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px4-firmware
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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.
This commit is contained in:
Beat Küng 2020-09-10 13:33:29 +02:00
parent d3362f38d1
commit 055fa768d8
28 changed files with 33 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/gazebo_sitl_multiple_run.sh
View File

@ -30,7 +30,7 @@ function spawn_model() {
pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_${MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
../bin/px4 -i $n -d "$build_path/etc" -w sitl_${MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${MODEL}_base.xacro \
rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$N)) \
mavlink_tcp_port:=$(($mavlink_tcp_port+$N)) -o /tmp/${MODEL}_${N}.urdf

2
Tools/sitl_multiple_run.sh
View File

@ -28,7 +28,7 @@ while [ $n -lt $sitl_num ]; do
pushd "$working_dir" &>/dev/null
echo "starting instance $n in $(pwd)"
../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -s etc/init.d-posix/rcS >out.log 2>err.log &
../bin/px4 -i $n -d "$build_path/etc" -s etc/init.d-posix/rcS >out.log 2>err.log &
popd &>/dev/null
n=$(($n + 1))

2
Tools/sitl_run.sh
View File

@ -156,7 +156,7 @@ set +e
if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
else
sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
fi
echo SITL COMMAND: $sitl_command

2
boards/atlflight/eagle/cmake/upload.cmake
View File

@ -46,7 +46,7 @@ else()
add_custom_target(upload
COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_SOURCE_DIR}/ROMFS # source
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
/home/linaro # destination
DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
COMMENT "uploading px4"

1
boards/atlflight/eagle/default.cmake
View File

@ -41,6 +41,7 @@ px4_add_board(
LABEL default
#TESTING
TOOLCHAIN arm-linux-gnueabihf
ROMFSROOT px4fmu_common
DRIVERS
#barometer # all available barometer drivers
batt_smbus

2
boards/beaglebone/blue/cmake/upload.cmake
View File

@ -33,7 +33,7 @@
add_custom_target(upload
COMMAND rsync -arh --progress
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS # source
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_BINARY_DIR}/etc # source
debian@beaglebone.lan:/home/debian/px4 # destination
DEPENDS px4
COMMENT "uploading px4"

1
boards/beaglebone/blue/default.cmake
View File

@ -10,6 +10,7 @@ px4_add_board(
LABEL default
PLATFORM posix
ARCHITECTURE cortex-a8
ROMFSROOT px4fmu_common
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS

2
boards/emlid/navio2/cmake/upload.cmake
View File

@ -39,7 +39,7 @@ endif()
add_custom_target(upload
COMMAND rsync -arh --progress
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
DEPENDS px4
COMMENT "uploading px4"

1
boards/emlid/navio2/default.cmake
View File

@ -8,6 +8,7 @@ px4_add_board(
LABEL default
PLATFORM posix
ARCHITECTURE cortex-a53
ROMFSROOT px4fmu_common
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS

2
boards/px4/raspberrypi/cmake/upload.cmake
View File

@ -39,7 +39,7 @@ endif()
add_custom_target(upload
COMMAND rsync -arh --progress
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
DEPENDS px4
COMMENT "uploading px4"

1
boards/px4/raspberrypi/default.cmake
View File

@ -8,6 +8,7 @@ px4_add_board(
LABEL default
PLATFORM posix
ARCHITECTURE cortex-a53
ROMFSROOT px4fmu_common
TOOLCHAIN arm-linux-gnueabihf
TESTING
DRIVERS

1
boards/px4/sitl/default.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM posix
VENDOR px4
MODEL sitl
ROMFSROOT px4fmu_common
LABEL default
TESTING
DRIVERS

1
boards/px4/sitl/nolockstep.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM posix
VENDOR px4
MODEL sitl
ROMFSROOT px4fmu_common
LABEL nolockstep
TESTING
DRIVERS

1
boards/px4/sitl/replay.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM posix
VENDOR px4
MODEL sitl
ROMFSROOT px4fmu_common
LABEL replay
MODULES
ekf2

1
boards/px4/sitl/rtps.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM posix
VENDOR px4
MODEL sitl
ROMFSROOT px4fmu_common
LABEL rtps
TESTING
DRIVERS

1
boards/px4/sitl/test.cmake
View File

@ -3,6 +3,7 @@ px4_add_board(
PLATFORM posix
VENDOR px4
MODEL sitl
ROMFSROOT px4fmu_common
LABEL test
TESTING
DRIVERS

2
launch/posix_sitl.launch
View File

@ -29,7 +29,7 @@
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">

2
launch/px4.launch
View File

@ -13,6 +13,6 @@
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
</node>
</launch>

2
launch/single_vehicle_spawn.launch
View File

@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

2
launch/single_vehicle_spawn_sdf.launch
View File

@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

6
posix-configs/bbblue/px4.config
View File

@ -82,9 +82,9 @@ sleep 1
# RC port is mapped to /dev/ttyS4 (auto-detected)
#rc_input start -d /dev/ttyS4
# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
# default: etc/mixers/quad_x.main.mix, 8 output channels
linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
logger start -t -b 200

6
posix-configs/bbblue/px4_fw.config
View File

@ -78,9 +78,9 @@ sleep 1
# RC port is mapped to /dev/ttyS4 (auto-detected)
rc_input start -d /dev/ttyS4
# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
# default: etc/mixers/quad_x.main.mix, 8 output channels
#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
logger start -t -b 200

2
posix-configs/ocpoc/px4.config
View File

@ -46,6 +46,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
rc_input start -d /dev/ttyS2
linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete

2
posix-configs/rpi/px4_fw.config
View File

@ -50,7 +50,7 @@ then
fi
navio_sysfs_rc_in start
linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
linux_pwm_out start -m etc/mixers/AETRFG.main.mix
logger start -t -b 200

2
posix-configs/rpi/px4_hil.config
View File

@ -36,7 +36,7 @@ mc_rate_control start
mavlink start -x -u 14577 -r 1000000
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
logger start -t -b 200

4
src/drivers/linux_pwm_out/linux_pwm_out.cpp
View File

@ -72,7 +72,7 @@ static bool _is_running = false;
static char _device[64] = "/sys/class/pwm/pwmchip0";
static char _protocol[64] = "navio";
static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix";
// subscriptions
int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
@ -495,7 +495,7 @@ void usage()
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
PX4_INFO(" (default etc/mixers/quad_x.main.mix)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
PX4_INFO(" (default is navio)");
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");

2
src/drivers/pca9685_pwm_out/main.cpp
View File

@ -516,7 +516,7 @@ It is typically started with:
$ pca9685_pwm_out start -a 64 -b 1
Use the `mixer` command to load mixer files.
`mixer load /dev/pca9685 ROMFS/px4fmu_common/mixers/quad_x.main.mix`
`mixer load /dev/pca9685 etc/mixers/quad_x.main.mix`
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("pca9685_pwm_out", "driver");

2
test/mavsdk_tests/process_helper.py
View File

@ -145,7 +145,7 @@ class Px4Runner(Runner):
self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
self.args = [
workspace_dir + "/ROMFS/px4fmu_common",
workspace_dir + "/build/px4_sitl_default/etc",
"-s",
"etc/init.d-posix/rcS",
"-t",