diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json
index 2624a2e50b3f18e622fe79f56c86f4273d459aef..5f09a21261630a7b46c6d2f40a29acea9756df83 100644
--- a/.vscode/cmake-kits.json
+++ b/.vscode/cmake-kits.json
@@ -1,10 +1,6 @@
[
{
- "name": "arm-none-eabi-gcc",
- "toolchainFile": "cmake/toolchains/Toolchain-arm-none-eabi.cmake"
- },
- {
- "name": "native",
- "toolchainFile": "cmake/toolchains/Toolchain-native.cmake"
+ "name": "PX4 default",
+ "preferredGenerator": "Ninja"
}
]
\ No newline at end of file
diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index 5b52735df2d40343d2d2df2db6b965ce8f50bb90..98c87d0da9757a3d24f875a8748f53b1def3366b 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -1,33 +1,68 @@
CONFIG:
- default: posix_sitl_default
+ default: px4_sitl_default
choices:
- posix_sitl_default:
- short: sitl
+ px4_sitl_default:
+ short: px4_sitl
buildType: RelWithDebInfo
settings:
- CONFIG: posix_sitl_default
- nuttx_px4fmu-v2_default:
- short: px4fmu-v2
+ CONFIG: px4_sitl_default
+ px4_sitl_default_Debug:
+ short: px4_sitl (Debug)
+ buildType: Debug
+ settings:
+ CONFIG: px4_sitl_default
+ px4_sitl_rtps:
+ short: px4_sitl_rtps
+ buildType: RelWithDebInfo
+ settings:
+ CONFIG: px4_sitl_rtps
+ px4_fmu-v2_default:
+ short: px4_fmu-v2
+ buildType: MinRelSize
+ settings:
+ CONFIG: px4_fmu-v2_default
+ px4_fmu-v3_default:
+ short: px4_fmu-v3
+ buildType: MinRelSize
+ settings:
+ CONFIG: px4_fmu-v3_default
+ px4_fmu-v4_default:
+ short: px4_fmu-v4
+ buildType: MinRelSize
+ settings:
+ CONFIG: px4_fmu-v4_default
+ px4_fmu-v4pro_default:
+ short: px4_fmu-v4pro
+ buildType: MinRelSize
+ settings:
+ CONFIG: px4_fmu-v4pro_default
+ px4_fmu-v5_default:
+ short: px4_fmu-v5
+ buildType: MinRelSize
+ settings:
+ CONFIG: px4_fmu-v5_default
+ px4_fmu-v5_rtps:
+ short: px4_fmu-v5_rtps
buildType: MinRelSize
settings:
- CONFIG: nuttx_px4fmu-v2_default
- nuttx_px4fmu-v3_default:
- short: px4fmu-v3
+ CONFIG: px4_fmu-v5_rtps
+ airmind_mindpx-v2_default:
+ short: airmind_mindpx-v2
buildType: MinRelSize
settings:
- CONFIG: nuttx_px4fmu-v3_default
- nuttx_px4fmu-v4_default:
- short: px4fmu-v4
+ CONFIG: airmind_mindpx-v2_default
+ av_x-v1_default:
+ short: av-x
buildType: MinRelSize
settings:
- CONFIG: nuttx_px4fmu-v4_default
- nuttx_px4fmu-v4pro_default:
- short: px4fmu-v4pro
+ CONFIG: av_x-v1_default
+ intel_aerofc-v1_default:
+ short: intel_aerofc-v1
buildType: MinRelSize
settings:
- CONFIG: nuttx_px4fmu-v4pro_default
- nuttx_px4fmu-v5_default:
- short: px4fmu-v5
+ CONFIG: intel_aerofc-v1_default
+ nxp_fmuk66-v3_default:
+ short: nxp_fmuk66-v3
buildType: MinRelSize
settings:
- CONFIG: nuttx_px4fmu-v5_default
\ No newline at end of file
+ CONFIG: nxp_fmuk66-v3_default
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
index 086dda8cb44ec4294d7e3ad5831b3bff3549c27b..adc40a5579c0846bad0eaf985232005914a87a51 100644
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -6,6 +6,7 @@
"github.vscode-pull-request-github",
"chiehyu.vscode-astyle",
"marus25.cortex-debug",
+ "ms-python.python",
"vector-of-bool.cmake-tools"
]
}
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 7d5492a988fb9c23999ca5fcc959463e06868b11..d3f0c9829c6f18b1d3b73ca5aabf5f27e1bc526d 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -2,43 +2,58 @@
"version": "0.2.0",
"configurations": [
{
- "name": "(lldb) Launch",
+ "name": "(gdb) Launch (shell)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
- "args": [],
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s", "etc/init.d-posix/rcS",
+ "-t", "${workspaceFolder}/test_data"
+ ],
"stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": true,
- "MIMode": "lldb",
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [{"name": "PX4_SIM_MODEL", "value": "shell"}],
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+
+ "ignoreFailures": true,
+
+ "text": "handle SIGCONT nostop noprint nopass",
+ }
+ ]
},
{
- "name": "(gdb) Launch",
+ "name": "(gdb) Launch (jmavsim iris)",
"type": "cppdbg",
"request": "launch",
- // Resolved by CMake Tools:
"program": "${command:cmake.launchTargetPath}",
- "args": [],
+ "args": [
+ "${workspaceFolder}/ROMFS/px4fmu_common",
+ "-s", "etc/init.d-posix/rcS",
+ "-t", "${workspaceFolder}/test_data"
+ ],
"stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "externalConsole": true,
+ "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+ "environment": [{"name": "PX4_SIM_MODEL", "value": "iris"}],
+ "externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
- "ignoreFailures": true
+
+ "ignoreFailures": true,
+
+ "text": "handle SIGCONT nostop noprint nopass",
+
}
- ]
- }
- {
- "cwd": "${workspaceRoot}",
- "executable": "${command:cmake.launchTargetPath}",
- "name": "Debug Microcontroller",
- "request": "launch",
- "type": "cortex-debug",
- "servertype": "jlink"
+ ],
+ "preLaunchTask": "jmavsim"
},
]
}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index c5ef40b8a211cb4fbbad4d7755f0b8a913d99a77..52fe1b80eb5d722eeacdb5617a0bdcde1bfa6a02 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -5,4 +5,6 @@
"C_Cpp.default.cppStandard": "c++11",
"C_Cpp.default.cStandard": "c99",
"cmake.buildDirectory": "${workspaceRoot}/build/${variant:CONFIG}",
+ "cmake.autoRestartBuild": true,
+ "cmake.configureOnOpen": true,
}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index d171d02bb49e0105e25703203962a669d68e9132..a5b30e9aeb330516d09a6e3fd99fde632a8456a7 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -6,11 +6,16 @@
{
"label": "jmavsim",
"type": "shell",
- "command": "make posix_sitl_default jmavsim",
- "group": {
- "kind": "build",
- "isDefault": true
+ "command": "Tools/jmavsim_run.sh",
+ "isBackground": true,
+ "args": ["-r", "500"],
+ "options": {
+ "cwd": "${workspaceRoot}"
+ },
+ "presentation": {
+ "reveal": "always",
+ "panel": "dedicated"
}
- }
+ },
]
}
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 78f55b92f378586f0629b84cfa674a5949b996f8..524131c8d40279489be458a8a76fc71c53698e62 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -1,5 +1,6 @@
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
+file(MAKE_DIRECTORY ${SITL_WORKING_DIR}/rootfs)
# add a symlink to the logs dir to make it easier to find them
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
@@ -7,6 +8,8 @@ add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
WORKING_DIRECTORY ${PX4_BINARY_DIR})
add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
+add_dependencies(px4 logs_symlink)
+
add_custom_target(run_config
COMMAND Tools/sitl_run.sh
$<TARGET_FILE:px4>