mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
89 lines
4.4 KiB
Markdown
89 lines
4.4 KiB
Markdown
# PX4 Конфігурація плати (kconfig)
|
||
|
||
The PX4 Autopilot firmware can be configured at build time to adapt it for specialized applications (fixed-wing, multicopter, rover or more), to enable new and experimental features (such as Cyphal) or to save flash & RAM usage by disabling some drivers and subsystems.
|
||
This configuration is handled through _Kconfig_, which is the same [configuration system used by NuttX](../hardware/porting_guide_nuttx.md#nuttx-menuconfig-setup).
|
||
|
||
The configuration options (often referred as "symbols" by the _kconfig_ language) are defined in `Kconfig` files under the **/src** directory.
|
||
|
||
## Конвенція найменування символів PX4 Kconfig
|
||
|
||
За умовчанням символи для модулів/драйверів називаються на основі шляху папки модуля.
|
||
For example, the symbol for the ADC driver at `src/drivers/adc/board_adc` must be named `DRIVERS_ADC_BOARD_ADC`.
|
||
|
||
Для додавання символів для параметрів, специфічних для драйвера/модуля, конвенція найменування полягає в тому, що за ім'ям модуля слідує назва параметра.
|
||
For example `UAVCAN_V1_GNSS_PUBLISHER` which is an option `GNSS_PUBLISHER` for the `UAVCAN_V1` module.
|
||
The options have to be guarded behind an `if` statement to ensure that the options are only visible when the module itself is enabled.
|
||
|
||
Наприклад:
|
||
|
||
```
|
||
menuconfig DRIVERS_UAVCAN_V1
|
||
bool "UAVCANv1"
|
||
default n
|
||
---help---
|
||
Enable support for UAVCANv1
|
||
|
||
if DRIVERS_UAVCAN_V1
|
||
config UAVCAN_V1_GNSS_PUBLISHER
|
||
bool "GNSS Publisher"
|
||
default n
|
||
endif #DRIVERS_UAVCAN_V1
|
||
```
|
||
|
||
:::info
|
||
Builds will silently ignore any missing or miss-spelled modules in the `*.px4board` configuration file.
|
||
:::
|
||
|
||
## Успадкування мітки PX4 Kconfig
|
||
|
||
Each PX4 board must have a `default.px4board` configuration and can have an optional `bootloader.px4board configuration`.
|
||
However you can add also separate configurations under a different label e.g. `cyphal.px4board`.
|
||
Note that by default the configuration of `cyphal.px4board` inherits all settings set in `default.px4board`.
|
||
When changing the `cyphal.px4board` it only stores the delta of the Kconfig keys that are different compared to `default.px4board`, this is useful to simplify configurations management
|
||
|
||
:::info
|
||
When modifying a Kconfig key in `default.px4board` it will be modified in all derivative configurations of the same board that had the same config as well.
|
||
:::
|
||
|
||
## Налаштування меню PX4 Menuconfig
|
||
|
||
The [menuconfig](https://pypi.org/project/kconfiglib/#menuconfig-interfaces) tool is used to modify the PX4 board configuration, adding/removing modules, drivers, and other features.
|
||
|
||
Існують варіанти командного рядка та графічного інтерфейсу, які можна запустити за допомогою скорочень збірки PX4:
|
||
|
||
```
|
||
make px4_fmu-v5_default boardconfig
|
||
make px4_fmu-v5_default boardguiconfig
|
||
```
|
||
|
||
:::info
|
||
_Kconfiglib_ and _menuconfig_ come with the _kconfiglib_ python package, which is installed by the normal [ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh) installation script.
|
||
If _kconfiglib_ is not installed, you can do so using the command: `pip3 install kconfiglib`
|
||
:::
|
||
|
||
Інтерфейс командного рядка та графічного інтерфейсу показані нижче.
|
||
|
||
### Інтерфейс користувача menuconfig GUI
|
||
|
||
|
||
|
||
### Інтерфейс командного рядка menuconfig
|
||
|
||
|
||
|
||
## Fortified Toolchain Compatibility
|
||
|
||
Some toolchains define `_FORTIFY_SOURCE` by default. Those toolchains generally require some optimization, which means PX4 configurations that use `-O0` may fail.
|
||
|
||
PX4 keeps the default debug optimization unchanged unless you explicitly opt in. To switch `PX4_DEBUG_OPT_LEVEL` from `-O0` to `-Og`, enable:
|
||
|
||
- `Toolchain > Fortified toolchain support`
|
||
|
||
This is the Kconfig symbol:
|
||
|
||
```sh
|
||
CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN=y
|
||
```
|
||
|
||
You can set it either in `boardconfig`/`boardguiconfig` or directly in your board's `*.px4board` file.
|