px4-firmware/boards/px4/sitl/default.cmake


px4_add_board(
	PLATFORM posix
	VENDOR px4
	MODEL sitl
	LABEL default
	TESTING
	DRIVERS
		#barometer # all available barometer drivers
		#batt_smbus
		camera_capture
		camera_trigger
		#differential_pressure # all available differential pressure drivers
		#distance_sensor # all available distance sensor drivers
		gps
		#imu # all available imu drivers
		#magnetometer # all available magnetometer drivers
		pwm_out_sim
		rpm/rpm_simulator
		#telemetry # all available telemetry drivers
		tone_alarm
		#uavcan
	MODULES
		airship_att_control
		airspeed_selector
		attitude_estimator_q
		camera_feedback
		commander
		dataman
		ekf2
		events
		fw_att_control
		fw_pos_control_l1
		land_detector
		landing_target_estimator
		#load_mon
		local_position_estimator
		logger
		mavlink
		mc_att_control
		mc_hover_thrust_estimator
		mc_pos_control
		mc_rate_control
		navigator
		rc_update
		replay
		rover_pos_control
		sensors
		#sih
		simulator
		temperature_compensation
		vmount
		vtol_att_control
		uuv_att_control

	SYSTEMCMDS
		#dumpfile
		dyn
		esc_calib
		led_control
		mixer
		motor_ramp
		motor_test
		#mtd
		#nshterm
		param
		perf
		pwm
		sd_bench
		shutdown
		tests # tests and test runner
		#top
		topic_listener
		tune_control
		ver
		work_queue
	EXAMPLES
		dyn_hello # dynamically loading modules example
		fake_magnetometer
		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
		hello
		#hwtest # Hardware test
		#matlab_csv_serial
		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
		rover_steering_control # Rover example app
		uuv_example_app
		work_item
	)

set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")

set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")

# If the environment variable 'replay' is defined, we are building with replay
# support. In this case, we enable the orb publisher rules.
set(REPLAY_FILE "$ENV{replay}")
if(REPLAY_FILE)
	message(STATUS "Building with uorb publisher rules support")
	add_definitions(-DORB_USE_PUBLISHER_RULES)
endif()
set(ENABLE_LOCKSTEP_SCHEDULER yes)
boards organization 2018-11-16 13:52:37 -04:00
			`px4_add_board(`
			`PLATFORM posix`
			`VENDOR px4`
			`MODEL sitl`
			`LABEL default`
			`TESTING`
			`DRIVERS`
			`#barometer # all available barometer drivers`
device drivers lib add linux spi support 2019-05-20 13:18:56 -03:00			`#batt_smbus`
camera_feedback: move to WQ callback and uORB::Subscription 2019-09-28 17:19:40 -03:00			`camera_capture`
boards organization 2018-11-16 13:52:37 -04:00			`camera_trigger`
device drivers lib add linux spi support 2019-05-20 13:18:56 -03:00			`#differential_pressure # all available differential pressure drivers`
			`#distance_sensor # all available distance sensor drivers`
boards organization 2018-11-16 13:52:37 -04:00			`gps`
			`#imu # all available imu drivers`
			`#magnetometer # all available magnetometer drivers`
			`pwm_out_sim`
drivers/rpm: add simple RPM message simulator (dummy publisher) 2020-04-25 10:10:11 -03:00			`rpm/rpm_simulator`
boards organization 2018-11-16 13:52:37 -04:00			`#telemetry # all available telemetry drivers`
ToneAlarm class refactoring to implement an interface for hardware specific methods and a single ToneAlarm class. 2019-01-10 17:39:27 -04:00			`tone_alarm`
move uavcan from modules to drivers 2018-12-01 15:00:46 -04:00			`#uavcan`
boards organization 2018-11-16 13:52:37 -04:00			`MODULES`
vehicles: add new vehicle type: Airship (#14862) Co-authored-by: Anton Erasmus <anton@flycloudline.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net> 2020-08-10 03:52:51 -03:00			`airship_att_control`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`airspeed_selector`
boards organization 2018-11-16 13:52:37 -04:00			`attitude_estimator_q`
			`camera_feedback`
			`commander`
			`dataman`
			`ekf2`
			`events`
			`fw_att_control`
			`fw_pos_control_l1`
			`land_detector`
			`landing_target_estimator`
DriverFramework purge The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything. - DriverFramework (src/lib/DriverFramework submodule) completely removed - added dspal submodule in qurt platform (was brought in via DriverFramework) - all df wrapper drivers removed - all boards using df wrapper drivers updated to use in tree equivalents - unused empty arch/board.h on posix and qurt removed - unused IOCTLs removed (pub block, priv, etc) - Integrator delete methods only used from df wrapper drivers - commander: sensor calibration use "NuttX version" everywhere for now - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc) - load_mon and top remove from linux boards (unused) - delete unused PX4_MAIN_FUNCTION - delete unused getreg32 macro - delete unused SIOCDEVPRIVATE define - named each platform tasks consistently - posix list_devices and list_topics removed (list_files now shows all virtual files) 2020-01-09 12:00:40 -04:00			`#load_mon`
boards organization 2018-11-16 13:52:37 -04:00			`local_position_estimator`
			`logger`
			`mavlink`
			`mc_att_control`
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) * MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com> 2020-03-11 22:20:54 -03:00			`mc_hover_thrust_estimator`
boards organization 2018-11-16 13:52:37 -04:00			`mc_pos_control`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`mc_rate_control`
boards organization 2018-11-16 13:52:37 -04:00			`navigator`
sensors split rc_update into new standalone module 2019-11-24 14:25:11 -04:00			`rc_update`
px4/sitl add replay module 2018-11-24 12:56:18 -04:00			`replay`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`rover_pos_control`
boards organization 2018-11-16 13:52:37 -04:00			`sensors`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`#sih`
boards organization 2018-11-16 13:52:37 -04:00			`simulator`
create temperature_compensation module - this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time) 2020-01-20 22:42:42 -04:00			`temperature_compensation`
move vmount to modules (it's not a driver) 2018-12-01 14:58:15 -04:00			`vmount`
boards organization 2018-11-16 13:52:37 -04:00			`vtol_att_control`
add support for unmanned underwater vehicles (#14079) * add support for unmanned underwater vehicles: * airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines * mixer for UUVs with X-shaped thruster setup similar to quadcopter * add module uuv_att_control for underwater robot attitude control * add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app 2020-02-05 00:24:37 -04:00			`uuv_att_control`

boards organization 2018-11-16 13:52:37 -04:00			`SYSTEMCMDS`
			`#dumpfile`
			`dyn`
			`esc_calib`
			`led_control`
			`mixer`
			`motor_ramp`
mixer_module: add support for test_motor (motor_test CLI command) 2019-10-15 13:56:52 -03:00			`motor_test`
boards organization 2018-11-16 13:52:37 -04:00			`#mtd`
			`#nshterm`
			`param`
			`perf`
			`pwm`
			`sd_bench`
			`shutdown`
			`tests # tests and test runner`
DriverFramework purge The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything. - DriverFramework (src/lib/DriverFramework submodule) completely removed - added dspal submodule in qurt platform (was brought in via DriverFramework) - all df wrapper drivers removed - all boards using df wrapper drivers updated to use in tree equivalents - unused empty arch/board.h on posix and qurt removed - unused IOCTLs removed (pub block, priv, etc) - Integrator delete methods only used from df wrapper drivers - commander: sensor calibration use "NuttX version" everywhere for now - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc) - load_mon and top remove from linux boards (unused) - delete unused PX4_MAIN_FUNCTION - delete unused getreg32 macro - delete unused SIOCDEVPRIVATE define - named each platform tasks consistently - posix list_devices and list_topics removed (list_files now shows all virtual files) 2020-01-09 12:00:40 -04:00			`#top`
boards organization 2018-11-16 13:52:37 -04:00			`topic_listener`
			`tune_control`
			`ver`
px4_work_queue: command line status output and shutdown empty queues * adds a work_queue systemcmd that will bring a tree view of all active work queues and work items * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached 2019-10-02 13:23:17 -03:00			`work_queue`
boards organization 2018-11-16 13:52:37 -04:00			`EXAMPLES`
move dyn_hello to examples and restore testing 2018-11-24 13:12:58 -04:00			`dyn_hello # dynamically loading modules example`
create fake_magnetometer "driver" to publish magnetic field in body frame - this can be helpful for orienting new unknown magnetometers - requires attitude and GPS position 2020-06-16 13:17:55 -03:00			`fake_magnetometer`
boards organization 2018-11-16 13:52:37 -04:00			`fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control`
move posix/tests/hello to examples/hello and include everywhere 2018-11-24 12:52:07 -04:00			`hello`
boards organization 2018-11-16 13:52:37 -04:00			`#hwtest # Hardware test`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`#matlab_csv_serial`
Correct links to example docs 2019-03-12 19:33:27 -03:00			`px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html`
			`px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html`
boards organization 2018-11-16 13:52:37 -04:00			`rover_steering_control # Rover example app`
boards: alphabetize and sync common drivers and modules 2019-11-19 20:59:09 -04:00			`uuv_example_app`
examples: add simple work_item example module 2020-04-05 11:20:19 -03:00			`work_item`
boards organization 2018-11-16 13:52:37 -04:00			`)`

			`set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")`
			`set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")`

			`set(config_sitl_debugger disable CACHE STRING "debugger for sitl")`
			`set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")`

			`# If the environment variable 'replay' is defined, we are building with replay`
			`# support. In this case, we enable the orb publisher rules.`
			`set(REPLAY_FILE "$ENV{replay}")`
			`if(REPLAY_FILE)`
cmake: show sitl_gazebo build output and improve rebuild 2019-10-01 14:49:57 -03:00			`message(STATUS "Building with uorb publisher rules support")`
boards organization 2018-11-16 13:52:37 -04:00			`add_definitions(-DORB_USE_PUBLISHER_RULES)`
SITL: interim fix for replay The replay functionality was broken with lockstep. This is an interim fix for the replay functionality. In the longer term it would be nice to leverage the lockstep speedup for the replay. 2019-03-27 06:55:16 -03:00			`endif()`
replay: use lockstep scheduler 2020-06-18 12:21:05 -03:00			`set(ENABLE_LOCKSTEP_SCHEDULER yes)`