forked from Archive/PX4-Autopilot
vscode debug and ekf2 replay improvements
- create new px4_sitl_replay config specifically for replay - ekf2 replay don't launch gazebo - add px4_sitl_test cmake variant - px4_sitl_test bring into sync with px4_sitl_default - vscode replace hard coded build path with cmake setting
This commit is contained in:
Daniel Agar
parent
46a7b27127
commit
3d56f37606
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@ -6,6 +6,16 @@ CONFIG:
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_default
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px4_sitl_replay:
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short: px4_sitl_replay
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_replay
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px4_sitl_test:
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short: px4_sitl_test
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_test
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px4_fmu-v2_default:
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short: px4_fmu-v2_default
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buildType: MinSizeRel
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@ -46,6 +56,11 @@ CONFIG:
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buildType: MinSizeRel
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settings:
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CONFIG: av_x-v1_default
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holybro_durandal-v1_default:
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short: holybro_durandal-v1
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buildType: MinSizeRel
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settings:
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CONFIG: holybro_durandal-v1_default
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intel_aerofc-v1_default:
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short: intel_aerofc-v1_default
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buildType: MinSizeRel
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@ -66,8 +81,3 @@ CONFIG:
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buildType: MinSizeRel
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settings:
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CONFIG: nxp_fmuk66-v3_default
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holybro_durandal-v1_default:
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short: holybro_durandal-v1
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buildType: MinSizeRel
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settings:
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CONFIG: holybro_durandal-v1_default
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@ -21,7 +21,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -0,0 +1,25 @@
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px4_add_board(
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PLATFORM posix
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VENDOR px4
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MODEL sitl
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LABEL replay
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MODULES
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ekf2
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logger
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replay
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SYSTEMCMDS
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param
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perf
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reboot
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shutdown
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topic_listener
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ver
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work_queue
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)
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message(STATUS "Building with uorb publisher rules support")
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add_definitions(-DORB_USE_PUBLISHER_RULES)
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message(STATUS "Building without lockstep for replay")
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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@ -5,7 +5,6 @@ px4_add_board(
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MODEL sitl
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LABEL test
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TESTING
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DRIVERS
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#barometer # all available barometer drivers
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#batt_smbus
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@ -20,8 +19,8 @@ px4_add_board(
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#telemetry # all available telemetry drivers
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tone_alarm
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#uavcan
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MODULES
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airspeed_selector
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attitude_estimator_q
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camera_feedback
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commander
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@ -30,7 +29,6 @@ px4_add_board(
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events
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fw_att_control
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fw_pos_control_l1
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rover_pos_control
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land_detector
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landing_target_estimator
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load_mon
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@ -38,27 +36,26 @@ px4_add_board(
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logger
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mavlink
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mc_att_control
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mc_rate_control
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mc_pos_control
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mc_rate_control
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navigator
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replay
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rc_update
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replay
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rover_pos_control
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sensors
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#sih
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simulator
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vmount
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vtol_att_control
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airspeed_selector
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SYSTEMCMDS
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#bl_update
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#config
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#dumpfile
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dyn
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esc_calib
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#hardfault_log
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led_control
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mixer
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motor_ramp
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motor_test
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#mtd
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#nshterm
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param
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@ -73,16 +70,17 @@ px4_add_board(
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tune_control
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ver
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work_queue
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EXAMPLES
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bottle_drop # OBC challenge
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dyn_hello # dynamically loading modules example
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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#hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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)
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set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
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@ -0,0 +1,63 @@
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{
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"version": "0.2.0",
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"configurations": [
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{
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"name": "EKF2 replay",
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"type": "cppdbg",
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"request": "launch",
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"program": "${command:cmake.launchTargetPath}",
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"args": [
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"${workspaceFolder}/ROMFS/px4fmu_common",
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"-s",
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"etc/init.d-posix/rcS",
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"-t",
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "replay",
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"value": "${input:setReplayLog}"
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},
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{
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"name": "replay_mode",
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"value": "ekf2"
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}
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],
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"externalConsole": false,
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"linux": {
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"MIMode": "gdb",
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"externalConsole": false,
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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},
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{
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"description": "PX4 ignore wq signals",
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"text": "handle SIGCONT nostop noprint nopass",
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"ignoreFailures": true
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}
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]
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},
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"osx": {
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"MIMode": "lldb",
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"externalConsole": true,
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"setupCommands": [
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{
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"text": "pro hand -p true -s false -n false SIGCONT",
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}
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]
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}
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},
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],
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"inputs": [
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{
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"type": "promptString",
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"id": "setReplayLog",
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"description": "Input the path to ulog file",
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}
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]
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}
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@ -14,7 +14,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -63,7 +63,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -112,7 +112,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -161,7 +161,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -210,7 +210,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -258,7 +258,7 @@
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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@ -290,66 +290,6 @@
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}
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]
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}
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},
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{
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"name": "EKF replay",
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"type": "cppdbg",
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"request": "launch",
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"program": "${command:cmake.launchTargetPath}",
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"args": [
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"${workspaceFolder}/ROMFS/px4fmu_common",
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"-s",
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"etc/init.d-posix/rcS",
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"-t",
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
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"environment": [
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{
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"name": "replay",
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"value": "${input:setReplayLog}"
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},
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{
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"name": "replay_mode",
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"value": "ekf2"
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}
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],
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"externalConsole": false,
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"preLaunchTask": "gazebo iris",
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"postDebugTask": "gazebo kill",
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"linux": {
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"MIMode": "gdb",
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"externalConsole": false,
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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},
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{
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"description": "PX4 ignore wq signals",
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"text": "handle SIGCONT nostop noprint nopass",
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"ignoreFailures": true
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}
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]
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},
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"osx": {
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"MIMode": "lldb",
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"externalConsole": true,
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"setupCommands": [
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{
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"text": "pro hand -p true -s false -n false SIGCONT",
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}
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]
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}
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},
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],
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"inputs": [
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{
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"type": "promptString",
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"id": "setReplayLog",
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"description": "Input the path to ulog file",
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}
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]
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}
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@ -103,4 +103,8 @@ add_custom_target(list_vmd_make_targets
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)
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# vscode launch.json
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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if(${PX4_BOARD_LABEL} MATCHES "replay")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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else()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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endif()
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