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xiaosantixiaosanti
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simposix support instrument measure and some build opt
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‎cache/GCSConfig.xml

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‎cache/pathplan

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<!DOCTYPE PathPlan>
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<waypoints>
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<waypoint number="0">
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<field value="" name="description"/>
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<field value="31.21472147937215" name="latitude"/>
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<field value="121.4073747396469" name="longitude"/>
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<field value="2.423174257975285" name="distance_to_home"/>
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<field value="180" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="10" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="1" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="1">
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<field value="" name="description"/>
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<field value="31.21472836109785" name="latitude"/>
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<field value="121.4073050022125" name="longitude"/>
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<field value="6.835949457837972" name="distance_to_home"/>
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<field value="255.9637746104024" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="1" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="1" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="2">
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<field value="" name="description"/>
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<field value="31.21473753673133" name="latitude"/>
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<field value="121.4072526991367" name="longitude"/>
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<field value="11.62323376567099" name="distance_to_home"/>
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<field value="266.8550741645803" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="1" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="1" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="3">
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<field value="" name="description"/>
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<field value="31.21475359408779" name="latitude"/>
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<field value="121.4072003960609" name="longitude"/>
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<field value="16.61929524116082" name="distance_to_home"/>
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<field value="273.9603570103904" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="1" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="1" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="4">
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<field value="" name="description"/>
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<field value="31.21475130017989" name="latitude"/>
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<field value="121.4072634279728" name="longitude"/>
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<field value="10.62302308267411" name="distance_to_home"/>
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<field value="274.8207949274774" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="1" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="0" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="5">
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<field value="" name="description"/>
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<field value="31.21475244713385" name="latitude"/>
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<field value="121.4073130488396" name="longitude"/>
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<field value="5.954690883886174" name="distance_to_home"/>
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<field value="279.8658229393102" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="1" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="0" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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<waypoint number="6">
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<field value="" name="description"/>
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<field value="31.21472836109785" name="latitude"/>
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<field value="121.4073733985424" name="longitude"/>
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<field value="1.662859250057504" name="distance_to_home"/>
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<field value="184.3987057434047" name="bearing_from_home"/>
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<field value="4" name="altitude_above_home"/>
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<field value="1" name="is_relative_to_home"/>
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<field value="4" name="altitude"/>
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<field value="2" name="velocity"/>
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<field value="7" name="mode"/>
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<field value="0" name="mode_param0"/>
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<field value="0" name="mode_param1"/>
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<field value="0" name="mode_param2"/>
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<field value="0" name="mode_param3"/>
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<field value="3" name="condition"/>
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<field value="0" name="condition_param0"/>
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<field value="0" name="condition_param1"/>
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<field value="0" name="condition_param2"/>
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<field value="0" name="condition_param3"/>
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<field value="0" name="command"/>
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<field value="0" name="jumpdestination"/>
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<field value="1" name="errordestination"/>
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<field value="0" name="is_locked"/>
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</waypoint>
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</waypoints>

‎flight/Project/gdb/qt5pinrter.zip

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‎flight/Project/gdb/qt5pinrter/README.md

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# qt5printers
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The `core.py`, `typeinfo.py` and `__init__.py` files are taken from patchset 2
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at https://codereview.qt-project.org/87052 and provide a GDB pretty printer for
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Qt5. These are authored by Alex Merry from the KDE project.
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## Usage
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Copy the three Python files to `~/.gdb/qt5printers/` and add this to your
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`~/.gdbinit` (or execute it from an existing `gdb` session):
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python
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import sys, os.path
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sys.path.insert(0, os.path.expanduser('~/.gdb'))
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import qt5printers
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qt5printers.register_printers(gdb.current_objfile())
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end
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Now verify it with your favorite program. Below you can find a quick test
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program.
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### Test program
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Here is a test program (save it as `test.cpp`):
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#include <QTextStream>
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void test(const QByteArray & ba) { }
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int main(void) {
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test(QByteArray("abc"));
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return 0;
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}
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Compile it with:
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g++ test.cpp $(pkg-config --cflags --libs Qt5Core) -g
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If everything goes well you should see the expanded data:
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$ gdb -q -ex break\ test -ex r ./a.out
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...
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Breakpoint 1, test (ba="abc" = {...}) at test.cpp:4
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4 test(QByteArray("abc"));
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## Background
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The Qt4 pretty printers from KDevelop[0] are not fully compatible with Qt5. For
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instance, the latest version (from December 2014) does not properly handle
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QByteArray. While these qt5printers are compatible with Qt5, it conflicts with
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Qt4 (for example, QByteArray changed in Qt 5 from Qt 4 in this commit[1]).
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See also:
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- https://bugs.kde.org/show_bug.cgi?id=331044
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- https://techbase.kde.org/Development/Tutorials/Debugging/Debugging_with_GDB
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## License
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For the applicable licenses, see the headers of the files and refer to the Qt5
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sources at https://code.qt.io/cgit/qt/qtbase.git/tree/.
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[0]: https://projects.kde.org/projects/extragear/kdevelop/kdevelop/repository/revisions/master/show/debuggers/gdb/printers
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[1]: https://code.qt.io/cgit/qt/qtbase.git/commit/src/corelib/tools/qbytearray.h?id=ad35a41739c8e1fb6db62ed37b764448b2e59ece

‎flight/targets/boards/simposix/firmware/Makefile

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@@ -35,13 +35,15 @@ include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
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DEBUG ?= YES
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# List of modules to include
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MODULES = ManualControl Stabilization GPS
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MODULES = ManualControl
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MODULES += Stabilization
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# MODULES += GPS # ENABLE when realflight!
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MODULES += PathPlanner
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MODULES += PathFollower
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# MODULES += CameraStab
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MODULES += Telemetry
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MODULES += Logging
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MODULES += FirmwareIAP
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MODULES += FirmwareIAP # Board Identification
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MODULES += StateEstimation
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MODULES += Sensors/simulated/Sensors
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#MODULES += Airspeed
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/plans.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(FLIGHTLIB)/instrumentation.c
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114117
SRC += $(MATHLIB)/sin_lookup.c
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SRC += $(MATHLIB)/pid.c
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SRC += $(PIOSCORECOMMON)/pios_deltatime.c
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SRC += $(PIOSCORECOMMON)/pios_notify.c
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SRC += $(PIOSCORECOMMON)/pios_mem.c
135+
SRC += $(PIOSCORECOMMON)/pios_instrumentation.c
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## PIOS Hardware
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include $(PIOS)/posix/library.mk

‎flight/targets/boards/simposix/firmware/UAVObjects.inc

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@@ -119,7 +119,7 @@ UAVOBJSRCFILENAMES += altitudeholdstatus
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UAVOBJSRCFILENAMES += ekfconfiguration
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UAVOBJSRCFILENAMES += ekfstatevariance
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UAVOBJSRCFILENAMES += takeofflocation
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# UAVOBJSRCFILENAMES += perfcounter
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UAVOBJSRCFILENAMES += perfcounter
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UAVOBJSRCFILENAMES += systemidentsettings
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UAVOBJSRCFILENAMES += systemidentstate
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‎flight/targets/boards/simposix/firmware/inc/FreeRTOSConfig.h

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#define configMINIMAL_STACK_SIZE ((unsigned short)256)
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#define configTOTAL_HEAP_SIZE ((size_t)(45 * 1024))
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#define configMAX_TASK_NAME_LEN (16)
62-
#define configUSE_TRACE_FACILITY 0
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#define configUSE_TRACE_FACILITY 1 // uxTaskGetSystemState()
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#define configUSE_16_BIT_TICKS 0
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1

‎flight/targets/boards/simposix/firmware/inc/pios_config.h

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#define PIOS_INCLUDE_CALLBACKSCHEDULER
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#define PIOS_INCLUDE_BL_HELPER
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//
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#define PIOS_INCLUDE_INSTRUMENTATION
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#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
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/* Enable/Disable PiOS Modules */
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// #define PIOS_INCLUDE_ADC
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#define PIOS_INCLUDE_DELAY
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#define PIOS_INCLUDE_COM_FLEXI
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#define PIOS_INCLUDE_GPS
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// #define MODULE_GPS_BUILTIN // used in GPS.c
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#define PIOS_OVERO_SPI
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/* Supported receiver interfaces */
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#define PIOS_INCLUDE_RCVR

‎flight/targets/boards/simposix/firmware/pios_board.c

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@@ -120,6 +120,10 @@ void PIOS_Board_Init(void)
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/* Delay system */
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PIOS_DELAY_Init();
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
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#endif
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// Initialize logfs for settings.
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// If linking in yaffs for testing, this will be /dev0 with settings stored
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// via the logfs object api in /dev0/logfs/

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