refactor configuration script

README.md

@@ -91,7 +91,7 @@ To get the list of all supported modes, just type:
 To run PX4 Cyphal quadcopter, type:
 
 ```bash
-./scripts/docker.sh cq  # cq = cyphal_quadrotor
+./scripts/docker.sh cq  # cq = px4_v1_14_0_cyphal_quadcopter
 ```
 
 To run PX4 Dronecan VTOL, type:
@@ -123,17 +123,17 @@ Well, here is the output of the command:
 
 ```bash
 Primary supported modes (with aliases):
-  cyphal_quadrotor,cq         | Cyphal      PX4 v1.14-beta  Quadrotor x (4001)
-  cyphal_standard_vtol,csv    | Cyphal      PX4 v1.14-beta  Standard VTOL (13000)
-  dronecan_quadrotor,dq       | DroneCAN    PX4 v1.14-beta  Quadrotor (4001)
-  dronecan_vtol_v1_14_0,dv    | DroneCAN    PX4 v1.14-beta  Standard VTOL (13000)
-  dronecan_vtol_v1_12_1,dvo   | DroneCAN    PX4 v1.12       vtol 13070
+  px4_v1_14_0_cyphal_quadcopter,cq       | Cyphal     PX4 v1.14-beta  Quadrotor x (4001)
+  px4_v1_14_0_cyphal_quadplane_vtol,csv  | Cyphal     PX4 v1.14-beta  Standard VTOL (13000)
+  px4_v1_14_0_dronecan_quadrotor,dq      | DroneCAN   PX4 v1.14-beta  Quadrotor (4001)
+  px4_v1_14_0_dronecan_quadplane_vtol,dv | DroneCAN   PX4 v1.14-beta  Standard VTOL (13000)
+  px4_v1_12_1_dronecan_vtol,dvo          | DroneCAN   PX4 v1.12       vtol 13070
 
 Other modes:
-  sitl_inno_vtol              | MAVLink     PX4 v1.12       vtol 13070
-  sitl_flight_goggles         | MAVLink     PX4 v1.12       Quadrotor (4001)
-  cyphal_and_dronecan         | 2 CAN       AP  v4.4.0      Copter
-  cyphal_octorotor,co         | Cyphal      PX4 v1.14-beta  Octorotor Coaxial (12001)
+  sitl_inno_vtol                        | MAVLink     PX4 v1.12       vtol 13070
+  sitl_flight_goggles                   | MAVLink     PX4 v1.12       Quadrotor (4001)
+  cyphal_and_dronecan                   | 2 CAN       AP  v4.4.0      Copter
+  px4_v1_14_0_cyphal_octorotor,co       | Cyphal      PX4 v1.14-beta  Octorotor Coaxial (12001)
 
 ```
 

configs/px4/common.yaml

@@ -3,7 +3,7 @@ CBRK_SUPPLY_CHK:  894281
 COM_ARM_CHK_ESCS: 0
 CBRK_IO_SAFETY:   22027
 SYS_BOARD_SENS:   0
-COM_RC_IN_MODE:   1
+COM_RC_IN_MODE:   4       # Stick input disabled (it used to be 1 and the vehicle was Not ready).
 FD_ACT_EN:        0       # Enable Actuator Failure check
 
 WV_EN: 0                  # Weather vane. By default Enabled.

configs/vehicles/px4_v1_12_1_dronecan_vtol.yaml

@@ -0,0 +1,5 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.12.1_hitl/px4_fmu-v5_default.px4
+params:
+  - configs/px4/v1.13/vtol_13070/airframe.yaml
+  - configs/px4/dronecan.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_cyphal_octoplane_vtol.yaml

@@ -0,0 +1,7 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+params:
+  - configs/px4/v1.14/vtol_octoplane_coaxial/airframe.yaml
+  - configs/px4/v1.14/vtol_octoplane_coaxial/cyphal.yaml
+  - configs/px4/v1.14/vtol_octoplane_coaxial/geometry.yaml
+  - configs/px4/cyphal.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_cyphal_octorotor.yaml

@@ -0,0 +1,5 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+params:
+  - configs/px4/v1.14/octorotor/airframe.yaml
+  - configs/px4/cyphal.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_cyphal_quadcopter.yaml

@@ -0,0 +1,6 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+params:
+  - configs/px4/v1.14/quadcopter/airframe.yaml
+  - configs/px4/v1.14/quadcopter/cyphal.yaml
+  - configs/px4/cyphal.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_cyphal_quadplane_vtol.yaml

@@ -0,0 +1,6 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+params:
+  - configs/px4/v1.14/standard_vtol/airframe.yaml
+  - configs/px4/v1.14/standard_vtol/cyphal.yaml
+  - configs/px4/cyphal.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_dronecan_quadplane_vtol.yaml

@@ -0,0 +1,6 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_default.px4
+params:
+  - configs/px4/v1.14/standard_vtol/airframe.yaml
+  - configs/px4/v1.14/standard_vtol/dronecan.yaml
+  - configs/px4/dronecan.yaml
+  - configs/px4/common.yaml

configs/vehicles/px4_v1_14_0_dronecan_quadrotor.yaml

@@ -0,0 +1,6 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_default.px4
+params:
+  - configs/px4/v1.14/quadcopter/airframe.yaml
+  - configs/px4/v1.14/quadcopter/dronecan.yaml
+  - configs/px4/dronecan.yaml
+  - configs/px4/common.yaml

missions/ci/square.sh

@@ -7,7 +7,7 @@ SCRIPTS_DIR=$REPOSITORY_DIR/scripts
 $SCRIPTS_DIR/docker.sh kill
 sleep 1
 
-$SCRIPTS_DIR/configure.sh cyphal_quadrotor
+${REPOSITORY_DIR}/scripts/configurator.py ${REPOSITORY_DIR}/configs/vehicles/px4_v1_14_0_cyphal_quadcopter.yaml
 $SCRIPTS_DIR/docker.sh cq &
 sleep 15 # px4 needs time after booting up to initialize everything
 $SCRIPTS_DIR/test_scenario.sh --mission $CURRENT_DIR/square.plan

missions/ci/sviyazhsk_vtol.sh

@@ -7,7 +7,7 @@ SCRIPTS_DIR=$REPOSITORY_DIR/scripts
 $SCRIPTS_DIR/docker.sh kill
 sleep 1
 
-$SCRIPTS_DIR/configure.sh px4_v1_14_0_beta_cyphal_vtol
+$SCRIPTS_DIR/configure.sh px4_v1_14_0_cyphal_quadplane_vtol
 $SCRIPTS_DIR/docker.sh csv &
 sleep 15 # px4 needs time after booting up to initialize everything
 $SCRIPTS_DIR/test_scenario.sh --mission $CURRENT_DIR/sviyazhsk_vtol.plan

missions/ci/takeoff_and_land.sh

@@ -7,7 +7,7 @@ SCRIPTS_DIR=$REPOSITORY_DIR/scripts
 $SCRIPTS_DIR/docker.sh kill
 sleep 1
 
-$SCRIPTS_DIR/configure.sh cyphal_quadrotor
+${REPOSITORY_DIR}/scripts/configurator.py ${REPOSITORY_DIR}/configs/vehicles/px4_v1_14_0_cyphal_quadcopter.yaml
 $SCRIPTS_DIR/docker.sh cq &
 sleep 15 # px4 needs time after booting up to initialize everything
 $SCRIPTS_DIR/test_scenario.sh --mission $CURRENT_DIR/takeoff_and_land.plan

scripts/configurator.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+"""
+Autopilot configurator:
+1. Download a firmware and upload to a target if it is specified in yaml file
+2. Configure autopilot parameters if it is specified in yaml file
+"""
+import os
+import subprocess
+import wget
+from argparse import ArgumentParser
+import yaml
+
+SCRIPTS_DIR = os.path.dirname(os.path.realpath(__file__))
+REPO_DIR = os.path.dirname(SCRIPTS_DIR)
+BINARY_OUTPUT_PATH = f"{REPO_DIR}/firmware.bin"
+
+def configure(yaml_path : str) -> None:
+    with open(yaml_path, 'r') as file:
+        config = yaml.safe_load(file)
+
+    flags = []
+
+    firmware = config.get('firmware')
+    if firmware is not None:
+        if os.path.exists(BINARY_OUTPUT_PATH):
+            os.remove(BINARY_OUTPUT_PATH)
+        wget.download(firmware, out=BINARY_OUTPUT_PATH)
+        flags += ['--firmware', BINARY_OUTPUT_PATH]
+
+    params = config.get('params')
+    if params is not None and len(params) > 0:
+        flags += ['-f', '--config']
+        for param in params:
+            flags.append(f"{REPO_DIR}/{param}")
+
+    if len(flags) > 0:
+        subprocess.run(["autopilot-configurator", "-v", *flags])
+        if os.path.exists(BINARY_OUTPUT_PATH):
+            os.remove(BINARY_OUTPUT_PATH)
+
+def configure_cli():
+    """
+    ArgumentParser wrapper under configure() function.
+    This function can be used in pyproject.toml
+    """
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('path', help='Path to config .yaml file')
+    args = parser.parse_args()
+    configure(args.path)
+
+if __name__ == "__main__":
+    configure_cli()