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85 lines
3.1 KiB
Markdown
85 lines
3.1 KiB
Markdown
# External Modules (Out-of-Tree)
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External modules provide a convenient mechanism for developers to manage/group proprietary modules that they want add to (or update in) PX4 firmware.
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External modules can use the same includes as internal modules and can interact with internal modules via uORB.
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This topic explains how to add an external ("out of tree") module to the PX4 build.
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:::tip
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We encourage you to contribute your changes into PX4, where possible!
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:::
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## Usage
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To create an external module:
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- Create an _external directory_ folder for grouping the external modules:
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- This can be located anywhere outside of the **PX4-Autopilot** tree.
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- It must have the same structure as **PX4-Autopilot** (i.e. it must contain a directory called **src**).
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- Later we refer to this directory using `EXTERNAL_MODULES_LOCATION`.
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- Copy an existing module (e.g. **examples/px4_simple_app**) to the external directory, or directly create a new module.
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- Rename the module (including `MODULE` in **CMakeLists.txt**) or remove it from the existing PX4-Autopilot _cmake_ build config.
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This is to avoid conflicts with internal modules.
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- Add a file **CMakeLists.txt** in the external directory with content:
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```cmake
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set(config_module_list_external
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modules/<new_module>
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PARENT_SCOPE
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)
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```
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- Add a line `EXTERNAL` to the `modules/<new_module>/CMakeLists.txt` within
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`px4_add_module()`, for example like this:
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```cmake
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px4_add_module(
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MODULE modules__test_app
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MAIN test_app
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STACK_MAIN 2000
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SRCS
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px4_simple_app.c
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DEPENDS
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platforms__common
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EXTERNAL
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)
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```
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## Out-of-Tree uORB Message Definitions
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uORB messages can also be defined out-of-tree. For this, the `$EXTERNAL_MODULES_LOCATION/msg` folder must exist.
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- Place all new message definitions within the `$EXTERNAL_MODULES_LOCATION/msg` directory.
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The format of these new out-of-tree message definitions are the same as for any other [uORB message definition](../middleware/uorb.md#adding-a-new-topic).
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- Add a file `$EXTERNAL_MODULES_LOCATION/msg/CMakeLists.txt` with content:
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```cmake
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set(config_msg_list_external
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<message1>.msg
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<message2>.msg
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<message3>.msg
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PARENT_SCOPE
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)
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```
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where `<message#>.msg` is the name of the uORB message definition file to be processed and used for uORB message generation.
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The out-of-tree uORB messages will be generated in the same locations as the normal uORB messages.
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The uORB topic headers are generated in `<build_dir>/uORB/topics/`, and the message source files are
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generated in `<build_dir>/msg/topics_sources/`.
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The new uORB messages can be used like any other uORB message as described [here](../middleware/uorb.md#adding-a-new-topic).
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:::warning
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The out-of-tree uORB message definitions cannot have the same name as any of the normal uORB messages.
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:::
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## Building External Modules and uORB Messages
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Execute `make px4_sitl EXTERNAL_MODULES_LOCATION=<path>`.
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Any other build target can be used, but the build directory must not yet exist.
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If it already exists, you can also just set the _cmake_ variable in the build folder.
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For subsequent incremental builds `EXTERNAL_MODULES_LOCATION` does not need to be specified.
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