diff --git a/.gitignore b/.gitignore
index 5d7a5b23ef5a173ed022a0a97832d4a1f727b7fb..543eccd8b80652582d693ee7dcae6f346558980d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -67,5 +67,6 @@ posix-configs/SITL/init/test/*_generated
.vscode/.cortex-debug.peripherals.state.json
.vscode/.cortex-debug.registers.state.json
-.vscode/c_cpp_properties.json
+.vscode/compile_commands.json
+.vscode/ipch/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e4bfd61df850f447d273439bd738604d09f7072
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,26 @@
+{
+ "configurations": [
+ {
+ "name": "Linux",
+ "intelliSenseMode": "gcc-x64",
+ "includePath": [
+ "${workspaceFolder}/**"
+ ],
+ "defines": [],
+ "browse": {
+ "path": [
+ "${workspaceFolder}/src/",
+ "${workspaceFolder}/src/lib/",
+ "${workspaceFolder}/src/lib/matrix",
+ "${workspaceFolder}/src/platforms",
+ "${workspaceFolder}/platforms/",
+ "."
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ },
+ "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+ "configurationProvider": "vector-of-bool.cmake-tools"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json
deleted file mode 100644
index 5f09a21261630a7b46c6d2f40a29acea9756df83..0000000000000000000000000000000000000000
--- a/.vscode/cmake-kits.json
+++ /dev/null
@@ -1,6 +0,0 @@
-[
- {
- "name": "PX4 default",
- "preferredGenerator": "Ninja"
- }
-]
\ No newline at end of file
diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index 98c87d0da9757a3d24f875a8748f53b1def3366b..6d53cbd4835c238b2b5b564800835a538f7b9341 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -11,58 +11,53 @@ CONFIG:
buildType: Debug
settings:
CONFIG: px4_sitl_default
- px4_sitl_rtps:
- short: px4_sitl_rtps
- buildType: RelWithDebInfo
+ px4_sitl_default_ASan:
+ short: px4_sitl (Address Sanitizer)
+ buildType: AddressSanitizer
settings:
- CONFIG: px4_sitl_rtps
+ CONFIG: px4_sitl_default
px4_fmu-v2_default:
short: px4_fmu-v2
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v2_default
px4_fmu-v3_default:
short: px4_fmu-v3
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v3_default
px4_fmu-v4_default:
short: px4_fmu-v4
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v4_default
px4_fmu-v4pro_default:
short: px4_fmu-v4pro
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v4pro_default
px4_fmu-v5_default:
short: px4_fmu-v5
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v5_default
- px4_fmu-v5_rtps:
- short: px4_fmu-v5_rtps
- buildType: MinRelSize
- settings:
- CONFIG: px4_fmu-v5_rtps
airmind_mindpx-v2_default:
short: airmind_mindpx-v2
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: airmind_mindpx-v2_default
av_x-v1_default:
short: av-x
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: av_x-v1_default
intel_aerofc-v1_default:
short: intel_aerofc-v1
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: intel_aerofc-v1_default
nxp_fmuk66-v3_default:
short: nxp_fmuk66-v3
- buildType: MinRelSize
+ buildType: MinSizeRel
settings:
CONFIG: nxp_fmuk66-v3_default
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
index 14128d48b1bce7dbe6f002e4360d2b57d171bff7..1121504aef59b2cec44dec0502023008e17f70c8 100644
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -2,12 +2,16 @@
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
+ "ajshort.ros",
"chiehyu.vscode-astyle",
+ "dan-c-underwood.arm",
"github.vscode-pull-request-github",
"marus25.cortex-debug",
"ms-python.python",
"ms-vscode.cpptools",
+ "peterjausovec.vscode-docker",
"twxs.cmake",
- "vector-of-bool.cmake-tools"
+ "vector-of-bool.cmake-tools",
+ "wholroyd.jinja"
]
-}
+}
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 601dee137e6490c45b686d8cd4bbbcf54f6902e0..ad11897832ffd26bf9d413936be0f7e6d9b8901f 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -1,115 +1,194 @@
{
- "version": "0.2.0",
- "configurations": [
- {
- "name": "(gdb) Launch (shell)",
- "type": "cppdbg",
- "request": "launch",
- "program": "${command:cmake.launchTargetPath}",
- "args": [
- "${workspaceFolder}/ROMFS/px4fmu_common",
- "-s", "etc/init.d-posix/rcS",
- "-t", "${workspaceFolder}/test_data"
- ],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
- "environment": [{"name": "PX4_SIM_MODEL", "value": "shell"}],
- "externalConsole": false,
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "name": "SITL shell",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s",
+ "etc/init.d-posix/rcS",
+ "-t",
+ "${workspaceFolder}/test_data"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [
+ {
+ "name": "PX4_SIM_MODEL",
+ "value": "shell"
+ }
+ ],
+ "externalConsole": false,
+ "linux": {
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
-
- "ignoreFailures": true,
-
+ "ignoreFailures": true
+ },
+ {
+ "description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
+ "ignoreFailures": true
}
]
},
- {
- "name": "(lldb) Launch (shell)",
- "type": "cppdbg",
- "request": "launch",
- "program": "${command:cmake.launchTargetPath}",
- "args": [
- "${workspaceFolder}/ROMFS/px4fmu_common",
- "-s", "etc/init.d-posix/rcS",
- "-t", "${workspaceFolder}/test_data"
- ],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
- "environment": [{"name": "PX4_SIM_MODEL", "value": "shell"}],
- "externalConsole": true,
+ "osx": {
"MIMode": "lldb",
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
- },
- {
- "name": "(gdb) Launch (jmavsim iris)",
- "type": "cppdbg",
- "request": "launch",
- "program": "${command:cmake.launchTargetPath}",
- "args": [
- "${workspaceFolder}/ROMFS/px4fmu_common",
- "-s", "etc/init.d-posix/rcS",
- "-t", "${workspaceFolder}/test_data"
- ],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
- "environment": [{"name": "PX4_SIM_MODEL", "value": "iris"}],
- "externalConsole": false,
+ }
+ },
+ {
+ "name": "SITL jmavsim iris",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s",
+ "etc/init.d-posix/rcS",
+ "-t",
+ "${workspaceFolder}/test_data"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [
+ {
+ "name": "PX4_SIM_MODEL",
+ "value": "iris"
+ }
+ ],
+ "externalConsole": false,
+ "preLaunchTask": "jmavsim",
+ "postDebugTask": "jmavsim kill",
+ "linux": {
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
-
- "ignoreFailures": true,
-
+ "ignoreFailures": true
+ },
+ {
+ "description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
-
+ "ignoreFailures": true
}
- ],
- "preLaunchTask": "jmavsim"
+ ]
},
- {
- "name": "(lldb) Launch (jmavsim iris)",
- "type": "cppdbg",
- "request": "launch",
- "program": "${command:cmake.launchTargetPath}",
- "args": [
- "${workspaceFolder}/ROMFS/px4fmu_common",
- "-s", "etc/init.d-posix/rcS",
- "-t", "${workspaceFolder}/test_data"
- ],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
- "environment": [{"name": "PX4_SIM_MODEL", "value": "iris"}],
- "externalConsole": true,
+ "osx": {
"MIMode": "lldb",
- "preLaunchTask": "jmavsim",
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
+ }
+ },
+ {
+ "name": "SITL gazebo iris",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s",
+ "etc/init.d-posix/rcS",
+ "-t",
+ "${workspaceFolder}/test_data"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [
+ {
+ "name": "PX4_SIM_MODEL",
+ "value": "iris"
+ }
+ ],
+ "externalConsole": false,
+ "preLaunchTask": "gazebo iris",
+ "postDebugTask": "gazebo kill",
+ "linux": {
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ },
+ {
+ "description": "PX4 ignore wq signals",
+ "text": "handle SIGCONT nostop noprint nopass",
+ "ignoreFailures": true
+ }
+ ]
},
- {
- "name": "(jlink) px4_fmu-v2",
- "cwd": "${workspaceRoot}",
- "executable": "${workspaceRoot}/build/px4_fmu-v2_default/px4_fmu-v2_default.elf",
- "request": "launch",
- "type": "cortex-debug",
- "servertype": "jlink",
- "device": "STM32F427VI",
- "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
- "interface": "swd",
- "ipAddress": null,
- "serialNumber": null
- },
- ]
- }
\ No newline at end of file
+ "osx": {
+ "MIMode": "lldb",
+ "setupCommands": [
+ {
+ "text": "pro hand -p true -s false -n false SIGCONT",
+ }
+ ]
+ }
+ },
+ {
+ "name": "px4_fmu-v2 (jlink) ",
+ "executable": "${command:cmake.launchTargetPath}",
+ "request": "launch",
+ "type": "cortex-debug",
+ "servertype": "jlink",
+ "device": "STM32F427VI",
+ "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+ "interface": "swd"
+ },
+ {
+ "name": "px4_fmu-v3 (jlink)",
+ "executable": "${command:cmake.launchTargetPath}",
+ "request": "launch",
+ "type": "cortex-debug",
+ "servertype": "jlink",
+ "device": "STM32F427VI",
+ "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+ "interface": "swd"
+ },
+ {
+ "name": "px4_fmu-v4 (jlink)",
+ "executable": "${command:cmake.launchTargetPath}",
+ "request": "launch",
+ "type": "cortex-debug",
+ "servertype": "jlink",
+ "device": "STM32F427VI",
+ "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+ "interface": "swd"
+ },
+ {
+ "name": "px4_fmu-v4pro (jlink)",
+ "executable": "${command:cmake.launchTargetPath}",
+ "request": "launch",
+ "type": "cortex-debug",
+ "servertype": "jlink",
+ "device": "STM32F469VI",
+ "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
+ "interface": "swd"
+ },
+ {
+ "name": "px4_fmu-v5 (jlink)",
+ "executable": "${command:cmake.launchTargetPath}",
+ "request": "launch",
+ "type": "cortex-debug",
+ "servertype": "jlink",
+ "device": "STM32F765VI",
+ "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
+ "interface": "swd"
+ },
+ ]
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 52fe1b80eb5d722eeacdb5617a0bdcde1bfa6a02..94e40fa6539e32b957ebe5d5dfe9f1fc4b48358d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,10 +1,82 @@
{
"editor.insertSpaces": false,
+ "editor.tabSize": 8,
"editor.wordWrapColumn": 120,
+ "editor.suggest.localityBonus": true,
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
- "C_Cpp.default.cppStandard": "c++11",
- "C_Cpp.default.cStandard": "c99",
- "cmake.buildDirectory": "${workspaceRoot}/build/${variant:CONFIG}",
+ "astyle.c.enable": true,
+ "astyle.cpp.enable": true,
+ "breadcrumbs.enabled": true,
"cmake.autoRestartBuild": true,
+ "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+ "cmake.buildBeforeRun": true,
"cmake.configureOnOpen": true,
+ "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+ "cmake.debugConfig": {
+ "name": "SITL shell (gdb)",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s",
+ "etc/init.d-posix/rcS",
+ "-t",
+ "${workspaceFolder}/test_data"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [
+ {
+ "name": "PX4_SIM_MODEL",
+ "value": "shell"
+ }
+ ],
+ "externalConsole": false,
+ "linux": {
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ },
+ {
+ "description": "PX4 ignore wq signals",
+ "text": "handle SIGCONT nostop noprint nopass",
+ "ignoreFailures": true
+ }
+ ]
+ },
+ "osx": {
+ "MIMode": "lldb",
+ "setupCommands": [
+ {
+ "text": "pro hand -p true -s false -n false SIGCONT",
+ }
+ ]
+ }
+ },
+ "C_Cpp.clang_format_fallbackStyle": "none",
+ "C_Cpp.configurationWarnings": "Disabled",
+ "C_Cpp.default.cppStandard": "c++11",
+ "C_Cpp.default.cStandard": "c99",
+ "C_Cpp.default.intelliSenseMode": "gcc-x64",
+ "C_Cpp.errorSquiggles": "Disabled",
+ "C_Cpp.formatting": "Disabled",
+ "C_Cpp.intelliSenseEngine": "Default",
+ "C_Cpp.intelliSenseEngineFallback": "Disabled",
+ "debug.toolBarLocation": "docked",
+ "git.detectSubmodulesLimit": 20,
+ "files.associations": {
+ "*.jinja": "jinja"
+ },
+ "search.exclude": {
+ "build/**": true
+ },
+ "search.showLineNumbers": true,
+ "workbench.statusBar.feedback.visible": false,
+ "workbench.editor.enablePreview": false,
+ "workbench.editor.enablePreviewFromQuickOpen": false,
+ "workbench.editor.highlightModifiedTabs": true
}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index a5b30e9aeb330516d09a6e3fd99fde632a8456a7..19adf8163f1a0fca758ba0b63079de2b40d67438 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -8,14 +8,90 @@
"type": "shell",
"command": "Tools/jmavsim_run.sh",
"isBackground": true,
- "args": ["-r", "500"],
+ "args": [
+ "-r",
+ "500"
+ ],
"options": {
"cwd": "${workspaceRoot}"
},
"presentation": {
"reveal": "always",
"panel": "dedicated"
- }
+ },
+ "problemMatcher": [
+ {
+ "pattern": [
+ {
+ "regexp": ".",
+ "file": 1,
+ "location": 2,
+ "message": 3
+ }
+ ],
+ "background": {
+ "activeOnStart": true,
+ "beginsPattern": ".",
+ "endsPattern": ".",
+ }
+ }
+ ]
+ },
+ {
+ "label": "jmavsim kill",
+ "type": "shell",
+ "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+ "problemMatcher": []
+ },
+ {
+ "label": "gazebo build",
+ "type": "shell",
+ "command": "make px4_sitl_default sitl_gazebo",
+ "options": {
+ "cwd": "${workspaceRoot}"
+ },
+ "problemMatcher": []
+ },
+ {
+ "label": "gazebo iris",
+ "type": "shell",
+ "dependsOn": "gazebo build",
+ "options": {
+ "cwd": "${workspaceRoot}",
+ "env": {
+ "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+ "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models"
+ }
+ },
+ "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
+ "isBackground": true,
+ "presentation": {
+ "reveal": "always",
+ "panel": "dedicated"
+ },
+ "problemMatcher": [
+ {
+ "pattern": [
+ {
+ "regexp": ".",
+ "file": 1,
+ "location": 2,
+ "message": 3
+ }
+ ],
+ "background": {
+ "activeOnStart": true,
+ "beginsPattern": ".",
+ "endsPattern": ".",
+ }
+ }
+ ]
+ },
+ {
+ "label": "gazebo kill",
+ "type": "shell",
+ "command": "killall gzserver",
+ "problemMatcher": []
},
]
-}
+}
\ No newline at end of file
diff --git a/boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script b/boards/airmind/mindpx-v2/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script
rename to boards/airmind/mindpx-v2/nuttx-config/scripts/script.ld
diff --git a/boards/auav/esc35-v1/nuttx-config/scripts/ld.script b/boards/auav/esc35-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/auav/esc35-v1/nuttx-config/scripts/ld.script
rename to boards/auav/esc35-v1/nuttx-config/scripts/script.ld
diff --git a/boards/auav/x21/nuttx-config/scripts/ld.script b/boards/auav/x21/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/auav/x21/nuttx-config/scripts/ld.script
rename to boards/auav/x21/nuttx-config/scripts/script.ld
diff --git a/boards/av/x-v1/nuttx-config/scripts/ld.script b/boards/av/x-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/av/x-v1/nuttx-config/scripts/ld.script
rename to boards/av/x-v1/nuttx-config/scripts/script.ld
diff --git a/boards/bitcraze/crazyflie/nuttx-config/scripts/ld.script b/boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/bitcraze/crazyflie/nuttx-config/scripts/ld.script
rename to boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld
diff --git a/boards/intel/aerofc-v1/nuttx-config/scripts/ld.script b/boards/intel/aerofc-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/intel/aerofc-v1/nuttx-config/scripts/ld.script
rename to boards/intel/aerofc-v1/nuttx-config/scripts/script.ld
diff --git a/boards/nxp/fmuk66-v3/nuttx-config/scripts/ld.script b/boards/nxp/fmuk66-v3/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/nxp/fmuk66-v3/nuttx-config/scripts/ld.script
rename to boards/nxp/fmuk66-v3/nuttx-config/scripts/script.ld
diff --git a/boards/omnibus/f4sd/nuttx-config/scripts/ld.script b/boards/omnibus/f4sd/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/omnibus/f4sd/nuttx-config/scripts/ld.script
rename to boards/omnibus/f4sd/nuttx-config/scripts/script.ld
diff --git a/boards/px4/cannode-v1/nuttx-config/scripts/ld.script b/boards/px4/cannode-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/cannode-v1/nuttx-config/scripts/ld.script
rename to boards/px4/cannode-v1/nuttx-config/scripts/script.ld
diff --git a/boards/px4/esc-v1/nuttx-config/scripts/ld.script b/boards/px4/esc-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/esc-v1/nuttx-config/scripts/ld.script
rename to boards/px4/esc-v1/nuttx-config/scripts/script.ld
diff --git a/boards/px4/fmu-v2/nuttx-config/scripts/ld.script b/boards/px4/fmu-v2/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/fmu-v2/nuttx-config/scripts/ld.script
rename to boards/px4/fmu-v2/nuttx-config/scripts/script.ld
diff --git a/boards/px4/fmu-v3/nuttx-config/scripts/ld.script b/boards/px4/fmu-v3/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/fmu-v3/nuttx-config/scripts/ld.script
rename to boards/px4/fmu-v3/nuttx-config/scripts/script.ld
diff --git a/boards/px4/fmu-v4/nuttx-config/scripts/ld.script b/boards/px4/fmu-v4/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/fmu-v4/nuttx-config/scripts/ld.script
rename to boards/px4/fmu-v4/nuttx-config/scripts/script.ld
diff --git a/boards/px4/fmu-v4pro/nuttx-config/scripts/ld.script b/boards/px4/fmu-v4pro/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/fmu-v4pro/nuttx-config/scripts/ld.script
rename to boards/px4/fmu-v4pro/nuttx-config/scripts/script.ld
diff --git a/boards/px4/fmu-v5/nuttx-config/scripts/ld.script b/boards/px4/fmu-v5/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/fmu-v5/nuttx-config/scripts/ld.script
rename to boards/px4/fmu-v5/nuttx-config/scripts/script.ld
diff --git a/boards/px4/io-v2/nuttx-config/scripts/ld.script b/boards/px4/io-v2/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/px4/io-v2/nuttx-config/scripts/ld.script
rename to boards/px4/io-v2/nuttx-config/scripts/script.ld
diff --git a/boards/thiemar/s2740vc-v1/nuttx-config/scripts/ld.script b/boards/thiemar/s2740vc-v1/nuttx-config/scripts/script.ld
similarity index 100%
rename from boards/thiemar/s2740vc-v1/nuttx-config/scripts/ld.script
rename to boards/thiemar/s2740vc-v1/nuttx-config/scripts/script.ld
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 4c7da5583a427ee373793d3cea8ecd639a9ea2d6..406e6432ff658b61538e4848f6ae9a12445e42a1 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -94,7 +94,7 @@ target_link_libraries(px4 PRIVATE
-fno-exceptions
-fno-rtti
- -Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/ld.script
+ -Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/script.ld
-Wl,-Map=${PX4_CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 87fb9c56200c9208d64e2760c1f78953d14dae49..472e53437adabb21d2a1e7b61fbe1281add9ce6b 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -113,7 +113,7 @@ add_custom_command(
${NUTTX_DIR}/arch/arm/include/math.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/board.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
- ${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/ld.script
+ ${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/script.ld
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
@@ -125,7 +125,7 @@ add_custom_command(
${NUTTX_SRC_DIR}/math.h
${NUTTX_SRC_DIR}/nsh_romfsimg.h
${NUTTX_CONFIG_DIR}/include/board.h
- ${NUTTX_CONFIG_DIR}/scripts/ld.script
+ ${NUTTX_CONFIG_DIR}/scripts/script.ld
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
WORKING_DIRECTORY ${NUTTX_DIR}