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


px4_add_board(
	PLATFORM posix
	ROMFSROOT px4fmu_common
	TESTING
	ETHERNET
	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
		#protocol_splitter
		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
		flight_mode_manager
		fw_att_control
		fw_pos_control_l1
		gyro_calibration
		gyro_fft
		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
		#micrortps_bridge
		navigator
		rc_update
		replay
		rover_pos_control
		sensors
		#sih
		simulator
		temperature_compensation
		uuv_att_control
		uuv_pos_control
		vmount
		vtol_att_control
	SYSTEMCMDS
		#dumpfile
		dyn
		esc_calib
		failure
		led_control
		#mft
		mixer
		motor_ramp
		motor_test
		#mtd
		#nshterm
		param
		perf
		pwm
		sd_bench
		shutdown
		system_time
		tests # tests and test runner
		#top
		topic_listener
		tune_control
		uorb
		ver
		work_queue
	EXAMPLES
		dyn_hello # dynamically loading modules example
		fake_gps
		fake_imu
		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)

	message(STATUS "Building without lockstep for replay")
	set(ENABLE_LOCKSTEP_SCHEDULER no)
else()
	set(ENABLE_LOCKSTEP_SCHEDULER yes)
endif()
boards organization 2018-11-16 13:52:37 -04:00
			`px4_add_board(`
			`PLATFORM posix`
posix: enable ROMFSROOT This will copy the ROMFS into the build directory under etc/, and thus needs a change of the PX4 startup parameters and mixer paths. 2020-09-10 08:33:29 -03:00			`ROMFSROOT px4fmu_common`
boards organization 2018-11-16 13:52:37 -04:00			`TESTING`
Added rc.mavlink_override to test the new parameters with sitl 2021-02-25 06:30:30 -04:00			`ETHERNET`
boards organization 2018-11-16 13:52:37 -04:00			`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`
boards: px4/sitl sync all build variants and fix none default package 2020-09-15 17:55:01 -03:00			`#protocol_splitter`
boards organization 2018-11-16 13:52:37 -04:00			`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`
Add FlightModeManager to separate out setpoint generation from controllers 2020-10-24 05:28:30 -03:00			`flight_mode_manager`
boards organization 2018-11-16 13:52:37 -04:00			`fw_att_control`
			`fw_pos_control_l1`
simple gyro auto calibration module 2021-03-06 14:14:57 -04:00			`gyro_calibration`
gyro_fft promote to modules and include on all boards 2021-02-26 18:30:12 -04:00			`gyro_fft`
boards organization 2018-11-16 13:52:37 -04:00			`land_detector`
			`landing_target_estimator`
load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 19:49:25 -03:00			`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: px4/sitl sync all build variants and fix none default package 2020-09-15 17:55:01 -03:00			`#micrortps_bridge`
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`
boards: px4/sitl sync all build variants and fix none default package 2020-09-15 17:55:01 -03:00			`uuv_att_control`
Uuv position control extension (#16688) * Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). * Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). Currently not solved/missing: - Problem with gazebo model(propeller moving chaotically). - Mixer correct gazebo vs real life (has to be tested in the future) - correct integration in uuv.apps (when choose which module) - very basic controller chosen (could be improved a lot in the future) * Remove error caused by unused variables and a different build error * added better description of the parameter. Additionally the group is changed. * added better description of the parameter. Additionally the group is changed. Fixed bug about parameter * Added EOF to the files. * Removed parameter for direct position control for safety reasons. * small bugfix 2021-02-15 13:40:28 -04:00			`uuv_pos_control`
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`
			`SYSTEMCMDS`
			`#dumpfile`
			`dyn`
			`esc_calib`
systemcmds: add new failure command This adds a new systemcmd to inject failures into the system. 2020-06-09 09:21:44 -03:00			`failure`
boards organization 2018-11-16 13:52:37 -04:00			`led_control`
Added mft for queries 2020-11-20 15:41:51 -04:00			`#mft`
boards organization 2018-11-16 13:52:37 -04:00			`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`
add system command to get and set system time * add system_time command for all boards 2020-09-26 14:09:01 -03:00			`system_time`
boards organization 2018-11-16 13:52:37 -04:00			`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`
uORB move to PX4 platform layer 2021-02-17 12:25:56 -04:00			`uorb`
boards organization 2018-11-16 13:52:37 -04:00			`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`
move fake GPS to standalone module 2021-02-20 15:13:36 -04:00			`fake_gps`
fake_imu (formally fake_gyro) updates for testing gyro filtering - fake_imu now publishes sine sweeps over 10 seconds - accel is also published so that fake IMU can be selected when the only option 2021-05-17 21:26:25 -03:00			`fake_imu`
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)`
boards: px4/sitl sync all build variants and fix none default package 2020-09-15 17:55:01 -03:00
			`message(STATUS "Building without lockstep for replay")`
			`set(ENABLE_LOCKSTEP_SCHEDULER no)`
			`else()`
			`set(ENABLE_LOCKSTEP_SCHEDULER yes)`
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()`