Tools: add SITL defaults processor

Also added default files for Volanti

SW-241

Tools/Carbonix_scripts/process_sitl_defaults.py

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+'''
+Build SITL default parameter files for use with SITL launcher
+'''
+
+import os
+import re
+import fnmatch
+import argparse
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Build SITL default parameter files')
+    parser.add_argument('input_file', help='Input file to process')
+    parser.add_argument('output_file', help='Output file to write to')
+    args = parser.parse_args()
+
+    defaults = process_defaults(args.input_file)
+    with open(args.output_file, "w") as f:
+        f.write("\n".join(defaults))
+
+
+def process_defaults(file, depth=0):
+    if depth > 10:
+        raise Exception("Too many levels of @include")
+
+    param_list = []
+    with open(file, "r") as f:
+        lines = f.read().splitlines()
+    for line in lines:
+        if line.startswith("@include"):
+            rel_path = line.split(maxsplit=1)[1]
+            path = os.path.join(os.path.dirname(file), rel_path)
+            param_list.extend(
+                process_defaults(path, depth + 1)
+            )
+            continue
+
+        if line.startswith("@delete"):
+            pattern = line.split(maxsplit=1)[1]
+            for i in range(len(param_list)):
+                param_name = re.split(r"[\s,]+", param_list[i])[0]
+                if fnmatch.fnmatch(param_name, pattern):
+                    param_list[i] = "#deleted " + param_list[i]
+            line = "#" + line
+
+        param_list.append(line)
+
+    return param_list
+
+
+if __name__ == "__main__":
+    main()

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-headless.parm

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+# Carbonix Volanti Headless Parameters
+@include ../../CubeOrange-Volanti/defaults.parm
+ARSPD_OFFSET,2013
+ARSPD_TYPE,2
+ARSPD2_OFFSET,2013
+ARSPD2_PIN,2
+ARSPD2_TYPE,2
+@delete BATT*_PIN
+BATT2_AMP_PERVLT,12.75
+BATT2_MONITOR,4
+BATT2_VOLT_MULT,40.4
+BATT3_AMP_PERVLT,12.75
+BATT3_MONITOR,4
+BATT3_VOLT_MULT,40.4
+GPS_TYPE,1
+GPS_TYPE2,1
+@delete INS_*
+INS_ACC2OFFS_X,0.001
+INS_ACC2OFFS_Y,0.001
+INS_ACC2OFFS_Z,0.001
+INS_ACC2SCAL_X,1.001
+INS_ACC2SCAL_Y,1.001
+INS_ACC2SCAL_Z,1.001
+INS_ACCOFFS_X,0.001
+INS_ACCOFFS_Y,0.001
+INS_ACCOFFS_Z,0.001
+INS_ACCSCAL_X,1.001
+INS_ACCSCAL_Y,1.001
+INS_ACCSCAL_Z,1.001
+INS_GYR_CAL,0 # taken from quadplane autotest parameters, just in case
+NAVL1_PERIOD,14
+@delete PTCH_RATE_*
+PTCH_RATE_FF,1.407055
+PTCH_RATE_I,0.2125
+PTCH_RATE_IMAX,0.888889
+PTCH_RATE_P,0.309954
+@delete PTCH2SRV_*
+@delete Q_A_*
+Q_A_ACCEL_P_MAX,30000
+Q_A_ACCEL_R_MAX,30000
+Q_A_ACCEL_Y_MAX,4500
+Q_A_RAT_PIT_D,0.002
+Q_A_RAT_PIT_P,0.15
+Q_A_RAT_RLL_D,0.002
+Q_A_RAT_RLL_P,0.15
+Q_A_RATE_P_MAX,60
+Q_A_RATE_R_MAX,60
+Q_A_RATE_Y_MAX,12
+Q_A_SLEW_YAW,1500
+@delete Q_M_*
+@delete Q_P_*
+@delete RLL_RATE_*
+RLL_RATE_FF,0.552741
+RLL_RATE_I,0.2125
+RLL_RATE_IMAX,0.888889
+RLL_RATE_P,0.141009
+RNGFND1_PIN,0
+RNGFND1_SCALING,40
+RNGFND1_TYPE,1
+@delete SERVO*
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1000
+SIM_ARSPD_RATIO,1.6
+SIM_ARSPD2_RATIO,1.6
+SIM_BATT_CAP_AH,29.33
+SIM_GPS_POS_X,-0.12
+SIM_GPS_POS_Y,-0.17
+SIM_GPS_POS_Z,-0.06
+SIM_GPS2_DISABLE,0
+SIM_GPS2_POS_X,-0.12
+SIM_GPS2_POS_Y,0.17
+SIM_GPS2_POS_Z,-0.06
+SIM_IMU_POS_X,-0.21
+SIM_IMU_POS_Z,-0.03
+SIM_MAG1_DEVID,70403
+SIM_MAG2_DEVID,72963
+SIM_PLD_LAT,43.17443
+SIM_PLD_LON,-71.78664
+SIM_SONAR_POS_X,-0.12
+SIM_SONAR_POS_Z,0.05
+SIM_SONAR_SCALE,40
+@delete YAW2SRV_*

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-realflight.parm

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+# Carbonix Volanti RealFlight Parameters
+@include ../../CubeOrange-Volanti/defaults.parm
+# SITL-specific parameters
+AHRS_EKF_TYPE,3
+ARSPD_OFFSET,2013
+ARSPD_TYPE,2
+ARSPD2_OFFSET,2013
+ARSPD2_PIN,2
+ARSPD2_TYPE,2
+BATT_OPTIONS,0 # Disable reporting sag corrected voltage, because it already is (due to RF bug)
+BATT2_AMP_PERVLT,8.5
+BATT2_CURR_PIN,12
+BATT2_MONITOR,4
+BATT2_VOLT_MULT,10.1
+BATT2_VOLT_PIN,13
+BATT3_AMP_PERVLT,8.5
+BATT3_CURR_PIN,12
+BATT3_MONITOR,4
+BATT3_VOLT_MULT,10.1
+BATT3_VOLT_PIN,13
+BATT4_MONITOR,0
+GPS_TYPE,1
+GPS_TYPE2,1
+@delete INS_*
+RNGFND1_PIN,0
+RNGFND1_SCALING,40
+RNGFND1_TYPE,1
+SERVO7_FUNCTION,21 # RealFlight model uses old servo numbering
+SIM_ARSPD_RATIO,1.6
+SIM_ARSPD2_RATIO,1.6
+SIM_GPS_POS_X,-0.12
+SIM_GPS_POS_Y,-0.17
+SIM_GPS_POS_Z,-0.06
+SIM_GPS2_DISABLE,0
+SIM_GPS2_POS_X,-0.12
+SIM_GPS2_POS_Y,0.17
+SIM_GPS2_POS_Z,-0.06
+SIM_IMU_POS_X,-0.21
+SIM_IMU_POS_Z,-0.03
+SIM_MAG1_DEVID,70403
+SIM_MAG2_DEVID,72963
+SIM_PLD_LAT,43.17443
+SIM_PLD_LON,-71.78664
+SIM_SONAR_POS_X,-0.12
+SIM_SONAR_POS_Z,0.05
+SIM_SONAR_SCALE,40