file paths: add PX4_STORAGEDIR & use it where appropriate

src/modules/dataman/dataman.cpp

@@ -246,11 +246,7 @@ static px4_sem_t g_sys_state_mutex_mission;
 static px4_sem_t g_sys_state_mutex_fence;
 
 /* The data manager store file handle and file name */
-#ifdef __PX4_POSIX
-static const char *default_device_path = PX4_ROOTFSDIR"/dataman";
-#else
-static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";
-#endif
+static const char *default_device_path = PX4_STORAGEDIR "/dataman";
 static char *k_data_manager_device_path = nullptr;
 
 #if defined(FLASH_BASED_DATAMAN)

src/modules/logger/logger.cpp

@@ -830,11 +830,7 @@ void Logger::run()
 	orb_set_interval(log_message_sub, 20);
 
 
-#if __PX4_POSIX
-	int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/etc/logging/logger_topics.txt");
-#else
-	int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/fs/microsd/etc/logging/logger_topics.txt");
-#endif
+	int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");
 
 	if (ntopics > 0) {
 		PX4_INFO("logging %d topics from logger_topics.txt", ntopics);

src/modules/logger/logger.h

@@ -313,11 +313,7 @@ private:
 
 	static constexpr size_t 	MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
 	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
-#ifdef __PX4_POSIX
-	static constexpr const char	*LOG_ROOT = PX4_ROOTFSDIR"/log";
-#else
-	static constexpr const char 	*LOG_ROOT = PX4_ROOTFSDIR"/fs/microsd/log";
-#endif
+	static constexpr const char	*LOG_ROOT = PX4_STORAGEDIR "/log";
 
 	uint8_t						*_msg_buffer{nullptr};
 	int						_msg_buffer_len{0};

src/modules/mavlink/mavlink_ftp.cpp

@@ -663,7 +663,7 @@ MavlinkFTP::_workTruncateFile(PayloadHeader *payload)
 
 	// emulate truncate(_work_buffer1, payload->offset) by
 	// copying to temp and overwrite with O_TRUNC flag (NuttX does not support truncate()).
-	const char temp_file[] = PX4_ROOTFSDIR"/fs/microsd/.trunc.tmp";
+	const char temp_file[] = PX4_STORAGEDIR"/.trunc.tmp";
 
 	struct stat st;
 

src/modules/mavlink/mavlink_log_handler.cpp

@@ -39,7 +39,7 @@
 #include <sys/stat.h>
 #include <time.h>
 
-#define MOUNTPOINT PX4_ROOTFSDIR "/fs/microsd"
+#define MOUNTPOINT PX4_STORAGEDIR
 
 static const char *kLogRoot    = MOUNTPOINT "/log";
 static const char *kLogData    = MOUNTPOINT "/logdata.txt";

src/modules/mavlink/mavlink_receiver.cpp

@@ -443,7 +443,7 @@ void
 MavlinkReceiver::send_storage_information(int storage_id)
 {
 	mavlink_storage_information_t storage_info{};
-	const char *microsd_dir = PX4_ROOTFSDIR"/fs/microsd";
+	const char *microsd_dir = PX4_STORAGEDIR;
 
 	if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
 		storage_info.storage_id = 1;

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp

@@ -55,8 +55,8 @@ const MavlinkFtpTest::DownloadTestCase MavlinkFtpTest::_rgDownloadTestCases[] =
 	{ PX4_MAVLINK_TEST_DATA_DIR  "/unit_test_data/mavlink_tests/test_240.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1,	false, false },	// Read take two packets
 };
 
-const char MavlinkFtpTest::_unittest_microsd_dir[] = PX4_ROOTFSDIR "/fs/microsd/ftp_unit_test_dir";
-const char MavlinkFtpTest::_unittest_microsd_file[] = PX4_ROOTFSDIR "/fs/microsd/ftp_unit_test_dir/file";
+const char MavlinkFtpTest::_unittest_microsd_dir[] = PX4_STORAGEDIR "/ftp_unit_test_dir";
+const char MavlinkFtpTest::_unittest_microsd_file[] = PX4_STORAGEDIR "/ftp_unit_test_dir/file";
 
 MavlinkFtpTest::MavlinkFtpTest() :
 	_ftp_server(nullptr),

src/modules/navigator/geofence.h

@@ -52,7 +52,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_air_data.h>
 
-#define GEOFENCE_FILENAME PX4_ROOTFSDIR"/fs/microsd/etc/geofence.txt"
+#define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"
 
 class Navigator;
 

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -191,11 +191,7 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 			    float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v, float corr_mocap[3][1], float w_mocap_p,
 			    float corr_vision[3][2], float w_xy_vision_p, float w_z_vision_p, float w_xy_vision_v)
 {
-#ifdef __PX4_POSIX
-	FILE *f = fopen(PX4_ROOTFSDIR"/inav.log", "a");
-#else
-	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
-#endif
+	FILE *f = fopen(PX4_STORAGEDIR"/inav.log", "a");
 
 	if (f) {
 		char *s = malloc(256);

src/modules/uORB/uORBManager.cpp

@@ -65,7 +65,7 @@ bool uORB::Manager::initialize()
 uORB::Manager::Manager()
 {
 #ifdef ORB_USE_PUBLISHER_RULES
-	const char *file_name = "./rootfs/orb_publisher.rules";
+	const char *file_name = PX4_STORAGEDIR"/orb_publisher.rules";
 	int ret = readPublisherRulesFromFile(file_name, _publisher_rule);
 
 	if (ret == PX4_OK) {

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -139,7 +139,7 @@ int uORBTest::UnitTest::pubsublatency_main()
 
 	if (pubsubtest_print) {
 		char fname[32];
-		sprintf(fname, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
+		sprintf(fname, PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup);
 		FILE *f = fopen(fname, "w");
 
 		if (f == nullptr) {