fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

systemcmds/bsondump: new command line utility (extracted from parameters)

Browse Source
This commit is contained in:
Daniel Agar 2022-12-19 17:09:23 -05:00
parent f5524fa605
commit f2cd7667dc
61 changed files with 286 additions and 194 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
.ci/Jenkinsfile-hardware
View File

@ -684,7 +684,7 @@ void checkStatus() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
// status commands
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@ -715,7 +715,7 @@ void checkStatus() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@ -767,13 +767,13 @@ void runTests() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'

4
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
then
echo "ERROR [init] param import failed"
param dump $PARAM_FILE
bsondump $PARAM_FILE
# try to make a backup copy
cp $PARAM_FILE param_import_fail.bson
@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
echo "[init] importing from parameter backup"
# dump current backup file contents for comparison
param dump $PARAM_BACKUP_FILE
bsondump $PARAM_BACKUP_FILE
param import $PARAM_BACKUP_FILE

4
ROMFS/px4fmu_common/init.d/rcS
View File

@ -130,7 +130,7 @@ else
echo "ERROR [init] param import failed"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
param dump $PARAM_FILE
bsondump $PARAM_FILE
if [ -d "/fs/microsd" ]
then
@ -143,7 +143,7 @@ else
echo "[init] importing from parameter backup"
# dump current backup file contents for comparison
param dump $PARAM_BACKUP_FILE
bsondump $PARAM_BACKUP_FILE
param import $PARAM_BACKUP_FILE

6
Tools/HIL/test_airframes.sh
View File

@ -43,13 +43,13 @@ do
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
${DIR}/reboot.py --device ${SERIAL_DEVICE}
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

3
boards/airmind/mindpx-v2/default.px4board
View File

@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

1
boards/ark/fmu-v6x/default.px4board
View File

@ -70,6 +70,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

3
boards/av/x-v1/default.px4board
View File

@ -76,8 +76,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/beaglebone/blue/default.px4board
View File

@ -63,6 +63,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_PARAM=y

3
boards/cuav/nora/default.px4board
View File

@ -81,8 +81,9 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

10
boards/cuav/x7pro/default.px4board
View File

@ -27,14 +27,12 @@ CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
@ -46,6 +44,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
@ -54,6 +53,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -80,10 +79,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
@ -106,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_EXAMPLES_FAKE_GPS=y
#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y

1
boards/cubepilot/cubeorange/default.px4board
View File

@ -75,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

4
boards/cubepilot/cubeorange/test.px4board
View File

@ -1,12 +1,8 @@
CONFIG_DRIVERS_ADC_ADS1115=n
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_RPM=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_BOARD_TESTING=y

3
boards/cubepilot/cubeyellow/default.px4board
View File

@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/emlid/navio2/default.px4board
View File

@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_PARAM=y

9
boards/holybro/durandal-v1/default.px4board
View File

@ -28,10 +28,8 @@ CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
@ -40,6 +38,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
@ -48,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -73,10 +72,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/holybro/kakuteh7/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

3
boards/holybro/pix32v5/default.px4board
View File

@ -85,8 +85,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/modalai/fc-v1/default.px4board
View File

@ -82,6 +82,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -76,6 +76,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

1
boards/modalai/voxl2/default.px4board
View File

@ -8,3 +8,4 @@ CONFIG_ORB_COMMUNICATOR=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_DRIVERS_QSHELL_POSIX=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_BSONDUMP=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -79,6 +79,7 @@ CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

3
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

3
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

2
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -21,7 +21,6 @@ CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@ -79,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/mro/pixracerpro/default.px4board
View File

@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

3
boards/mro/x21-777/default.px4board
View File

@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

3
boards/mro/x21/default.px4board
View File

@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

3
boards/nxp/fmuk66-e/default.px4board
View File

@ -23,14 +23,12 @@ CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
@ -78,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

3
boards/nxp/fmuk66-v3/default.px4board
View File

@ -24,14 +24,12 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
@ -80,6 +78,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

3
boards/nxp/fmurt1062-v1/default.px4board
View File

@ -31,6 +31,7 @@ CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@ -49,7 +50,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -83,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

2
boards/px4/fmu-v4/default.px4board
View File

@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@ -84,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

10
boards/px4/fmu-v4pro/default.px4board
View File

@ -25,15 +25,12 @@ CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_OSD=y
CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_PWM_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
@ -43,6 +40,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
@ -51,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@ -66,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -79,10 +77,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

5
boards/px4/fmu-v5/debug.px4board
View File

@ -11,28 +11,25 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
CONFIG_DRIVERS_PWM_INPUT=n
CONFIG_DRIVERS_ROBOCLAW=n
CONFIG_DRIVERS_RPM=n
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_CAMERA_FEEDBACK=n
CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_GIMBAL=n
CONFIG_MODULES_GYRO_CALIBRATION=n
CONFIG_MODULES_GYRO_FFT=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n
CONFIG_MODULES_UUV_POS_CONTROL=n
CONFIG_MODULES_GIMBAL=n
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_TESTING=y

1
boards/px4/fmu-v5/default.px4board
View File

@ -86,6 +86,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/px4/fmu-v5/test.px4board
View File

@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_PCA9685=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_RPM=n
CONFIG_EXAMPLES_FAKE_GPS=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_GYRO_FFT=n

2
boards/px4/fmu-v5x/default.px4board
View File

@ -6,7 +6,6 @@ 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_DRIVERS_ADC_ADS1115=y
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
@ -86,6 +85,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

1
boards/px4/fmu-v6c/default.px4board
View File

@ -68,6 +68,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -78,6 +78,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/px4/fmu-v6x/default.px4board
View File

@ -74,6 +74,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

1
boards/px4/raspberrypi/default.px4board
View File

@ -62,6 +62,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_PARAM=y

1
boards/px4/sitl/default.px4board
View File

@ -49,6 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_FAILURE=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

1
boards/scumaker/pilotpi/default.px4board
View File

@ -59,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_PARAM=y

1
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -83,6 +83,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
boards/thepeach/k1/default.px4board
View File

@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

1
boards/thepeach/r1/default.px4board
View File

@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

7
boards/uvify/core/default.px4board
View File

@ -33,10 +33,12 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@ -52,7 +54,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
@ -62,9 +63,9 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y

1
src/lib/CMakeLists.txt
View File

@ -68,6 +68,7 @@ add_subdirectory(system_identification EXCLUDE_FROM_ALL)
add_subdirectory(tecs EXCLUDE_FROM_ALL)
add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
add_subdirectory(timesync EXCLUDE_FROM_ALL)
add_subdirectory(tinybson EXCLUDE_FROM_ALL)
add_subdirectory(tunes EXCLUDE_FROM_ALL)
add_subdirectory(version EXCLUDE_FROM_ALL)
add_subdirectory(weather_vane EXCLUDE_FROM_ALL)

2
src/lib/parameters/CMakeLists.txt
View File

@ -33,8 +33,6 @@
add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
add_subdirectory(tinybson)
if (NOT PARAM_DEFAULT_OVERRIDES)
set(PARAM_DEFAULT_OVERRIDES "{}")
endif()

2
src/lib/parameters/flashparams/flashparams.cpp
View File

@ -55,7 +55,7 @@
#include <parameters/param.h>
#include "../uthash/utarray.h"
#include <parameters/tinybson/tinybson.h>
#include <lib/tinybson/tinybson.h>
#include "flashparams.h"
#include "flashfs.h"
#include "../param_translation.h"

11
src/lib/parameters/param.h
View File

@ -347,17 +347,6 @@ __EXPORT int param_import(int fd);
*/
__EXPORT int param_load(int fd);
/**
* Read saved parameters from file and dump to console.
*
* This function reads the file and dumps all contents to console
* values from a file.
*
* @param fd File descriptor to read from.
* @return Zero on success, nonzero if an error occurred during import.
*/
__EXPORT int param_dump(int fd);
/**
* Apply a function to each parameter.
*

70
src/lib/parameters/parameters.cpp
View File

@ -45,7 +45,7 @@
#include "param.h"
#include "param_translation.h"
#include <parameters/px4_parameters.hpp>
#include "tinybson/tinybson.h"
#include <lib/tinybson/tinybson.h>
#include <crc32.h>
#include <float.h>
@ -1521,38 +1521,6 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
return 1;
}
static int
param_dump_callback(bson_decoder_t decoder, bson_node_t node)
{
switch (node->type) {
case BSON_EOO:
PX4_INFO_RAW("BSON_EOO\n");
return 0;
case BSON_DOUBLE:
PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
return 1;
case BSON_BOOL:
PX4_INFO_RAW("BSON_BOOL: %s = %d\n", node->name, node->b);
return 1;
case BSON_INT32:
PX4_INFO_RAW("BSON_INT32: %s = %" PRIi32 "\n", node->name, node->i32);
return 1;
case BSON_INT64:
PX4_INFO_RAW("BSON_INT64: %s = %" PRIi64 "\n", node->name, node->i64);
return 1;
default:
PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
return 1; // just skip this entry
}
return -1;
}
static int
param_import_internal(int fd)
{
@ -1630,42 +1598,6 @@ param_load(int fd)
return param_import_internal(fd);
}
int
param_dump(int fd)
{
bson_decoder_s decoder{};
if (bson_decoder_init_file(&decoder, fd, param_dump_callback) == 0) {
PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
int result = -1;
do {
result = bson_decoder_next(&decoder);
} while (result > 0);
if (result == 0) {
PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
decoder.total_decoded_size,
decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
decoder.count_node_int32, decoder.count_node_int64);
return 0;
} else if (result == -ENODATA) {
PX4_WARN("BSON: no data");
return 0;
} else {
PX4_ERR("param dump failed (%d)", result);
}
}
return -1;
}
void
param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used)
{

14
src/lib/parameters/tinybson/CMakeLists.txt → src/lib/tinybson/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2022 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
@ -31,7 +31,15 @@
#
############################################################################
add_library(tinybson tinybson.cpp)
add_library(tinybson
tinybson.cpp
tinybson.h
)
target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
target_compile_options(tinybson
PRIVATE
-Wno-sign-compare # TODO: fix this
${MAX_CUSTOM_OPT_LEVEL}
)
add_dependencies(tinybson prebuild_targets)

0
src/lib/parameters/tinybson/tinybson.cpp → src/lib/tinybson/tinybson.cpp
View File

0
src/lib/parameters/tinybson/tinybson.h → src/lib/tinybson/tinybson.h
View File

42
src/systemcmds/bsondump/CMakeLists.txt Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# Copyright (c) 2022 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__bsondump
MAIN bsondump
STACK_MAIN 4096
COMPILE_FLAGS
SRCS
bsondump.cpp
DEPENDS
tinybson
)

12
src/systemcmds/bsondump/Kconfig Normal file
View File

@ -0,0 +1,12 @@
menuconfig SYSTEMCMDS_BSONDUMP
bool "bsondump"
default n
---help---
Enable bsondump
menuconfig USER_BSONDUMP
bool "bsondump running as userspace module"
default n
depends on BOARD_PROTECTED && SYSTEMCMDS_BSONDUMP
---help---
Put bsondump in userspace memory

140
src/systemcmds/bsondump/bsondump.cpp Normal file
View File

@ -0,0 +1,140 @@
/****************************************************************************
*
* Copyright (c) 2022 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.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <lib/tinybson/tinybson.h>
#include <fcntl.h>
static void print_usage(const char *reason = nullptr)
{
if (reason) {
PX4_ERR("%s", reason);
}
PRINT_MODULE_DESCRIPTION("read BSON from a file and print in human form");
PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command");
PRINT_MODULE_USAGE_ARG("<file>", "File name", false);
}
static int bson_print_callback(bson_decoder_t decoder, bson_node_t node)
{
switch (node->type) {
case BSON_EOO:
PX4_INFO_RAW("BSON_EOO\n");
return 0;
case BSON_DOUBLE:
PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
return 1;
case BSON_BOOL:
PX4_INFO_RAW("BSON_BOOL: %s = %d\n", node->name, node->b);
return 1;
case BSON_INT32:
PX4_INFO_RAW("BSON_INT32: %s = %" PRIi32 "\n", node->name, node->i32);
return 1;
case BSON_INT64:
PX4_INFO_RAW("BSON_INT64: %s = %" PRIi64 "\n", node->name, node->i64);
return 1;
default:
PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
return 1; // just skip this entry
}
return -1;
}
extern "C" __EXPORT int bsondump_main(int argc, char *argv[])
{
if (argc != 2) {
print_usage();
} else {
char *file_name = argv[1];
if (file_name) {
int fd = open(file_name, O_RDONLY);
if (fd < 0) {
PX4_ERR("open '%s' failed (%i)", file_name, errno);
return 1;
} else {
PX4_INFO_RAW("[bsondump] reading from %s\n", file_name);
bson_decoder_s decoder{};
if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) {
PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
int result = -1;
do {
result = bson_decoder_next(&decoder);
} while (result > 0);
close(fd);
if (result == 0) {
PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
decoder.total_decoded_size,
decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
decoder.count_node_int32, decoder.count_node_int64);
return 0;
} else if (result == -ENODATA) {
PX4_WARN("no data");
return -1;
} else {
PX4_ERR("failed (%d)", result);
return -1;
}
}
}
}
}
return -1;
}

48
src/systemcmds/param/param.cpp
View File

@ -83,7 +83,6 @@ enum class COMPARE_ERROR_LEVEL {
static int do_save(const char *param_file_name);
static int do_save_default();
static int do_dump(const char *param_file_name);
static int do_load(const char *param_file_name);
static int do_import(const char *param_file_name = nullptr);
static int do_show(const char *search_string, bool only_changed);
@ -136,8 +135,6 @@ $ reboot
PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save params to a file");
PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("dump", "Dump params from a file");
PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("select", "Select default file");
PRINT_MODULE_USAGE_ARG("<file>", "File name", true);
@ -212,15 +209,6 @@ param_main(int argc, char *argv[])
}
}
if (!strcmp(argv[1], "dump")) {
if (argc >= 3) {
return do_dump(argv[2]);
} else {
return do_dump(param_get_default_file());
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
return do_load(argv[2]);
@ -443,42 +431,6 @@ do_save(const char *param_file_name)
return 0;
}
static int
do_dump(const char *param_file_name)
{
int fd = -1;
if (param_file_name) { // passing NULL means to select the flash storage
fd = open(param_file_name, O_RDONLY);
if (fd < 0) {
PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
return 1;
} else {
PX4_INFO_RAW("[param] reading from %s\n\n", param_file_name);
}
}
int result = param_dump(fd);
if (fd >= 0) {
close(fd);
}
if (result < 0) {
if (param_file_name) {
PX4_ERR("reading from '%s' failed (%i)", param_file_name, result);
} else {
PX4_ERR("reading failed (%i)", result);
}
return 1;
}
return 0;
}
static int
do_load(const char *param_file_name)

2
src/systemcmds/tests/test_bson.cpp
View File

@ -45,7 +45,7 @@
#include <math.h>
#include <systemlib/err.h>
#include <parameters/tinybson/tinybson.h>
#include <lib/tinybson/tinybson.h>
#include "tests_main.h"