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Update metadata and tidy a few docs (#25547)

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* Fix up metadata except for uorb graphs

* Additional customization of startup tidy
This commit is contained in:
Hamish Willee
2025-09-11 16:06:51 +10:00
committed by GitHub
parent 264b8fe277
commit d1da30911e
21 changed files with 674 additions and 278 deletions
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docs/en/concept/system_startup.md
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@@ -13,9 +13,9 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
The following sections are split according to the operating system that PX4 runs on.
## Posix (Linux/MacOS)
## POSIX (Linux/MacOS)
On Posix, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
For that to work, a few things are required:
- PX4 modules need to look like individual executables to the system.
@@ -54,7 +54,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
### Dynamic Modules
Normally, all modules are compiled into a single PX4 executable.
However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
```sh
dyn ./test.px4mod
@@ -90,7 +90,7 @@ This is documented below.
The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
The frame configuration file can be included in the firmware or on an SD Card.
#### Dynamic customization
#### Dynamic Customization
If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:
@@ -148,27 +148,36 @@ The following example shows how to start custom applications:
mandatory_app start # Will abort boot if mandatory_app is unknown or fails
```
#### Additional customization
#### Additional Init-File Customization
In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
you can add a script that will be contained in the binary.
In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
edge-cases such as customizing `cannode` based boards.
::: warning
In almost all cases, you should use a frame configuration.
This method should only be used for edge-cases such as customizing `cannode` based boards.
:::
The steps are:
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
For example:
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
```sh
# File: boards/<vendor>/<board>/init/rc.additional
param set-default <param> <value>
```
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
For example:
```sh
# File: boards/<vendor>/<board>/var.px4board
CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
```
- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
- Compile the firmware with your new variant by appending the variant name to the compile target.
For example:
```sh
make <target>_var
```