ROMFS: respect kconfig for including romfs files (airframes, etc) (#22571)

* ROMFS: respect kconfig for including romfs files (airframes, etc)

* ROMFS: only add R1 airframe with differential drive control

* ROMFS: adapt to differential drive module renaming

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,28 +34,79 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	rc.airship_apps
+
-	rc.airship_defaults
 	rc.autostart_ext
-	rc.balloon_apps
+
-	rc.balloon_defaults
-	rc.boat_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.heli_defaults
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
 	rcS
 	rc.sensors
-	rc.thermal_cal
+	rc.vehicle_setup
+
+	# TODO
+	rc.balloon_apps
+	rc.balloon_defaults
+)
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.airship_apps
+		rc.airship_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.fw_apps
+		rc.fw_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.mc_apps
+		rc.mc_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
 		rc.rover_apps
 		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
 		rc.uuv_apps
 		rc.uuv_defaults
-	rc.vehicle_setup
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
 		rc.vtol_apps
 		rc.vtol_defaults
 	)
+endif()
+
+
+if(CONFIG_MODULES_LOGGER)
+	px4_add_romfs_files(
+		rc.logging
+	)
+endif()
+
+if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
+	px4_add_romfs_files(
+		rc.thermal_cal
+	)
+endif()

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -32,25 +32,28 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)"
+	# [0-999] Reserved (historical)
 
-	# [1000, 1999] Simulation setups"
+	# [18000, 18999] High-altitude balloons
+	18001_TF-B1
+
+	# [22000, 22999] Reserve for custom models
+)
+
+if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
+	px4_add_romfs_files(
+		# [1000, 1999] Simulation setups
 		1001_rc_quad_x.hil
 		1002_standard_vtol.hil
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+	)
+endif()
 
-	# [2000, 2999] Standard planes"
+if(CONFIG_MODULES_MC_RATE_CONTROL)
-	2100_standard_plane
+	px4_add_romfs_files(
-	2106_albatross
+		# [4000, 4999] Quadrotor x
-
-	2507_cloudship
-
-	# [3000, 3999] Flying wing"
-	3000_generic_wing
-
-	# [4000, 4999] Quadrotor x"
 		4001_quad_x
 		4014_s500
 		4015_holybro_s500
@@ -68,20 +71,20 @@ px4_add_romfs_files(
 		4500_clover4
 		4901_crazyflie21
 
-	# [5000, 5999] Quadrotor +"
+		# [5000, 5999] Quadrotor +
 		5001_quad_+
 
-	# [6000, 6999] Hexarotor x"
+		# [6000, 6999] Hexarotor x
 		6001_hexa_x
 		6002_draco_r
 
-	# [7000, 7999] Hexarotor +"
+		# [7000, 7999] Hexarotor +
 		7001_hexa_+
 
-	# [8000, 8999] Octorotor +"
+		# [8000, 8999] Octorotor +
 		8001_octo_x
 
-	# [9000, 9999] Octorotor +"
+		# [9000, 9999] Octorotor +
 		9001_octo_+
 
 		# [11000, 11999] Hexa Cox
@@ -90,6 +93,38 @@ px4_add_romfs_files(
 		# [12000, 12999] Octo Cox
 		12001_octo_cox
 
+		# [14000, 14999] MC with tilt
+		14001_generic_mc_with_tilt
+
+		16001_helicopter
+
+		24001_dodeca_cox
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [2000, 2999] Standard planes
+		2100_standard_plane
+		2106_albatross
+
+		# [3000, 3999] Flying wing
+		3000_generic_wing
+
+		# [17000, 17999] Autogyro
+		17002_TF-AutoG2
+		17003_TF-G2
+	)
+endif()
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		2507_cloudship
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
 		# [13000, 13999] VTOL
 		13000_generic_vtol_standard
 		13100_generic_vtol_tiltrotor
@@ -97,29 +132,27 @@ px4_add_romfs_files(
 		13014_vtol_babyshark
 		13030_generic_vtol_quad_tiltrotor
 		13200_generic_vtol_tailsitter
+	)
+endif()
 
-	# [14000, 14999] MC with tilt
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	14001_generic_mc_with_tilt
+	px4_add_romfs_files(
-
-	16001_helicopter
-
-	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
-
-	# [18000, 18999] High-altitude balloons
-	18001_TF-B1
-
-	# [22000, 22999] Reserve for custom models
-
-	24001_dodeca_cox
-
 		50000_generic_ground_vehicle
 		50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover
+	)
+endif()
 
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
 		60000_uuv_generic
 		60001_uuv_hippocampus
 		60002_uuv_bluerov2_heavy
 	)
+endif()

ROMFS/px4fmu_common/init.d/rcS

@@ -439,7 +439,12 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
+	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
+	if [ -f ${RC_THERMAL_CAL} ]
+	then
+		. ${RC_THERMAL_CAL}
+	fi
+	unset RC_THERMAL_CAL
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -500,7 +505,12 @@ else
 	#
 	# Start the logger.
 	#
-	. ${R}etc/init.d/rc.logging
+	set RC_LOGGING ${R}etc/init.d/rc.logging
+	if [ -f ${RC_LOGGING} ]
+	then
+		. ${RC_LOGGING}
+	fi
+	unset RC_LOGGING
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.