PX4 프로젝트 업데이트

간만에 git update를 진행하였다. 마지막 업데이트를 한지 약 한달(?)정도 된거 같은데 그 사이에 많은 변화가 있는듯 하다.

$ git pull

remote: Counting objects: 7834, done.

remote: Compressing objects: 100% (358/358), done.

remote: Total 7834 (delta 4175), reused 4368 (delta 4142), pack-reused 3333

Receiving objects: 100% (7834/7834), 1.82 MiB | 20.00 KiB/s, done.

Resolving deltas: 100% (6104/6104), completed with 719 local objects.

From https://github.com/PX4/Firmware

   0b8e88f..680cebc  master                  -> origin/master

   40aa785..29b0043  beta                    -> origin/beta

 * [new branch]      block_cleanup           -> origin/block_cleanup

 * [new branch]      build_misc              -> origin/build_misc

   5c524e1..6c15666  coverity                -> origin/coverity

 + 9c6dbf8...5791463 feature_shell           -> origin/feature_shell  (forced update)

 * [new branch]      fix-image-start-capture -> origin/fix-image-start-capture

 * [new branch]      fmuv5_update_board_config -> origin/fmuv5_update_board_config

 * [new branch]      global_to_local         -> origin/global_to_local

 * [new branch]      iekf-new                -> origin/iekf-new

 * [new branch]      iekf-slim               -> origin/iekf-slim

 * [new branch]      landdetector_additional_state -> origin/landdetector_additional_state

 * [new branch]      master_backport_serial_DMA_buffer_size -> origin/master_backport_serial_DMA_buffer_size

 + ea1ade4...b31871a master_nxphlite         -> origin/master_nxphlite  (forced update)

 * [new branch]      master_pwm_experiment_on_v2 -> origin/master_pwm_experiment_on_v2

 * [new branch]      mavlink_geofence_rebased -> origin/mavlink_geofence_rebased

 * [new branch]      mission_add_lpos        -> origin/mission_add_lpos

 * [new branch]      module_base_class_and_docs -> origin/module_base_class_and_docs

 * [new branch]      ms5525                  -> origin/ms5525

 * [new branch]      nuttx-cmake             -> origin/nuttx-cmake

 * [new branch]      pr-auto_land_velocity_limit -> origin/pr-auto_land_velocity_limit

 + 360d65e...2edca3b pr-ekfEcl               -> origin/pr-ekfEcl  (forced update)

 * [new branch]      pr-mavlink-cleanup      -> origin/pr-mavlink-cleanup

 * [new branch]      pr-mavlink-output-rates -> origin/pr-mavlink-output-rates

 * [new branch]      pr-position_derivative  -> origin/pr-position_derivative

 * [new branch]      pr-px4_auto             -> origin/pr-px4_auto

 * [new branch]      pr-px4_stick_to_setpoint -> origin/pr-px4_stick_to_setpoint

 * [new branch]      pr-rpi-6619-continued   -> origin/pr-rpi-6619-continued

 * [new branch]      pr-takeoff_fix          -> origin/pr-takeoff_fix

 * [new branch]      pr-v4pro-hotfix         -> origin/pr-v4pro-hotfix

 + 00334ad...29b0043 stable                  -> origin/stable  (forced update)

 * [new tag]         v1.6.0                  -> v1.6.0

 * [new tag]         v1.6.0-rc2              -> v1.6.0-rc2

 * [new tag]         v1.6.0-rc3              -> v1.6.0-rc3

 * [new tag]         v1.6.0-rc4              -> v1.6.0-rc4

Updating 0b8e88f..680cebc

Fast-forward

그중에서 aerocore2와 관련된 업데이트가 많이 보인다.

 create mode 100644 nuttx-configs/aerocore2/Kconfig

 create mode 100755 nuttx-configs/aerocore2/include/board.h

 create mode 100644 nuttx-configs/aerocore2/include/nsh_romfsimg.h

 create mode 100644 nuttx-configs/aerocore2/nsh/Make.defs

 create mode 100644 nuttx-configs/aerocore2/nsh/defconfig

 create mode 100755 nuttx-configs/aerocore2/nsh/setenv.sh

 create mode 100644 nuttx-configs/aerocore2/scripts/ld.script

 create mode 100644 nuttx-configs/aerocore2/src/Makefile

 create mode 100644 nuttx-configs/aerocore2/src/empty.c

 create mode 100644 src/drivers/boards/aerocore2/CMakeLists.txt

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_can.c

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_init.c

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_led.c

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_spi.c

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_timer_config.c

 create mode 100644 src/drivers/boards/aerocore2/aerocore2_usb.c

 create mode 100644 src/drivers/boards/aerocore2/board_config.h

어떤 물건인가 해서 검색해보니 다음과 같은 제품이 보인다.

gumstix라는 소형 SOM? 같은 컴퓨팅 모듈을 전문으로 제조/판매하는 회사에서 드론 전용의 컴퓨팅 모듈을 만든거 같다.

그리고 역시 PX4와 함께 공동 개발을 진행하고 있는듯 하다. 아래는 해당 제품의 사진.

센서 사양은 다음과 같다.

ST L3G4200D 3-AXIS GYROSCOPE

MS5611 BAROMETRIC SENSOR

LSM303D 6-AXIS ACCELEROMETER

픽스호크와 크게 다른 부분은 없는듯 하다. MPU IMU센서는 어떤 부품이 들어갔는지는 확인 안됨.

이 외에 NAVIO 관련 부분도 일부 업데이트 되었다. 

 create mode 100644 src/drivers/navio_adc/CMakeLists.txt

 create mode 100644 src/drivers/navio_adc/navio_adc.cpp

 delete mode 100644 src/drivers/navio_gpio/navio_gpio.cpp

 delete mode 100644 src/drivers/navio_gpio/navio_gpio.h

센서와 관련된 업데이트 내용도 보인다. 특히 보쉬의 IMU 센서 관련 부분이 새로 추가된거 같다.

 create mode 100644 src/drivers/bmi055/CMakeLists.txt

 create mode 100644 src/drivers/bmi055/bmi055.hpp

 create mode 100644 src/drivers/bmi055/bmi055_accel.cpp

 create mode 100644 src/drivers/bmi055/bmi055_gyro.cpp

 create mode 100644 src/drivers/bmi055/bmi055_main.cpp

 rename src/drivers/{mpu6500 => bmm150}/CMakeLists.txt (96%)

 create mode 100644 src/drivers/bmm150/bmm150.cpp

 create mode 100644 src/drivers/bmm150/bmm150.hpp

 create mode 100644 src/drivers/bmp280/bmp280_i2c.cpp

관련하여 서브모듈들도 업데이트가 이루어졌다.

$ git submodule update

remote: Counting objects: 101, done.

remote: Total 101 (delta 58), reused 59 (delta 58), pack-reused 42

Receiving objects: 100% (101/101), 21.96 KiB | 0 bytes/s, done.

Resolving deltas: 100% (70/70), completed with 21 local objects.

From https://github.com/PX4/sitl_gazebo

   dab68eb..0b0111d  master     -> origin/master

Submodule path 'Tools/sitl_gazebo': checked out '02060a86652b736ca7dd945a524a8bf84eaf5a05'

remote: Counting objects: 508, done.

remote: Compressing objects: 100% (5/5), done.

remote: Total 508 (delta 443), reused 443 (delta 441), pack-reused 62

Receiving objects: 100% (508/508), 213.60 KiB | 95.00 KiB/s, done.

Resolving deltas: 100% (466/466), completed with 57 local objects.

From https://github.com/mavlink/c_library_v1

   5fb3b88..d4d3a41  master     -> origin/master

Submodule path 'mavlink/include/mavlink/v1.0': checked out 'd3957ad294029bd12318f3de6e1f4b28f4a0d2db'

remote: Counting objects: 532, done.

remote: Total 532 (delta 483), reused 483 (delta 483), pack-reused 49

Receiving objects: 100% (532/532), 225.02 KiB | 121.00 KiB/s, done.

Resolving deltas: 100% (492/492), completed with 66 local objects.

From https://github.com/mavlink/c_library_v2

   fb41138..9e12d05  master     -> origin/master

Submodule path 'mavlink/include/mavlink/v2.0': checked out '2faa6d49834aa203e2a3eeeeed588728fb14c431'

remote: Counting objects: 31, done.

remote: Total 31 (delta 24), reused 24 (delta 24), pack-reused 7

Unpacking objects: 100% (31/31), done.

From https://github.com/PX4/GpsDrivers

   c32a398..2283126  master     -> origin/master

Submodule path 'src/drivers/gps/devices': checked out 'dd275f36cb22a82342bdeadf4f66b4f6af03ef92'

Submodule path 'src/lib/DriverFramework': checked out '87de5cbab3e652b4dfdf2161f2440437b89ee399'

remote: Counting objects: 199, done.

remote: Compressing objects: 100% (2/2), done.

remote: Total 199 (delta 120), reused 120 (delta 120), pack-reused 77

Receiving objects: 100% (199/199), 49.86 KiB | 69.00 KiB/s, done.

Resolving deltas: 100% (155/155), completed with 18 local objects.

From https://github.com/PX4/ecl

   a1a5734..05c3c46  master                  -> origin/master

 * [new branch]      pr-ekfBiasLearnControl  -> origin/pr-ekfBiasLearnControl

 * [new branch]      pr-ekfBufferParam       -> origin/pr-ekfBufferParam

 * [new branch]      pr-ekfDelVelBiasControl -> origin/pr-ekfDelVelBiasControl

 * [new branch]      pr-ekfOutputObserver    -> origin/pr-ekfOutputObserver

 + 172c577...c554d12 pr-rangeAid             -> origin/pr-rangeAid  (forced update)

 * [new branch]      pr-terrainEstimator     -> origin/pr-terrainEstimator

Submodule path 'src/lib/ecl': checked out '05c3c46f839ef0738c2cb0c643dd40a2d6ef01d8