The ExternalProject_Add(mavsdk_tests ...) lived at the bottom of
sitl_targets_gazebo-classic.cmake, outside the if(gazebo_FOUND) gate
and with a comment noting it doesn't depend on sitl_gazebo. Historical
artifact: mavsdk_tests is a black-box MAVLink test driver that talks
to a running PX4 over UDP, and works against any simulator backend
(sitl_gazebo-classic, gz, sih, jmavsim, ...).
With CI moving from classic Gazebo to SIH, the misplacement becomes
actively misleading. Pull the block into a new top-level
cmake/mavsdk_tests.cmake and include it from CMakeLists.txt under the
existing posix-only block, so the dependency graph reflects what is
actually true.
Behavior is unchanged: target is EXCLUDE_FROM_ALL, only built on
demand via `make mavsdk_tests` or `make tests_integration`.
PR #27324 swapped find_package(PythonInterp) for find_package(Python3),
whose macOS defaults (FRAMEWORK=FIRST, STRATEGY=VERSION) override
Python3_ROOT_DIR and PATH to resolve the highest-versioned framework
Python. CI then matched Homebrew's 3.14 while pip installed kconfiglib
into the actions/setup-python 3.10 venv, breaking `make px4_sitl`
configure with "No module named menuconfig".
Pin Python3_EXECUTABLE to .venv/bin/python when present (macos.sh
creates the venv but neither it nor CI exports VIRTUAL_ENV), and set
FIND_STRATEGY=LOCATION + FIND_FRAMEWORK=LAST so dev machines and Linux
containers without a venv still pick the interpreter that has the
project's pip dependencies.
* fix(cmake): use Python3 module; cache PYTHON_EXECUTABLE properly
The legacy `find_package(PythonInterp 3)` is deprecated (warned with
noisy CMP0148 by cmake 3.27+, currently visible on Ubuntu 24.04 CI
runs).
It also stores its result as PYTHON_EXECUTABLE without a proper CACHE
type, which interacts badly with the Makefile's `cmake-cache-check`.
`cmake -L` skips UNINITIALIZED entries, so the
`-DPYTHON_EXECUTABLE=...` passed by the top-level Makefile is never
matched in the cache and every invocation forces a full reconfigure.
Switch to `find_package(Python3 COMPONENTS Interpreter REQUIRED)`,
then bridge to the legacy `PYTHON_EXECUTABLE` name that the rest of
the codebase still references.
Promote it to a CACHE FILEPATH entry so cmake -L lists it, preserving
any user-supplied value verbatim (find_package(Python3) canonicalises
e.g. bin/python3 to bin/python3.13, defeating a string-based cache
match).
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): promote CONFIG to CACHE STRING for incremental builds
When CONFIG is passed via `-DCONFIG=...` on the cmake command line, it
is stored as an UNINITIALIZED cache entry. `cmake -L` skips
UNINITIALIZED entries by design, so the Makefile's
`cmake-cache-check` (which uses `cmake -L` to diff desired vs cached
options) never finds CONFIG in the output, concludes the cache is
stale, and triggers a full reconfigure on every `make <target>`
invocation.
If a config identifier is given, we force promote it to CACHE
STRING. This preserves the user supplied value as it was, while making
it visible to `cmake -L`, so the cache-check succeeds when nothing has
changed.
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): track default.px4board as a configure dependency
Non-default labels merge `default.px4board` + `{label}.px4board` via
`merge_config.py`, but only the label file was listed as a configure
dependency. Changes to `default.px4board` were silently ignored until
a clean build, which is surprising and easy to debug for hours.
Register `default.px4board` as a CMAKE_CONFIGURE_DEPENDS in the
non-default-label branch so edits trigger reconfigure as expected.
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): correct NuttX apps/library build dependency tracking
Three dependency graph defects in the libapps.a and per NuttX library
custom_commands caused either spurious full rebuilds or stale outputs
on incremental builds.
(1) `builtin_list.h` and `builtin_proto.h` are regenerated by the apps
build from `px4.bdat`/`px4.pdat` on every invocation. They were
included in `nuttx_apps_files`, so on each build we saw them as
changed inputs and re-triggered the apps target perpetually. Exclude
them with a `list(FILTER)`.
(2) libapps.a's custom_command lacked `px4.bdat`/`px4.pdat` as
dependencies, so module additions or renames (which regenerate those
registries) did not propagate to a rebuild of the builtin command
table. Add them to DEPENDS.
(3) NuttX's recursive make does not always notice that
`builtin_list.h` has been regenerated and that `builtin_list.c`
therefore needs recompiling. Touch `builtin_list.c` so NuttX's make
picks up the indirect change.
Additionally, drop the destructive cleanup COMMANDs that ran at the
start of libapps.a and each per-library custom_command (`remove
-f *.a`, `find ... -delete *.o`). These were workarounds for the now
fixed dependency tracking; without them removed, they would also force
unnecessary full rebuilds every time.
Signed-off-by: Daniel Fanache <dan@rts.ro>
---------
Signed-off-by: Daniel Fanache <dan@rts.ro>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
POSIX/SITL builds on macOS produce two classes of benign warnings that
clutter output and obscure real issues:
ranlib: warning: 'lib*.a(foo.o)' has no symbols
ld: warning: ignoring duplicate libraries: ...
The ranlib warnings come from sources wrapped in #if defined(CONFIG_*)
guards (i2c.cpp, spi.cpp, board_common.c, pab_manifest.c,
px4_log_history.cpp) and dummy.cpp placeholders, which legitimately
compile to empty object files on POSIX. GNU ranlib ignores this;
Apple's warns. The warning is emitted by 'ar qc' (which implicitly
builds a symbol table), not by ranlib itself, so overriding only
ARCHIVE_FINISH is insufficient. Use 'ar qcS' to skip the implicit
symbol table, then let ranlib -no_warning_for_no_symbols build it
quietly via ARCHIVE_FINISH.
The duplicate-library warnings come from CMake intentionally
re-emitting static libraries on the link line to resolve circular
dependencies between px4_layer, px4_work_queue, px4_daemon and
lockstep_scheduler. GNU ld silently dedupes; Apple's ld-prime
(Xcode 15+) warns. Pass -no_warn_duplicate_libraries to the linker.
Both fixes are Darwin-only and have no effect on Linux CI or NuttX
builds.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
From https://github.com/google/fuzztest.
This will now also add gtest (via cmake FetchContent)
And requires newer cmake (container updates):
CMake 3.19 or higher is required. You are running version 3.16.3
* cmake: bump min version to 3.16.3, which is what Ubuntu 20.04 ships with
* reduce to cmake 3.10
---------
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
- default to v0.0.0 if tag isn't available
- src/lib/px_update_git_header.py use same PX4_GIT_TAG as cmake
- update lingering master branch references to main
This adds a new protocol extension which allows to get the bootloader
version.
The bootloader version is different from the bootloader protocol
revision which has stabilized at 5 and is not easy to update unless a
bootloader is actually breaking the protocol. The reason being that both
the Python script as well as the uploader used in QGC will not attempt
to load firmware if they don't know the bootloader version, so it could
basically be considered a "breaking" protocol revision.
Signed-off-by: Julian Oes <julian@oes.ch>
* events: pass relative paths plus base path to source parser script
to work around maximum Makefile command lenght limits.
* events: correct cmake comment typo
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Events have a global, system-wide sequence number, which must be handled
atomically, (fetching and incrementing the sequence AND sending the event
to uORB must be atomic). Currently in FLAT mode, only one instance of this
sequence number exists, so it is OK to have it in px4_platform.
However, in PROTECTED mode px4_platform is instantiated both in kernel-
and user spaces, which makes two instances of this sequence number, which
causes problems in the mavlink event handling logic.
When mavlink receives and handles events, it expects that:
- The sequence numbers arrive in order (seq n is followed by n+1 etc)
- It increments by 1
- There is only one instance of the sequence number
In PROTECTED mode this is violated, as the kernel and user sequence
numbers run freely on their own. This patch fixes the issue by moving
the event backend to the kernel and by providing user access to it via
ioctl.
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
- PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
- currently doesn't do much other than allow you to build px4 msgs interface package
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Define __KERNEL__ macro during compilation and place the module in separate library
Remove default library linking to m or libc on NuttX. Add these in platform layer instead, since
they are different on kernel and user side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
When not building for testing, test_mixer_multirotor is not available
and causes a waraning with cmake 3.17:
This project specifies custom command DEPENDS on files in the build tree
that are not specified as the OUTPUT or BYPRODUCTS of any
add_custom_command or add_custom_target:
test_mixer_multirotor
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)
