mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-24 19:08:21 +08:00
cc976e150a
On NuttX these are two things: / is the filesystem root, and /fs/microsd is the SD card mounted under it. MAVLink FTP serves the root and confines writes to the SD card, so the read-only ROMFS at /etc is visible but cannot be written. On POSIX they were the same directory. PX4_ROOTFSDIR and PX4_STORAGEDIR both resolved to CONFIG_BOARD_ROOT_PATH, which on SITL is ".", so the working directory was simultaneously the FTP root and the only writable area. The consequences were that the ROMFS symlink sat inside the FTP root, and that _validatePathIsWritable() had nothing meaningful to check against and so was compiled out on POSIX entirely, leaving no write restriction at all. Give POSIX the same split. CONFIG_BOARD_ROOT_PATH keeps its meaning as the storage directory, and a new CONFIG_BOARD_FS_ROOT_PATH names the root FTP serves, defaulting to the storage path so every existing board is unchanged. SITL sets the root to "." and storage to "./fs", which mirrors NuttX: logs, parameters, dataman and eeprom move under ./fs, and etc/ stays in the root as read-only data. With storage distinct from the root, the write restriction now applies on every platform rather than NuttX only, and no longer compares against a hardcoded prefix length that was wrong for any board not using /fs/microsd. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Julian Oes <julian@oes.ch>
273 lines
7.2 KiB
Plaintext
273 lines
7.2 KiB
Plaintext
# PX4 Firmware Configuration
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mainmenu "PX4 Firmware Configuration"
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comment "Vendor: $(VENDOR)"
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comment "Model: $(MODEL)"
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comment "Label: $(LABEL)"
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menu "Toolchain"
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choice
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prompt "Platform"
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default PLATFORM_NUTTX
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config PLATFORM_NUTTX
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bool "nuttx"
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config PLATFORM_POSIX
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bool "posix"
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config PLATFORM_QURT
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bool "qurt"
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config PLATFORM_ROS2
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bool "ros2"
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endchoice
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config BOARD_PLATFORM
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string
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default "nuttx" if PLATFORM_NUTTX
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default "posix" if PLATFORM_POSIX
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default "qurt" if PLATFORM_QURT
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default "ros2" if PLATFORM_ROS2
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config BOARD_LOCKSTEP
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bool "Force enable lockstep"
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depends on PLATFORM_POSIX
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help
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forces lockstep behaviour, despite REPLAY env variable
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config BOARD_NOLOCKSTEP
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bool "Force disable lockstep"
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depends on PLATFORM_POSIX
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help
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forces nolockstep behaviour, despite REPLAY env variable
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config BOARD_LINUX_TARGET
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bool "Linux OS Target"
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depends on PLATFORM_POSIX
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help
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Board Platform is running the Linux operating system
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config BOARD_TOOLCHAIN
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string "Toolchain"
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default ""
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config BOARD_ARCHITECTURE
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string "Architecture"
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default ""
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config BOARD_LTO
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bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
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default n
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help
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Enables LTO flag in linker
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Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
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config BOARD_FULL_OPTIMIZATION
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bool "Full optmization (O3)"
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default n
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help
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Enables Cmake Release for -O3 optimization
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config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
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bool "Fortified toolchain support"
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default n
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help
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Enable compatibility with toolchains that define
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_FORTIFY_SOURCE.
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This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
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disabled unless the fortified toolchain requires optimization.
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config BOARD_ROMFSROOT
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string "ROMFSROOT"
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default "px4fmu_common"
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help
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relative path to the ROMFS root directory
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config BOARD_ADDITIONAL_INIT
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string "Additional init file"
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help
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additional configurable init file to include in the ROMFS
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config BOARD_IO
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string "IO board name"
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default "px4_io-v2_default"
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depends on DRIVERS_PX4IO
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help
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name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
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config BOARD_CONSTRAINED_FLASH
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bool "Contrained flash"
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help
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flag to enable constrained flash options (eg limit init script status text)
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config BOARD_NO_HELP
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bool "No help"
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help
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optional condition flag to disable help text on constrained flash systems
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config BOARD_CONSTRAINED_MEMORY
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bool "Contrained memory"
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help
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flag to enable constrained memory options (eg limit maximum number of uORB publications)
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config BOARD_EXTERNAL_METADATA
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bool "External metadata"
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help
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flag to exclude metadata to reduce flash
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config BOARD_LINKER_PREFIX
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string "linker prefix"
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help
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optional to prefix on the Linker script.
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config BOARD_COMPILE_DEFINITIONS
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string "add custom compile definitions"
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help
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add custom compile defitions to this specific target
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endmenu #Toolchain
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config BOARD_TESTING
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bool "Testing"
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select SYSTEMCMDS_TESTS
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help
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flag to enable automatic inclusion of PX4 testing modules
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config BOARD_ETHERNET
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bool "Ethernet"
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help
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flag to indicate that ethernet is enabled
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config BOARD_CRYPTO
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bool "Crypto support"
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help
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Enable PX4 Crypto Support. Select the implementation under drivers
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config BOARD_SECUREBOOT
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bool "Sign firmware image for secure boot"
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default n
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help
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Run Tools/secure_bootloader/sign_firmware.py over the built .bin
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to append an ed25519 signature, and mark the resulting .px4 as
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image_signed: true so the uploader runs the bootloader's
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VERIFY_SIG step before reboot. The matching public key must be
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baked into the bootloader via CONFIG_PUBLIC_KEY0 in the
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bootloader's .px4board file.
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config BOARD_SECUREBOOT_KEY
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string "Path to JSON private key (absolute or relative to repo root)"
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depends on BOARD_SECUREBOOT
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default "Tools/test_keys/test_keys.json"
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help
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Private key used by sign_firmware.py to sign the firmware
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image. The default points at the upstream development test
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key, which is pre-paired with Tools/test_keys/key0.pub. For
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production builds, generate a new keypair with
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Tools/secure_bootloader/generate_signing_keys.py and update
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both this option and the bootloader's CONFIG_PUBLIC_KEY0.
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The environment variable BOARD_SECUREBOOT_KEY overrides this
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value at build time.
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config BOARD_PROTECTED
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bool "Memory protection"
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help
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Enable memory protection via MPU/MMU
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menu "Serial ports"
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config BOARD_SERIAL_URT6
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string "URT6 tty port"
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config BOARD_SERIAL_GPS1
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string "GPS1 tty port"
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config BOARD_SERIAL_GPS2
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string "GPS2 tty port"
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config BOARD_SERIAL_GPS3
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string "GPS3 tty port"
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config BOARD_SERIAL_GPS4
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string "GPS4 tty port"
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config BOARD_SERIAL_GPS5
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string "GPS5 tty port"
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config BOARD_SERIAL_TEL1
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string "TEL1 tty port"
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config BOARD_SERIAL_TEL2
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string "TEL2 tty port"
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config BOARD_SERIAL_TEL3
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string "TEL3 tty port"
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config BOARD_SERIAL_TEL4
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string "TEL4 tty port"
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config BOARD_SERIAL_TEL5
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string "TEL5 tty port"
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config BOARD_SERIAL_RC
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string "RC tty port"
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config BOARD_SERIAL_WIFI
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string "WIFI tty port"
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config BOARD_SERIAL_EXT2
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string "EXT2 tty port"
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endmenu
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menu "File paths"
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config BOARD_ROOT_PATH
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string "PX4 storage path (writable: logs, parameters, dataman)"
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default "/fs/microsd"
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config BOARD_FS_ROOT_PATH
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string "PX4 filesystem root that MAVLink FTP serves"
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default BOARD_ROOT_PATH
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help
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The directory MAVLink FTP treats as its root. Defaults to the storage path,
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which keeps FTP confined to it. Set it to a parent of the storage path to
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expose read-only data alongside, as NuttX does by serving / with the SD card
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mounted under it.
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config BOARD_PARAM_FILE
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string "Parameter file"
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default "/fs/mtd_params"
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config BOARD_NO_SDCARD
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bool "Board has no SD card"
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default n
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help
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Disable the SD card arming check for boards without an SD card slot.
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endmenu
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menu "drivers"
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source "src/drivers/Kconfig"
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endmenu
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menu "modules"
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source "src/modules/Kconfig"
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endmenu
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menu "systemcmds"
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source "src/systemcmds/Kconfig"
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endmenu
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menu "examples"
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source "src/examples/Kconfig"
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endmenu
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menu "templates"
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source "src/templates/Kconfig"
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endmenu
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menu "platforms"
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depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
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source "platforms/Kconfig"
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endmenu
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source "src/lib/*/Kconfig"
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