Performance & testing targets

* Added minimal configs for performance testing

* Rename recovery to performance

* added mfg_cfg

* fix params & don't inherit from default

* rename performance -> performance-test

---------

Co-authored-by: Igor-Misic <igy1000mb@gmail.com>

ROMFS/performance-test/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/performance-test/init.d/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	rcS
+)

ROMFS/performance-test/init.d/rcS

@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""

Tools/ci/generate_board_targets_json.py

@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
     group = None
 
     if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("performance-test.px4board") or \
         px4board_file.endswith("bootloader.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board

Tools/kconfig/allyesconfig.py

@@ -74,6 +74,7 @@ exception_list_sitl = [
     'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
     'SYSTEMCMDS_DMESG', # Not supported in SITL
     'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
     'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 

boards/px4/fmu-v5x/performance-test.px4board

@@ -0,0 +1,31 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v6x/performance-test.px4board

@@ -0,0 +1,31 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

cmake/kconfig.cmake

@@ -35,7 +35,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	# Depend on BOARD_DEFCONFIG so that we reconfigure on config change
 	set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
 
-	if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
+	if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "performance-test" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
 		# Generate boardconfig from saved defconfig
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}

src/systemcmds/mft_cfg/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__mft_cfg
+	MAIN mft_cfg
+	COMPILE_FLAGS
+	SRCS
+		mft_cfg.cpp
+	)

src/systemcmds/mft_cfg/Kconfig

@@ -0,0 +1,5 @@
+menuconfig SYSTEMCMDS_MFT_CFG
+	bool "mft_cfg"
+	default n
+	---help---
+		Enable support for mft_cfg

src/systemcmds/mft_cfg/mft_cfg.cpp

@@ -0,0 +1,239 @@
+/****************************************************************************
+*
+* Copyright (c) 2025 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in
+* the documentation and/or other materials provided with the
+* distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+* used to endorse or promote products derived from this software
+* without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+* @file mft_cfg.c
+*/
+
+#include <board_config.h>
+#include <px4_platform_common/board_common.h>
+#include <px4_platform/board_hw_eeprom_rev_ver.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <fcntl.h>
+
+
+static void usage(const char *reason)
+{
+	if (reason != nullptr) {
+		printf("%s\n\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION("Tool to set and get manifest configuration");
+
+	PRINT_MODULE_USAGE_NAME("mft_cfg", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("get", "get manifest configuration");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("set", "set manifest configuration");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "reset manifest configuration");
+	PRINT_MODULE_USAGE_ARG("hwver|hwrev", "Select type: MTD_MTF_VER|MTD_MTF_REV", false);
+	PRINT_MODULE_USAGE_PARAM_INT('i', 0x10, 0x10, 0xFFFF,
+				     "argument to set extended hardware id (id == version for <hwver>, id == revision for <hwrev> )", false);
+
+}
+
+
+static int print_extended_id(const char *type)
+{
+	mtd_mft_v0_t mtd_mft;
+	mtd_mft.version.id = MTD_MFT_v0;
+	mtd_mft.hw_extended_id = -1;
+
+	const char *path = nullptr;
+	int ret_val = px4_mtd_query(type, NULL, &path);
+
+	if (ret_val != PX4_OK) {
+		PX4_ERR("Can't get mtd query (%s, %i)", type, ret_val);
+
+	} else {
+
+		ret_val = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+		if (ret_val == PX4_OK) {
+			PX4_INFO("%s, hw_extended_id = %#x", type, mtd_mft.hw_extended_id);
+
+		} else  {
+
+			if (ret_val == -EPROTO) {
+				PX4_ERR("Manifest data may not exist for %s", path);
+
+			} else {
+				PX4_ERR("Can't read hw_extended_id from EEPROM (%s, %i)", type, ret_val);
+			}
+		}
+	}
+
+	return ret_val;
+}
+
+extern "C" __EXPORT int mft_cfg_main(int argc, char *argv[])
+{
+	if ((argc == 2) && (!strcmp(argv[1], "get"))) {
+
+		char type_ver[] = "MTD_MFT_VER";
+		char type_rev[] = "MTD_MFT_REV";
+
+		print_extended_id(type_ver);
+		print_extended_id(type_rev);
+
+		return 0;
+
+	} else if (argc >= 3) {
+
+		int ret_val = -1;
+		const char *path = nullptr;
+		bool arg_exist = false;
+
+		for (int i = 2; i < argc; ++i) {
+			if (strcmp("hwver", argv[i]) == 0) {
+				ret_val = px4_mtd_query("MTD_MFT_VER", NULL, &path);
+				arg_exist = true;
+				break;
+			}
+
+			if (strcmp("hwrev", argv[i]) == 0) {
+				ret_val = px4_mtd_query("MTD_MFT_REV", NULL, &path);
+				arg_exist = true;
+				break;
+			}
+		}
+
+		if (!arg_exist) {
+			PX4_ERR("Missing <hwver> or <hwrev> arguments'");
+			return 1;
+		}
+
+		if (ret_val != PX4_OK) {
+			PX4_ERR("Can't get mtd query (%i)", ret_val);
+			return 1;
+		}
+
+		mtd_mft_v0_t mtd_mft;
+		mtd_mft.version.id = MTD_MFT_v0;
+		mtd_mft.hw_extended_id = -1;
+
+		if (!strcmp(argv[1], "set")) {
+			if (argc == 5) {
+
+				const char *myoptarg = NULL;
+				int ch = 0;
+				int myoptind = 1;
+				int hw_extended_id = -1;
+
+				while ((ch = px4_getopt(argc, argv, "i:", &myoptind, &myoptarg)) != EOF) {
+					switch (ch) {
+					case 'i':
+						hw_extended_id = strtol(myoptarg, NULL, 0);
+						break;
+
+					default:
+						PX4_ERR("To set id use '-i x'");
+						break;
+					}
+				}
+
+				if (hw_extended_id != -1) {
+
+					mtd_mft.hw_extended_id = (uint16_t)hw_extended_id;
+
+					ret_val = board_set_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+					if (ret_val != PX4_OK) {
+						PX4_ERR("Can't write to EEPROM (%i)", ret_val);
+
+					} else {
+						board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+						PX4_INFO("New hw_extended_id = %#x", mtd_mft.hw_extended_id);
+					}
+				}
+
+			} else {
+				PX4_ERR("Not enough arguments, try 'mft_cfg set hwver -i x'");
+				return 1;
+			}
+
+			return 0;
+		}
+
+		if (!strcmp(argv[1], "get")) {
+
+			ret_val = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+			if (ret_val == PX4_OK) {
+				PX4_INFO("hw_extended_id = %#x", mtd_mft.hw_extended_id);
+
+			} else {
+
+				if (ret_val == -EPROTO) {
+					PX4_ERR("Manifest data may not exist for %s", path);
+
+				} else {
+					PX4_ERR("Can't read from EEPROM (%s, %i)", path, ret_val);
+				}
+
+				return 1;
+			}
+
+			return 0;
+		}
+
+		if (!strcmp(argv[1], "reset")) {
+
+			uint8_t buffer[64];
+			memset(buffer, 0xFF, sizeof(buffer));
+
+			int fd = open(path, O_WRONLY);
+
+			if (fd == -1) {
+				PX4_ERR("Failed to open partition %s", path);
+				return 1;
+			}
+
+			while (write(fd, buffer, sizeof(buffer)) == sizeof(buffer)) {}
+
+			PX4_INFO("Reset for %s completed. To remove manifest data from RAM, a reboot is required.", path);
+			close(fd);
+
+			return 0;
+		}
+
+	} else {
+		usage("Error, not enough parameters.");
+		return 1;
+	}
+
+	return 0;
+}