 'Tools/scripts/build_tests/**'
- 'Tools/scripts/CAN/**'
- 'Tools/scripts/signing/**'
# Remove autotest
- 'Tools/autotest/**'
# Remove markdown files as irrelevant
- '**.md'
# Remove dotfile at root directory
- './.dir-locals.el'
- './.dockerignore'
- './.editorconfig'
- './.flake8'
- './.gitattributes'
- './.github'
- './.gitignore'
- './.pre-commit-config.yaml'
- './.pydevproject'
- './.valgrind-suppressions'
- './.valgrindrc'
- 'Dockerfile'
- 'Vagrantfile'
- 'Makefile'
# Remove some directories check
- '.vscode/**'
- '.github/ISSUE_TEMPLATE/**'
# Remove change on other workflows
- '.github/workflows/test_environment.yml'

pull_request:
paths-ignore:
# remove other vehicles
- 'AntennaTracker/**'
- 'Blimp/**'
# remove non SITL HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_ESP32/**'
# remove non SITL directories
- 'Tools/AP_Bootloader/**'
- 'Tools/AP_Periph/**'
- 'Tools/bootloaders/**'
- 'Tools/CHDK-Script/**'
- 'Tools/CodeStyle/**'
- 'Tools/completion/**'
- 'Tools/CPUInfo/**'
- 'Tools/debug/**'
- 'Tools/environment_install/**'
- 'Tools/FilterTestTool/**'
- 'Tools/Frame_params/**'
- 'Tools/geotag/**'
- 'Tools/GIT_Test/**'
- 'Tools/gittools/**'
- 'Tools/Hello/**'
- 'Tools/IO_Firmware/**'
- 'Tools/Linux_HAL_Essentials/**'
- 'Tools/LogAnalyzer/**'
- 'Tools/mavproxy_modules/**'
- 'Tools/Pozyx/**'
- 'Tools/PrintVersion.py'
- 'Tools/Replay/**'
- 'Tools/simulink/**'
- 'Tools/UDP_Proxy/**'
- 'Tools/vagrant/**'
- 'Tools/Vicon/**'
# Discard python file from Tools/scripts as not used
- 'Tools/scripts/**.py'
- 'Tools/scripts/build_sizes/**'
- 'Tools/scripts/build_tests/**'
- 'Tools/scripts/CAN/**'
- 'Tools/scripts/signing/**'
# Remove autotest
- 'Tools/autotest/**'
# Remove markdown files as irrelevant
- '**.md'
# Remove dotfile at root directory
- './.dir-locals.el'
- './.dockerignore'
- './.editorconfig'
- './.flake8'
- './.gitattributes'
- './.github'
- './.gitignore'
- './.pre-commit-config.yaml'
- './.pydevproject'
- './.valgrind-suppressions'
- './.valgrindrc'
- 'Dockerfile'
- 'Vagrantfile'
- 'Makefile'
# Remove some directories check
- '.vscode/**'
- '.github/ISSUE_TEMPLATE/**'
# Remove change on other workflows
- '.github/workflows/test_environment.yml'

workflow_dispatch:

concurrency:
group: ci-${{github.workflow}}-${{ github.ref }}
cancel-in-progress: true

jobs:
build:
runs-on: 'ardupilot-qurt'

steps:
- uses: actions/checkout@v4
with:
submodules: 'recursive'

- name: Build QURT
run: |
./waf configure --board QURT
./waf copter

- name: Archive build
uses: actions/upload-artifact@v3
with:
name: qurt-binaries
path: |
build/QURT/ap_host
build/QURT/bin/arducopter
retention-days: 7
80 changes: 80 additions & 0 deletions Tools/Frame_params/ModalAI/AutonomyDevKit.parm
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@@ -0,0 +1,80 @@
# parameters for the autonomy dev kit
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MP's parameter loader apparently can't see files below the "Frame_params" directory so perhaps we should move this up and add a prefix. E.g. "ModalAI_AutonomyDevKit.parm"

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as discussed on the call, once merged I will do a MissionPlanner PR to support this directory, like I did for quadplanes

# https://www.modalai.com/products/px4-autonomy-developer-kit

# flight modes
FLTMODE1 5
FLTMODE4 2
FLTMODE_CH 6

# enable PID logging
LOG_BITMASK 65535

# mag field varies quite a lot between batteries
ARMING_MAGTHRESH 200

# filtering
INS_GYRO_FILTER 40
INS_HNTCH_ENABLE 1
INS_HNTCH_FREQ 100
INS_HNTCH_BW 50
INS_HNTCH_HMNCS 7
INS_HNTCH_REF 1
INS_HNTCH_MODE 3
INS_HNTCH_OPTS 2

# run IMU at 2kHz
INS_GYRO_RATE 1

# a bit more agressive loiter
PILOT_SPEED_UP 500
LOIT_BRK_ACCEL 500
LOIT_BRK_JERK 1000
LOIT_BRK_DELAY 0.200000

# tuning from autotune
ATC_ACCEL_Y_MAX 46813.816406
ATC_ACCEL_R_MAX 218565.890625
ATC_ACCEL_P_MAX 220962
ATC_ANG_RLL_P 15.120497
ATC_ANG_PIT_P 15.393054
ATC_ANG_YAW_P 7.636879
ATC_RAT_RLL_P 0.038459
ATC_RAT_RLL_I 0.038459
ATC_RAT_RLL_D 0.000927
ATC_RAT_PIT_P 0.043496
ATC_RAT_PIT_I 0.043496
ATC_RAT_PIT_D 0.000934
ATC_RAT_YAW_P 0.376548
ATC_RAT_YAW_I 0.037655
ATC_RAT_YAW_FLTE 2.090602

# battery setup
BATT_LOW_VOLT 7
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BATT_OPTIONS 64
BATT_VOLT_PIN 1
BATT_CURR_PIN 2
BATT_VOLT_MULT 1
BATT_AMP_PERVLT 1

# 2S battery range
MOT_BAT_VOLT_MAX 8.400000
MOT_BAT_VOLT_MIN 6.600000

# quad-X
FRAME_CLASS 1

# tweak R/C inputs
RC1_MIN 1000
RC1_MAX 2000
RC1_DZ 40
RC2_MIN 1000
RC2_MAX 2000
RC2_REVERSED 1
RC3_MIN 1000
RC3_MAX 2000
RC4_MIN 1000
RC4_MAX 2000
RC4_DZ 40

# add arming on right switch
RC7_OPTION 153
9 changes: 5 additions & 4 deletions Tools/Replay/Replay.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -297,14 +297,15 @@ bool Replay::parse_param_line(char *line, char **vname, float &value)
*/
void Replay::load_param_file(const char *pfilename)
{
FILE *f = fopen(pfilename, "r");
if (f == NULL) {
auto &fs = AP::FS();
int fd = fs.open(pfilename, O_RDONLY, true);
if (fd == -1) {
printf("Failed to open parameter file: %s\n", pfilename);
exit(1);
}
char line[100];

while (fgets(line, sizeof(line)-1, f)) {
while (fs.fgets(line, sizeof(line)-1, fd)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
Expand All @@ -316,7 +317,7 @@ void Replay::load_param_file(const char *pfilename)
u->next = user_parameters;
user_parameters = u;
}
fclose(f);
fs.close(fd);
}

Replay replay(replayvehicle);
Expand Down
18 changes: 9 additions & 9 deletions Tools/ardupilotwaf/ardupilotwaf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,13 @@
'*.cpp',
]

COMMON_VEHICLE_DEPENDENT_CAN_LIBRARIES = [
'AP_CANManager',
'AP_KDECAN',
'AP_PiccoloCAN',
'AP_PiccoloCAN/piccolo_protocol',
]

COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
'AP_Airspeed',
'AP_AccelCal',
Expand All @@ -27,15 +34,13 @@
'AP_BattMonitor',
'AP_BoardConfig',
'AP_Camera',
'AP_CANManager',
'AP_Common',
'AP_Compass',
'AP_Declination',
'AP_GPS',
'AP_HAL',
'AP_HAL_Empty',
'AP_InertialSensor',
'AP_KDECAN',
'AP_Math',
'AP_Mission',
'AP_DAL',
Expand Down Expand Up @@ -74,8 +79,6 @@
'AP_SBusOut',
'AP_IOMCU',
'AP_Parachute',
'AP_PiccoloCAN',
'AP_PiccoloCAN/piccolo_protocol',
'AP_RAMTRON',
'AP_RCProtocol',
'AP_Radio',
Expand Down Expand Up @@ -249,11 +252,8 @@ def ap_get_all_libraries(bld):
def ap_common_vehicle_libraries(bld):
libraries = COMMON_VEHICLE_DEPENDENT_LIBRARIES

if bld.env.DEST_BINFMT == 'pe':
libraries += [
'AC_Fence',
'AC_AttitudeControl',
]
if bld.env.with_can or bld.env.HAL_NUM_CAN_IFACES:
libraries.extend(COMMON_VEHICLE_DEPENDENT_CAN_LIBRARIES)

return libraries

Expand Down
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