Problem running jMAVSim on MacOS High Sierra

AlanH 2018-01-07 16:32:56 UTC #1

I have a Mac running High Sierra (10.13.2) with Java JDK version 9.0.1.

I'm following the steps to set up the toolchain and build the px4 software here. All is well until I try the command:

make posix jmavsim

This seems to build and run px4, but it throws a java exception, and the Console that's supposed to appear doesn't show.

Here is the full output from the command

 iMac:Firmware alan$ make posix jmavsim
[1/2] cd /Users/alan/src/Firmware/build/posix_sitl_default/t...c/Firmware /Users/alan/src/Firmware/build/posix_sitl_defaul
args: /Users/alan/src/Firmware/build/posix_sitl_default/px4 posix-configs/SITL/init/ekf2 none jmavsim none /Users/alan/src/Firmware /Users/alan/src/Firmware/build/posix_sitl_default
SITL ARGS
sitl_bin: /Users/alan/src/Firmware/build/posix_sitl_default/px4
rcS_dir: posix-configs/SITL/init/ekf2
debugger: none
program: jmavsim
model: none
src_path: /Users/alan/src/Firmware
build_path: /Users/alan/src/Firmware/build/posix_sitl_default
empty model, setting iris as default
SITL COMMAND: /Users/alan/src/Firmware/build/posix_sitl_default/px4 /Users/alan/src/Firmware /Users/alan/src/Firmware/posix-configs/SITL/init/ekf2/iris
data path: /Users/alan/src/Firmware
commands file: /Users/alan/src/Firmware/posix-configs/SITL/init/ekf2/iris

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
INFO  [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
Buildfile: /Users/alan/src/Firmware/Tools/jMAVSim/build.xml

make_dirs:

compile:

create_run_jar:

copy_res:

BUILD SUCCESSFUL
Total time: 0 seconds
Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
	at java.base/java.lang.Class.forName0(Native Method)
	at java.base/java.lang.Class.forName(Class.java:375)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
	at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:563)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:496)
	... 3 more
Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
	at java.base/java.lang.Class.forName0(Native Method)
	at java.base/java.lang.Class.forName(Class.java:375)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
	at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:563)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:496)
	... 3 more

I've investigated, and as far as I can tell, the vecmath.jar module is included at src/Firmware/Tools/jMAVSim/lib/ along with the other bits of java3D. But I'm not sure whether this copy will be used in MacOS High Sierra.

Any help will be greatly appreciated.

AlanH 2018-01-15 23:38:49 UTC #2

I guess no one else is running the Mac toolchain? Oh well

Erin_Boyd 2018-01-22 05:01:54 UTC #3

I am having this EXACT same problem. I have updated XCode, Homebrew, Ruby, Java, etc..
I cannot find any way around this. HELP!

Erin_Boyd 2018-01-22 18:29:32 UTC #4

@AlanH I am using Gazebo now and it came right up without issues!

AlanH 2018-01-22 18:35:55 UTC #5

@Erin_Boyd Thanks Erin. It's good to hear that someone else is trying to use a Mac. I'm not sure whether it's good or bad news that I'm not the only one having problems with jMAVSim - I was hoping someone would tell me I had just done something stupid, but now it sounds more as if the later MacOS has broken it.

I haven't had time to investigate Gazebo yet, but your message will give me an incentive to try it.

Erin_Boyd 2018-01-22 18:48:54 UTC #6

@AlanH all I did was run make posix_sitl_default gazebo and it brought it right up

rroche 2018-01-22 18:53:20 UTC #7

I have confirmed with other peers that we can successfully run jMAVSim (latest master and release) on MacOS High Sierra, a few of us run macOS as our default OS and keep our toolchains updated, I'm not sure why you are getting a Java error but it looks like a missing dependency, looking at the link you referenced from the PX4 dev guide, I can see we don't mention updating submodules, are you updating the git submodules after you pulled from upstream before attempting a build?

git pull origin master # or branch
git submodule update --recursive --init
make posix jmavsim

Please post the full log output and if you are using master or a release tag.

Erin_Boyd 2018-01-22 20:38:33 UTC #8

I updated the dependencies, but I am still getting the same error. I appreciate the link for the update. I was reading the build and I thought it would take care of those.

Erin_Boyd 2018-01-22 21:34:06 UTC #9

I also did
make submodulesupdate

then tried the make posix jmavsim
and I still get the same error

AlanH 2018-01-23 15:54:00 UTC #10

Hi. Thanks for responding.
I've done what you suggested. The result was the same. I'll have to split the log output as it exceeds the post limit. Here is the first half. I'm using master.

iMac:Firmware alan$ git pull origin master
remote: Counting objects: 1357, done.
remote: Compressing objects: 100% (18/18), done.
remote: Total 1357 (delta 835), reused 847 (delta 834), pack-reused 505
Receiving objects: 100% (1357/1357), 365.79 KiB | 632.00 KiB/s, done.
Resolving deltas: 100% (1051/1051), completed with 294 local objects.
From https://github.com/PX4/Firmware
 * branch                master     -> FETCH_HEAD
   3e0b8b701..0fd043af0  master     -> origin/master
Fetching submodule Tools/jMAVSim
From https://github.com/PX4/jMAVSim
   21a0ad7..aabbecd  master     -> origin/master
Fetching submodule Tools/sitl_gazebo
From https://github.com/PX4/sitl_gazebo
 + aa115db...c75de07 jinja      -> origin/jinja  (forced update)
   b59e6e7..476b0a5  master     -> origin/master
Fetching submodule mavlink/include/mavlink/v2.0
From https://github.com/mavlink/c_library_v2
   aa1190a..b6d4a9f  master     -> origin/master
Fetching submodule src/lib/DriverFramework
From https://github.com/PX4/DriverFramework
   7943b5f..843ad72  master       -> origin/master
 * [new branch]      pr-nuttx_dep -> origin/pr-nuttx_dep
Fetching submodule src/lib/ecl
From https://github.com/PX4/ecl
   c8ab806..76bf701  master           -> origin/master
 + 72ed679...6cfa220 pr-ekfHighLatMag -> origin/pr-ekfHighLatMag  (forced update)
 * [new branch]      pr-ekfHighLatMag-rebased -> origin/pr-ekfHighLatMag-rebased
Updating 3e0b8b701..0fd043af0
warning: unable to rmdir mavlink/include/mavlink/v1.0: Directory not empty
Fast-forward
 .gitmodules                                                                   |   4 -
 Jenkinsfile                                                                   | 140 +++---
 Makefile                                                                      |  11 +-
 ROMFS/px4fmu_common/init.d/10016_3dr_iris                                     |   2 +-
 ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm                            |  19 -
 ROMFS/px4fmu_common/init.d/rc.interface                                       |  22 +-
 ROMFS/px4fmu_common/init.d/rc.sensors                                         |   6 +-
 ROMFS/px4fmu_common/init.d/rcS                                                |  89 +---
 Tools/docker_run.sh                                                           |   4 +-
 Tools/jMAVSim                                                                 |   2 +-
 Tools/process_sensor_caldata.py                                               | 904 ++++++++++++++++++-------------------
 Tools/px_uploader.py                                                          |   6 +-
 Tools/qgc_meta_sync.sh                                                        |   7 +-
 Tools/sitl_gazebo                                                             |   2 +-
 circle.yml                                                                    |   5 +-
 cmake/common/px4_base.cmake                                                   |   2 +
 cmake/configs/nuttx_aerocore2_default.cmake                                   |  13 +-
 cmake/configs/nuttx_aerofc-v1_default.cmake                                   |  17 +-
 cmake/configs/nuttx_auav-x21_default.cmake                                    |  24 +-
 cmake/configs/nuttx_crazyflie_default.cmake                                   |   2 +-
 cmake/configs/nuttx_mindpx-v2_default.cmake                                   |  67 ++-
 cmake/configs/nuttx_nxphlite-v3_default.cmake                                 |  28 +-
 cmake/configs/nuttx_px4-same70xplained-v1_default.cmake                       |  21 +-
 cmake/configs/nuttx_px4fmu-v2_default.cmake                                   |  37 +-
 cmake/configs/nuttx_px4fmu-v2_lpe.cmake                                       |   4 +
 cmake/configs/nuttx_px4fmu-v2_test.cmake                                      |  12 +-
 cmake/configs/nuttx_px4fmu-v3_default.cmake                                   |  28 +-
 cmake/configs/nuttx_px4fmu-v4_default.cmake                                   |  28 +-
 cmake/configs/nuttx_px4fmu-v4pro_default.cmake                                |  28 +-
 cmake/configs/nuttx_px4fmu-v5_default.cmake                                   |  32 +-
 cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake                          |  23 +-
 cmake/configs/nuttx_tap-v1_default.cmake                                      |  25 +-
 cmake/configs/posix_ocpoc_ubuntu.cmake                                        |   2 +-
 cmake/configs/posix_rpi_common.cmake                                          |   9 +-
 cmake/configs/posix_sitl_default.cmake                                        |  15 +-
 cmake/configs/qurt_sdflight_default.cmake                                     |   5 +-
 cmake/configs/qurt_sdflight_legacy.cmake                                      |   1 -
 cmake/toolchains/Toolchain-arm-none-eabi.cmake                                |   2 +-
 integrationtests/python_src/px4_it/mavros/__init__.py                         |   0
 integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py      | 154 +------
 integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py      | 172 ++-----
 integrationtests/python_src/px4_it/mavros/mavros_test_common.py               | 393 ++++++++++++++++
 integrationtests/python_src/px4_it/mavros/mission_test.py                     | 488 ++++++--------------
 mavlink/include/mavlink/v1.0                                                  |   1 -
 mavlink/include/mavlink/v2.0                                                  |   2 +-
 msg/CMakeLists.txt                                                            |   3 +
 msg/commander_state.msg                                                       |   3 +-
 msg/ekf2_innovations.msg                                                      |   1 +
 msg/irlock_report.msg                                                         |   9 +
 msg/landing_target_innovations.msg                                            |   7 +
 msg/landing_target_pose.msg                                                   |  24 +
 msg/led_control.msg                                                           |   2 +-
 msg/mission.msg                                                               |   6 +-
 msg/parameter_update.msg                                                      |   2 +-
 msg/templates/urtps/microRTPS_transport.h                                     |   1 -
 msg/vehicle_command.msg                                                       |   1 +
 msg/vehicle_status.msg                                                        |   3 +-
 platforms/nuttx/nuttx-configs/Make.defs.in                                    |  24 +-
 platforms/posix/cmake/sitl_target.cmake                                       |   2 +-
 posix-configs/SITL/init/ekf2/hippocampus                                      |  11 +-
 posix-configs/SITL/init/ekf2/iris                                             |   3 +-
 posix-configs/SITL/init/ekf2/iris_1                                           |   5 +-
 posix-configs/SITL/init/ekf2/iris_2                                           |   5 +-
 posix-configs/SITL/init/ekf2/iris_irlock                                      |  81 ++++
 posix-configs/SITL/init/ekf2/iris_opt_flow                                    |   1 +
 posix-configs/SITL/init/ekf2/iris_replay                                      |   3 +-
 posix-configs/SITL/init/ekf2/iris_rplidar                                     |   3 +-
 posix-configs/SITL/init/ekf2/multiple_iris                                    |   3 +-
 posix-configs/SITL/init/ekf2/plane                                            |   1 +
 posix-configs/SITL/init/ekf2/rover                                            |   1 +
 posix-configs/SITL/init/ekf2/solo                                             |   1 +
 posix-configs/SITL/init/ekf2/standard_vtol                                    |   1 +
 posix-configs/SITL/init/ekf2/tailsitter                                       |   1 +
 posix-configs/SITL/init/ekf2/typhoon_h480                                     |   1 +
 posix-configs/SITL/init/lpe/hippocampus                                       |  11 +-
 posix-configs/SITL/init/lpe/iris                                              |   3 +-
 posix-configs/SITL/init/lpe/iris_1                                            |   3 +-
 posix-configs/SITL/init/lpe/iris_2                                            |   3 +-
 posix-configs/SITL/init/lpe/iris_irlock                                       |  89 ++++
 posix-configs/SITL/init/lpe/iris_opt_flow                                     |   3 +-
 posix-configs/SITL/init/lpe/iris_rplidar                                      |   3 +-
 posix-configs/SITL/init/lpe/plane                                             |   1 +
 posix-configs/SITL/init/lpe/rover                                             |   1 +
 posix-configs/SITL/init/lpe/solo                                              |   1 +
 posix-configs/SITL/init/lpe/standard_vtol                                     |   1 +
 posix-configs/SITL/init/lpe/typhoon_h480                                      |   1 +
 posix-configs/eagle/200qx/mainapp.config                                      |   2 +
 posix-configs/eagle/210qc/mainapp.config                                      |   2 +
 posix-configs/eagle/flight/mainapp.config                                     |   2 +
 posix-configs/eagle/flight/px4.config                                         |   1 +
 posix-configs/eagle/hil/mainapphil.config                                     |   2 +
 src/drivers/barometer/CMakeLists.txt                                          |  37 ++
 src/drivers/{ => barometer}/bmp280/CMakeLists.txt                             |   0
 src/drivers/{ => barometer}/bmp280/bmp280.cpp                                 |   2 +-
 src/drivers/{ => barometer}/bmp280/bmp280.h                                   |   0
 src/drivers/{ => barometer}/bmp280/bmp280_i2c.cpp                             |   2 +-
 src/drivers/{ => barometer}/bmp280/bmp280_spi.cpp                             |   2 +-
 src/drivers/{ => barometer}/lps25h/CMakeLists.txt                             |   0
 src/drivers/{ => barometer}/lps25h/lps25h.cpp                                 |   0
 src/drivers/{ => barometer}/lps25h/lps25h.h                                   |   0
 src/drivers/{ => barometer}/lps25h/lps25h_i2c.cpp                             |   0
 src/drivers/{ => barometer}/lps25h/lps25h_spi.cpp                             |   0
 src/drivers/{ => barometer}/mpl3115a2/CMakeLists.txt                          |   0
 src/drivers/{ => barometer}/mpl3115a2/mpl3115a2.cpp                           |   0
 src/drivers/{ => barometer}/mpl3115a2/mpl3115a2.h                             |   0
 src/drivers/{ => barometer}/mpl3115a2/mpl3115a2_i2c.cpp                       |   0
 src/drivers/{ => barometer}/ms5611/CMakeLists.txt                             |   0
 src/drivers/{ => barometer}/ms5611/ms5611.cpp                                 |   0
 src/drivers/{ => barometer}/ms5611/ms5611.h                                   |   0
 src/drivers/{ => barometer}/ms5611/ms5611_i2c.cpp                             |   0
 src/drivers/{ => barometer}/ms5611/ms5611_spi.cpp                             |   0
 src/drivers/boards/auav-x21/board_config.h                                    |   2 +
 src/drivers/boards/px4fmu-v2/board_config.h                                   |   2 +
 src/drivers/boards/px4fmu-v4/board_config.h                                   |   1 -
 src/drivers/boards/px4fmu-v4pro/board_config.h                                |   2 +
 src/drivers/boards/px4fmu-v5/board_config.h                                   |  16 +
 src/drivers/differential_pressure/CMakeLists.txt                              |  37 ++
 src/drivers/{ets_airspeed => differential_pressure/ets}/CMakeLists.txt        |   0
 src/drivers/{ets_airspeed => differential_pressure/ets}/ets_airspeed.cpp      |   0
 src/drivers/{ms4525_airspeed => differential_pressure/ms4525}/CMakeLists.txt  |   0
 .../{ms4525_airspeed => differential_pressure/ms4525}/ms4525_airspeed.cpp     |   0
 src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/CMakeLists.txt  |   0
 src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525.cpp      |   0
 src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525.hpp      |   0
 src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525_main.cpp |   0
 src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/CMakeLists.txt    |   0
 src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X.cpp         |   0
 src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X.hpp         |   0
 src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X_main.cpp    |   0
 src/drivers/distance_sensor/CMakeLists.txt                                    |  43 ++
 src/drivers/{ => distance_sensor}/hc_sr04/CMakeLists.txt                      |   4 +-
 src/drivers/{ => distance_sensor}/hc_sr04/hc_sr04.cpp                         |  26 +-
 src/drivers/{ => distance_sensor}/ll40ls/CMakeLists.txt                       |   0
 src/drivers/{ => distance_sensor}/ll40ls/LidarLite.cpp                        |   5 +-
 src/drivers/{ => distance_sensor}/ll40ls/LidarLite.h                          |   2 +-
 src/drivers/{ => distance_sensor}/ll40ls/LidarLiteI2C.cpp                     |  23 +-
 src/drivers/{ => distance_sensor}/ll40ls/LidarLiteI2C.h                       |  18 +-
 src/drivers/{ => distance_sensor}/ll40ls/LidarLitePWM.cpp                     |   5 +-
 src/drivers/{ => distance_sensor}/ll40ls/LidarLitePWM.h                       |   8 +-
 src/drivers/{ => distance_sensor}/ll40ls/ll40ls.cpp                           | 114 +++--
 src/drivers/{ => distance_sensor}/mb12xx/CMakeLists.txt                       |   1 +
 src/drivers/{ => distance_sensor}/mb12xx/mb12xx.cpp                           |  26 +-
 src/drivers/{ => distance_sensor}/sf0x/CMakeLists.txt                         |   0
 src/drivers/{ => distance_sensor}/sf0x/sf0x.cpp                               |  28 +-
 src/drivers/{ => distance_sensor}/sf0x/sf0x_parser.cpp                        |   0
 src/drivers/{ => distance_sensor}/sf0x/sf0x_parser.h                          |   0
 src/drivers/{ => distance_sensor}/sf0x/sf0x_tests/CMakeLists.txt              |   1 -
 src/drivers/{ => distance_sensor}/sf0x/sf0x_tests/SF0XTest.cpp                |   3 +-
 src/drivers/{ => distance_sensor}/sf1xx/CMakeLists.txt                        |   1 +
 src/drivers/{ => distance_sensor}/sf1xx/sf1xx.cpp                             |  24 +-
 src/drivers/{ => distance_sensor}/srf02/CMakeLists.txt                        |   1 +
 src/drivers/{ => distance_sensor}/srf02/srf02.cpp                             |  26 +-
 src/drivers/{ => distance_sensor}/srf02_i2c/CMakeLists.txt                    |   1 +
 src/drivers/{ => distance_sensor}/srf02_i2c/srf02_i2c.cpp                     |  26 +-
 src/drivers/{ => distance_sensor}/teraranger/CMakeLists.txt                   |   1 +
 src/drivers/{ => distance_sensor}/teraranger/teraranger.cpp                   |  24 +-
 src/drivers/{ => distance_sensor}/tfmini/CMakeLists.txt                       |   0
 src/drivers/{ => distance_sensor}/tfmini/tfmini.cpp                           |  26 +-
 src/drivers/{ => distance_sensor}/tfmini/tfmini_parser.cpp                    |   0
 src/drivers/{ => distance_sensor}/tfmini/tfmini_parser.h                      |   0
 src/drivers/{ => distance_sensor}/ulanding/CMakeLists.txt                     |   0
 src/drivers/{ => distance_sensor}/ulanding/ulanding.cpp                       |   2 +-
 src/drivers/hott/CMakeLists.txt                                               |   4 +-
 src/drivers/iridiumsbd/IridiumSBD.cpp                                         |  94 ++--
 src/drivers/iridiumsbd/IridiumSBD.h                                           |   3 +-
 src/drivers/irlock/irlock.cpp                                                 |  33 +-
 src/drivers/magnetometer/CMakeLists.txt                                       |  37 ++
 src/drivers/{ => magnetometer}/bmm150/CMakeLists.txt                          |   0
 src/drivers/{ => magnetometer}/bmm150/bmm150.cpp                              |   0
 src/drivers/{ => magnetometer}/bmm150/bmm150.hpp                              |   2 +-
 src/drivers/{ => magnetometer}/hmc5883/CMakeLists.txt                         |   0
 src/drivers/{ => magnetometer}/hmc5883/hmc5883.cpp                            |   0
 src/drivers/{ => magnetometer}/hmc5883/hmc5883.h                              |   0
 src/drivers/{ => magnetometer}/hmc5883/hmc5883_i2c.cpp                        |   0
 src/drivers/{ => magnetometer}/hmc5883/hmc5883_spi.cpp                        |   0
 src/drivers/{ => magnetometer}/ist8310/CMakeLists.txt                         |   0
 src/drivers/{ => magnetometer}/ist8310/ist8310.cpp                            |   0
 src/drivers/{ => magnetometer}/lis3mdl/CMakeLists.txt                         |   0
 src/drivers/{ => magnetometer}/lis3mdl/lis3mdl.cpp                            |   0
 src/drivers/{ => magnetometer}/lis3mdl/lis3mdl.h                              |   0
 src/drivers/{ => magnetometer}/lis3mdl/lis3mdl_i2c.cpp                        |   0
 src/drivers/{ => magnetometer}/lis3mdl/lis3mdl_spi.cpp                        |   0
 src/drivers/pwm_out_rc_in/CMakeLists.txt                                      |  49 --
 src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp                                   | 584 ------------------------
 src/drivers/px4io/CMakeLists.txt                                              |   2 +
 src/drivers/px4io/px4io_driver.h                                              |   2 +
 src/drivers/px4io/px4io_serial.cpp                                            | 569 ++---------------------
 src/drivers/px4io/px4io_serial.h                                              | 260 +++++++++++
 src/drivers/px4io/px4io_serial_f4.cpp                                         | 474 +++++++++++++++++++
 src/drivers/px4io/px4io_serial_f7.cpp                                         | 507 +++++++++++++++++++++
 src/drivers/px4io/px4io_uploader.cpp                                          |  17 +-
 src/drivers/snapdragon_rc_pwm/CMakeLists.txt                                  |  49 --
 src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp                           | 481 --------------------
 src/drivers/vmount/input_mavlink.cpp                                          | 150 +++---
 src/drivers/vmount/output.cpp                                                 |   3 +-
 src/drivers/vmount/vmount.cpp                                                 |  20 +-
 src/drivers/vmount/vmount_params.c                                            |   2 +-
 src/examples/bottle_drop/bottle_drop.cpp                                      |  19 +-
 src/lib/DriverFramework                                                       |   2 +-
 src/lib/controllib/block/BlockParam.cpp                                       |  24 +
 src/lib/controllib/block/BlockParam.hpp                                       |   6 +-
 src/lib/ecl                                                                   |   2 +-
 src/lib/launchdetection/LaunchDetector.h                                      |   4 +-
 src/lib/led/led.cpp                                                           |   9 +-
 src/lib/led/led.h                                                             |   2 +-
 src/lib/mixer/CMakeLists.txt                                                  |  84 ++--
 src/lib/mixer/geometries/tools/px_generate_mixers.py                          |   3 +-
 src/lib/mixer/mixer.h                                                         |   6 +-
 src/lib/mixer/mixer_multirotor.cpp                                            |  15 +-
 src/lib/mixer/multi_tables.py                                                 | 284 ------------
 src/lib/runway_takeoff/RunwayTakeoff.h                                        |   4 +-
 src/modules/commander/Commander.hpp                                           |  13 +-
 src/modules/commander/PreflightCheck.cpp                                      |   2 +-
 src/modules/commander/commander.cpp                                           | 165 +++----
 src/modules/commander/commander_params.c                                      |   2 +
 src/modules/commander/state_machine_helper.cpp                                |  29 +-
 src/modules/dataman/dataman.h                                                 |   4 +-
 src/modules/ekf2/ekf2_main.cpp                                                |  39 +-
 src/modules/ekf2/ekf2_params.c                                                |  19 +
 src/modules/events/temperature_calibration/polyfit.hpp                        |   2 +-
 src/modules/land_detector/land_detector_params.c                              |   4 +
 src/modules/landing_target_estimator/CMakeLists.txt                           |  45 ++
 src/modules/landing_target_estimator/KalmanFilter.cpp                         | 153 +++++++
 src/modules/landing_target_estimator/KalmanFilter.h                           | 150 ++++++
 src/modules/landing_target_estimator/LandingTargetEstimator.cpp               | 328 ++++++++++++++
 src/modules/landing_target_estimator/LandingTargetEstimator.h                 | 173 +++++++
 src/modules/landing_target_estimator/landing_target_estimator_main.cpp        | 154 +++++++
 src/modules/landing_target_estimator/landing_target_estimator_params.c        | 134 ++++++
 src/modules/load_mon/load_mon.cpp                                             |  29 +-
 src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp          |  73 ++-
 src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp          |  33 +-
 src/modules/local_position_estimator/CMakeLists.txt                           |   1 +
 src/modules/local_position_estimator/params.c                                 |  31 +-
 src/modules/local_position_estimator/sensors/landing_target.cpp               | 121 +++++
 src/modules/local_position_estimator/sensors/sonar.cpp                        |   6 +-
 src/modules/logger/logger.cpp                                                 |  26 +-
 src/modules/mavlink/mavlink_main.cpp                                          |  99 ++--
 src/modules/mavlink/mavlink_main.h                                            |  28 +-
 src/modules/mavlink/mavlink_messages.cpp                                      |   8 +-
 src/modules/mavlink/mavlink_mission.cpp                                       | 214 +++++----
 src/modules/mavlink/mavlink_mission.h                                         |  13 +-
 src/modules/mavlink/mavlink_parameters.cpp                                    | 133 ++++--
 src/modules/mavlink/mavlink_parameters.h                                      |  42 +-
 src/modules/mavlink/mavlink_receiver.cpp                                      |  64 +--
 src/modules/mavlink/mavlink_receiver.h                                        |   2 -
 src/modules/mc_pos_control/mc_pos_control_main.cpp                            | 117 +++--
 src/modules/navigator/CMakeLists.txt                                          |   1 +
 src/modules/navigator/datalinkloss.cpp                                        |  10 +-
 src/modules/navigator/datalinkloss.h                                          |  19 +-
 src/modules/navigator/enginefailure.cpp                                       |  10 +-
 src/modules/navigator/enginefailure.h                                         |  20 +-
 src/modules/navigator/follow_target.cpp                                       |  31 +-
 src/modules/navigator/follow_target.h                                         |  46 +-
 src/modules/navigator/geofence.cpp                                            |   1 -
 src/modules/navigator/gpsfailure.cpp                                          |   8 +-
 src/modules/navigator/gpsfailure.h                                            |   9 +-
 src/modules/navigator/land.cpp                                                |  21 -
 src/modules/navigator/land.h                                                  |  16 +-
 src/modules/navigator/loiter.cpp                                              |  21 +-
 src/modules/navigator/loiter.h                                                |  20 +-
 src/modules/navigator/mission.cpp                                             | 407 ++++++++---------
 src/modules/navigator/mission.h                                               |  41 +-
 src/modules/navigator/mission_block.cpp                                       |  40 +-
 src/modules/navigator/mission_block.h                                         |  20 +-
 src/modules/navigator/mission_feasibility_checker.cpp                         | 181 ++++----
 src/modules/navigator/mission_feasibility_checker.h                           |  25 +-
 src/modules/navigator/mission_params.c                                        |  26 +-
 src/modules/navigator/navigation.h                                            |   1 +
 src/modules/navigator/navigator.h                                             |  23 +-
 src/modules/navigator/navigator_main.cpp                                      |  26 +-
 src/modules/navigator/navigator_mode.h                                        |   6 -
 src/modules/navigator/precland.cpp                                            | 602 ++++++++++++++++++++++++
 src/modules/navigator/precland.h                                              | 135 ++++++
 src/modules/navigator/precland_params.c                                       | 121 +++++
 src/modules/navigator/rcloss.cpp                                              |  10 +-
 src/modules/navigator/rcloss.h                                                |  20 +-
 src/modules/navigator/rtl.cpp                                                 |   6 +-
 src/modules/navigator/rtl.h                                                   |   2 +-
 src/modules/navigator/takeoff.cpp                                             |  35 +-
 src/modules/navigator/takeoff.h                                               |  13 +-
 src/modules/position_estimator_inav/params.c                                  |   1 +
 src/modules/sensors/sensor_params_acc0.c                                      |  10 +-
 src/modules/sensors/sensor_params_acc1.c                                      |   8 +
 src/modules/sensors/sensor_params_acc2.c                                      |   8 +
 src/modules/sensors/sensor_params_accel.c                                     |   1 +
 src/modules/simulator/CMakeLists.txt                                          |   4 +-
 src/modules/simulator/simulator.h                                             |   2 +
 src/modules/simulator/simulator_mavlink.cpp                                   |  47 +-
 src/modules/systemlib/battery.cpp                                             | 135 +++---
 src/modules/systemlib/battery.h                                               |  26 +-
 src/modules/systemlib/battery_params.c                                        |   2 +-
 src/modules/systemlib/bson/tinybson.c                                         |   4 +-
 src/modules/systemlib/circuit_breaker_params.c                                |  10 +
 src/modules/systemlib/param/CMakeLists.txt                                    |   2 +-
 src/modules/systemlib/param/param.c                                           |  41 +-
 src/modules/systemlib/param/param.h                                           |  32 +-
 src/modules/systemlib/param/param_shmem.c                                     |   8 +-
 src/modules/systemlib/param/px4params/srcparser.py                            |  29 +-
 src/modules/systemlib/param/px4params/xmlout.py                               |   4 +
 src/modules/systemlib/param/templates/px4_parameters.c.jinja                  |   5 +
 src/modules/systemlib/system_params.c                                         |   2 +
 src/modules/uORB/Publication.cpp                                              |   3 +-
 src/modules/uORB/Publication.hpp                                              |   1 -
 src/modules/uORB/Subscription.cpp                                             |   3 +-
 src/modules/uORB/Subscription.hpp                                             |   1 -
 src/modules/uORB/uORBDevices.cpp                                              |   1 +
 src/modules/uORB/uORBDevices.hpp                                              |   4 +-
 src/modules/uORB/uORBManager.cpp                                              |  11 +
 src/modules/vtol_att_control/standard.cpp                                     |  31 +-
 src/modules/vtol_att_control/tailsitter.cpp                                   |   9 +-
 src/modules/vtol_att_control/tailsitter.h                                     |   3 -
 src/modules/vtol_att_control/tiltrotor.cpp                                    |   5 -
 src/modules/vtol_att_control/tiltrotor.h                                      |   2 -
 src/modules/vtol_att_control/vtol_att_control_main.cpp                        |   2 +-
 src/modules/vtol_att_control/vtol_att_control_params.c                        |   2 +-
 src/modules/vtol_att_control/vtol_type.h                                      |   2 +-
 src/platforms/posix/drivers/df_ltc2946_wrapper/CMakeLists.txt                 |  46 ++
 src/platforms/posix/drivers/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp         | 264 +++++++++++
 src/platforms/posix/main.cpp                                                  |  85 +++-
 src/systemcmds/reboot/reboot.c                                                |   5 +-
 test/mavros_posix_test_mission.test                                           |   3 +-
 test/mavros_posix_tests_missions.test                                         |  12 +-
 322 files changed, 7473 insertions(+), 5376 deletions(-)

AlanH 2018-01-23 15:55:10 UTC #11

.... and here's the second half:

 delete mode 100644 ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
 create mode 100644 integrationtests/python_src/px4_it/mavros/__init__.py
 create mode 100644 integrationtests/python_src/px4_it/mavros/mavros_test_common.py
 delete mode 160000 mavlink/include/mavlink/v1.0
 create mode 100644 msg/irlock_report.msg
 create mode 100644 msg/landing_target_innovations.msg
 create mode 100644 msg/landing_target_pose.msg
 create mode 100644 posix-configs/SITL/init/ekf2/iris_irlock
 create mode 100644 posix-configs/SITL/init/lpe/iris_irlock
 create mode 100644 src/drivers/barometer/CMakeLists.txt
 rename src/drivers/{ => barometer}/bmp280/CMakeLists.txt (100%)
 rename src/drivers/{ => barometer}/bmp280/bmp280.cpp (99%)
 rename src/drivers/{ => barometer}/bmp280/bmp280.h (100%)
 rename src/drivers/{ => barometer}/bmp280/bmp280_i2c.cpp (99%)
 rename src/drivers/{ => barometer}/bmp280/bmp280_spi.cpp (99%)
 rename src/drivers/{ => barometer}/lps25h/CMakeLists.txt (100%)
 rename src/drivers/{ => barometer}/lps25h/lps25h.cpp (100%)
 rename src/drivers/{ => barometer}/lps25h/lps25h.h (100%)
 rename src/drivers/{ => barometer}/lps25h/lps25h_i2c.cpp (100%)
 rename src/drivers/{ => barometer}/lps25h/lps25h_spi.cpp (100%)
 rename src/drivers/{ => barometer}/mpl3115a2/CMakeLists.txt (100%)
 rename src/drivers/{ => barometer}/mpl3115a2/mpl3115a2.cpp (100%)
 rename src/drivers/{ => barometer}/mpl3115a2/mpl3115a2.h (100%)
 rename src/drivers/{ => barometer}/mpl3115a2/mpl3115a2_i2c.cpp (100%)
 rename src/drivers/{ => barometer}/ms5611/CMakeLists.txt (100%)
 rename src/drivers/{ => barometer}/ms5611/ms5611.cpp (100%)
 rename src/drivers/{ => barometer}/ms5611/ms5611.h (100%)
 rename src/drivers/{ => barometer}/ms5611/ms5611_i2c.cpp (100%)
 rename src/drivers/{ => barometer}/ms5611/ms5611_spi.cpp (100%)
 create mode 100644 src/drivers/differential_pressure/CMakeLists.txt
 rename src/drivers/{ets_airspeed => differential_pressure/ets}/CMakeLists.txt (100%)
 rename src/drivers/{ets_airspeed => differential_pressure/ets}/ets_airspeed.cpp (100%)
 rename src/drivers/{ms4525_airspeed => differential_pressure/ms4525}/CMakeLists.txt (100%)
 rename src/drivers/{ms4525_airspeed => differential_pressure/ms4525}/ms4525_airspeed.cpp (100%)
 rename src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/CMakeLists.txt (100%)
 rename src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525.cpp (100%)
 rename src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525.hpp (100%)
 rename src/drivers/{ms5525_airspeed => differential_pressure/ms5525}/MS5525_main.cpp (100%)
 rename src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/CMakeLists.txt (100%)
 rename src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X.cpp (100%)
 rename src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X.hpp (100%)
 rename src/drivers/{sdp3x_airspeed => differential_pressure/sdp3x}/SDP3X_main.cpp (100%)
 create mode 100644 src/drivers/distance_sensor/CMakeLists.txt
 rename src/drivers/{ => distance_sensor}/hc_sr04/CMakeLists.txt (97%)
 rename src/drivers/{ => distance_sensor}/hc_sr04/hc_sr04.cpp (97%)
 rename src/drivers/{ => distance_sensor}/ll40ls/CMakeLists.txt (100%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLite.cpp (97%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLite.h (97%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLiteI2C.cpp (96%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLiteI2C.h (93%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLitePWM.cpp (97%)
 rename src/drivers/{ => distance_sensor}/ll40ls/LidarLitePWM.h (95%)
 rename src/drivers/{ => distance_sensor}/ll40ls/ll40ls.cpp (75%)
 rename src/drivers/{ => distance_sensor}/mb12xx/CMakeLists.txt (98%)
 rename src/drivers/{ => distance_sensor}/mb12xx/mb12xx.cpp (97%)
 rename src/drivers/{ => distance_sensor}/sf0x/CMakeLists.txt (100%)
 rename src/drivers/{ => distance_sensor}/sf0x/sf0x.cpp (97%)
 rename src/drivers/{ => distance_sensor}/sf0x/sf0x_parser.cpp (100%)
 rename src/drivers/{ => distance_sensor}/sf0x/sf0x_parser.h (100%)
 rename src/drivers/{ => distance_sensor}/sf0x/sf0x_tests/CMakeLists.txt (97%)
 rename src/drivers/{ => distance_sensor}/sf0x/sf0x_tests/SF0XTest.cpp (97%)
 rename src/drivers/{ => distance_sensor}/sf1xx/CMakeLists.txt (98%)
 rename src/drivers/{ => distance_sensor}/sf1xx/sf1xx.cpp (96%)
 rename src/drivers/{ => distance_sensor}/srf02/CMakeLists.txt (98%)
 rename src/drivers/{ => distance_sensor}/srf02/srf02.cpp (97%)
 rename src/drivers/{ => distance_sensor}/srf02_i2c/CMakeLists.txt (98%)
 rename src/drivers/{ => distance_sensor}/srf02_i2c/srf02_i2c.cpp (97%)
 rename src/drivers/{ => distance_sensor}/teraranger/CMakeLists.txt (98%)
 rename src/drivers/{ => distance_sensor}/teraranger/teraranger.cpp (97%)
 rename src/drivers/{ => distance_sensor}/tfmini/CMakeLists.txt (100%)
 rename src/drivers/{ => distance_sensor}/tfmini/tfmini.cpp (97%)
 rename src/drivers/{ => distance_sensor}/tfmini/tfmini_parser.cpp (100%)
 rename src/drivers/{ => distance_sensor}/tfmini/tfmini_parser.h (100%)
 rename src/drivers/{ => distance_sensor}/ulanding/CMakeLists.txt (100%)
 rename src/drivers/{ => distance_sensor}/ulanding/ulanding.cpp (99%)
 create mode 100644 src/drivers/magnetometer/CMakeLists.txt
 rename src/drivers/{ => magnetometer}/bmm150/CMakeLists.txt (100%)
 rename src/drivers/{ => magnetometer}/bmm150/bmm150.cpp (100%)
 rename src/drivers/{ => magnetometer}/bmm150/bmm150.hpp (99%)
 rename src/drivers/{ => magnetometer}/hmc5883/CMakeLists.txt (100%)
 rename src/drivers/{ => magnetometer}/hmc5883/hmc5883.cpp (100%)
 rename src/drivers/{ => magnetometer}/hmc5883/hmc5883.h (100%)
 rename src/drivers/{ => magnetometer}/hmc5883/hmc5883_i2c.cpp (100%)
 rename src/drivers/{ => magnetometer}/hmc5883/hmc5883_spi.cpp (100%)
 rename src/drivers/{ => magnetometer}/ist8310/CMakeLists.txt (100%)
 rename src/drivers/{ => magnetometer}/ist8310/ist8310.cpp (100%)
 rename src/drivers/{ => magnetometer}/lis3mdl/CMakeLists.txt (100%)
 rename src/drivers/{ => magnetometer}/lis3mdl/lis3mdl.cpp (100%)
 rename src/drivers/{ => magnetometer}/lis3mdl/lis3mdl.h (100%)
 rename src/drivers/{ => magnetometer}/lis3mdl/lis3mdl_i2c.cpp (100%)
 rename src/drivers/{ => magnetometer}/lis3mdl/lis3mdl_spi.cpp (100%)
 delete mode 100644 src/drivers/pwm_out_rc_in/CMakeLists.txt
 delete mode 100644 src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
 create mode 100644 src/drivers/px4io/px4io_serial.h
 create mode 100644 src/drivers/px4io/px4io_serial_f4.cpp
 create mode 100644 src/drivers/px4io/px4io_serial_f7.cpp
 delete mode 100644 src/drivers/snapdragon_rc_pwm/CMakeLists.txt
 delete mode 100644 src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
 delete mode 100755 src/lib/mixer/multi_tables.py
 create mode 100644 src/modules/landing_target_estimator/CMakeLists.txt
 create mode 100644 src/modules/landing_target_estimator/KalmanFilter.cpp
 create mode 100644 src/modules/landing_target_estimator/KalmanFilter.h
 create mode 100644 src/modules/landing_target_estimator/LandingTargetEstimator.cpp
 create mode 100644 src/modules/landing_target_estimator/LandingTargetEstimator.h
 create mode 100644 src/modules/landing_target_estimator/landing_target_estimator_main.cpp
 create mode 100644 src/modules/landing_target_estimator/landing_target_estimator_params.c
 create mode 100644 src/modules/local_position_estimator/sensors/landing_target.cpp
 create mode 100644 src/modules/navigator/precland.cpp
 create mode 100644 src/modules/navigator/precland.h
 create mode 100644 src/modules/navigator/precland_params.c
 create mode 100644 src/platforms/posix/drivers/df_ltc2946_wrapper/CMakeLists.txt
 create mode 100644 src/platforms/posix/drivers/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
iMac:Firmware alan$ git submodule update --recursive --init
Submodule 'cmake/cmake_hexagon' (https://github.com/ATLFlight/cmake_hexagon) registered for path 'cmake/cmake_hexagon'
Submodule 'cmake/configs/uavcan_board_ident' (https://github.com/PX4/uavcan_board_ident.git) registered for path 'cmake/configs/uavcan_board_ident'
Submodule 'platforms/nuttx/NuttX/apps' (https://github.com/PX4-NuttX/apps.git) registered for path 'platforms/nuttx/NuttX/apps'
Submodule 'platforms/nuttx/NuttX/nuttx' (https://github.com/PX4-NuttX/nuttx.git) registered for path 'platforms/nuttx/NuttX/nuttx'
Submodule 'src/lib/micro-CDR' (https://github.com/eProsima/micro-CDR.git) registered for path 'src/modules/micrortps_bridge/micro-CDR'
Submodule 'src/modules/uavcan/libuavcan' (https://github.com/UAVCAN/libuavcan.git) registered for path 'src/modules/uavcan/libuavcan'
Cloning into '/Users/alan/src/Firmware/cmake/cmake_hexagon'...
Cloning into '/Users/alan/src/Firmware/cmake/configs/uavcan_board_ident'...
Cloning into '/Users/alan/src/Firmware/platforms/nuttx/NuttX/apps'...
Cloning into '/Users/alan/src/Firmware/platforms/nuttx/NuttX/nuttx'...
Cloning into '/Users/alan/src/Firmware/src/modules/micrortps_bridge/micro-CDR'...
Cloning into '/Users/alan/src/Firmware/src/modules/uavcan/libuavcan'...
Submodule path 'Tools/jMAVSim': checked out 'aabbecde407f7954fea39d5e60bf7fcf2583bb27'
Submodule path 'Tools/sitl_gazebo': checked out '5e3375facdfae687c4eb3d20aa9da65aea0ec5d1'
Submodule path 'cmake/cmake_hexagon': checked out '07168bd5715818802b78f674816ec851307998a7'
Submodule path 'cmake/configs/uavcan_board_ident': checked out 'f8851c841ecdaacc41a5219cc83e4a178a09bc08'
Submodule path 'mavlink/include/mavlink/v2.0': checked out 'b6d4a9f93933f861896cda8c6cf9c732fb1da340'
Submodule path 'platforms/nuttx/NuttX/apps': checked out '7e2f17db4e770e65ee39b1a964cf4644720d976c'
Submodule path 'platforms/nuttx/NuttX/nuttx': checked out 'b18053574bf41712cef93e31bf178518f451a350'
Submodule path 'src/lib/DriverFramework': checked out '843ad727f2e9c310563dcd70173d6c859a246c07'
Submodule path 'src/lib/ecl': checked out 'cdbca91e79fad33a8908c009d66f14a182d55f1e'
Submodule path 'src/modules/micrortps_bridge/micro-CDR': checked out '50776f4ab7895e47af535a6d6e7ec697ddf443f3'
Submodule path 'src/modules/uavcan/libuavcan': checked out 'e1c9a4f5064a336295125da25c0542a5cd601dd7'
Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'src/modules/uavcan/libuavcan/dsdl'
Submodule 'libuavcan/dsdl_compiler/pyuavcan' (https://github.com/UAVCAN/pyuavcan) registered for path 'src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan'
Cloning into '/Users/alan/src/Firmware/src/modules/uavcan/libuavcan/dsdl'...
Cloning into '/Users/alan/src/Firmware/src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan'...
Submodule path 'src/modules/uavcan/libuavcan/dsdl': checked out 'bbe902c9e52e362437297523ea7673ec212253cc'
Submodule path 'src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan': checked out 'c58477a644d20ccf95a20c151f3a0402f271c3b8'
Submodule 'dsdl' (https://github.com/UAVCAN/dsdl) registered for path 'src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl'
Cloning into '/Users/alan/src/Firmware/src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl'...
Submodule path 'src/modules/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan/dsdl': checked out 'fd12483ddd4e58242d61d74a163e7aeaa1e0f466'
iMac:Firmware alan$ make posix jmavsim
[0/1] Re-running CMake...
-- Build Type: RelWithDebInfo
-- PX4 VERSION: v1.7.3-170-g0fd043af0
-- CONFIG: posix_sitl_default
-- Build Type: RelWithDebInfo
-- C compiler: Apple LLVM version 9.0.0 (clang-900.0.39.2)
-- C++ compiler: Apple LLVM version 9.0.0 (clang-900.0.39.2)
-- Configuring done
-- Generating done
-- Build files have been written to: /Users/alan/src/Firmware/build/posix_sitl_default
[260/590] Linking CXX static library src/lib/DriverFramework/framework/liblib__DriverFramework__framework.a
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/lib/DriverFramework/framework/liblib__DriverFramework__framework.a(df_dummy.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/lib/DriverFramework/framework/liblib__DriverFramework__framework.a(df_dummy.cpp.o) has no symbols
warning: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: warning for library: src/lib/DriverFramework/framework/liblib__DriverFramework__framework.a the table of contents is empty (no object file members in the library define global symbols)
[286/590] Linking CXX static library src/drivers/camera_trigger/libdrivers__camera_trigger.a
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(pwm.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(seagull_map2.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(gpio.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(pwm.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(seagull_map2.cpp.o) has no symbols
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib: file: src/drivers/camera_trigger/libdrivers__camera_trigger.a(gpio.cpp.o) has no symbols
[589/590] cd /Users/alan/src/Firmware/build/posix_sitl_defau...c/Firmware /Users/alan/src/Firmware/build/posix_sitl_defaul
args: /Users/alan/src/Firmware/build/posix_sitl_default/px4 posix-configs/SITL/init/ekf2 none jmavsim none /Users/alan/src/Firmware /Users/alan/src/Firmware/build/posix_sitl_default
SITL ARGS
sitl_bin: /Users/alan/src/Firmware/build/posix_sitl_default/px4
rcS_dir: posix-configs/SITL/init/ekf2
debugger: none
program: jmavsim
model: none
src_path: /Users/alan/src/Firmware
build_path: /Users/alan/src/Firmware/build/posix_sitl_default
empty model, setting iris as default
SITL COMMAND: /Users/alan/src/Firmware/build/posix_sitl_default/px4 /Users/alan/src/Firmware /Users/alan/src/Firmware/posix-configs/SITL/init/ekf2/iris
data path: /Users/alan/src/Firmware
commands file: /Users/alan/src/Firmware/posix-configs/SITL/init/ekf2/iris

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
  SDLOG_DIRS_MAX: curr: 0 -> new: 7
INFO  [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
Buildfile: /Users/alan/src/Firmware/Tools/jMAVSim/build.xml

make_dirs:

compile:
    [javac] Compiling 6 source files to /Users/alan/src/Firmware/Tools/jMAVSim/out/production/jMAVSim
    [javac] Note: Some input files use or override a deprecated API.
    [javac] Note: Recompile with -Xlint:deprecation for details.

create_run_jar:
      [jar] Building jar: /Users/alan/src/Firmware/Tools/jMAVSim/out/production/jmavsim_run.jar

copy_res:

BUILD SUCCESSFUL
Total time: 3 seconds
Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
	at java.base/java.lang.Class.forName0(Native Method)
	at java.base/java.lang.Class.forName(Class.java:375)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
	at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:563)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:496)
	... 3 more
Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
	at java.base/java.lang.Class.forName0(Native Method)
	at java.base/java.lang.Class.forName(Class.java:375)
	at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
	at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:563)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:496)
	... 3 more

AlanH 2018-01-23 16:04:55 UTC #12

Hi Erin. I tried that and here's the start of the failed output:

[11/15] Performing configure step for 'sitl_gazebo'
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure 
cd /Users/alan/src/Firmware/build/posix_sitl_default/build_gazebo && /Applications/CMake.app/Contents/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -GNinja /Users/alan/src/Firmware/Tools/sitl_gazebo && /Applications/CMake.app/Contents/bin/cmake -E touch /Users/alan/src/Firmware/build/posix_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
-- install-prefix: /usr/local
-- The C compiler identification is AppleClang 9.0.0.9000039
-- The CXX compiler identification is AppleClang 9.0.0.9000039
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /sw/bin/pkg-config (found version "0.23") 
CMake Warning at /usr/local/share/cmake/Modules/FindBoost.cmake:801 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets

Not having much luck here!

jdiament95 2018-01-29 15:47:33 UTC #13

@AlanH I'm having the same exact problem when trying to run jmavsim. @rroche I tried updated the dependencies and still no luck.

AlanH 2018-01-29 16:03:41 UTC #14

Thanks. That makes three of us! I guess @rroche and his peers have previously installed some dependency that we don't have when installing from scratch.

ritwik1993 2018-02-04 04:01:49 UTC #15

exact same problem.

not sure if it is helpful but
java --version

java 9.0.4
Java(TM) SE Runtime Environment (build 9.0.4+11)
Java HotSpot(TM) 64-Bit Server VM (build 9.0.4+11, mixed mode)

AlanH 2018-02-05 14:56:13 UTC #16

@ ritwik1993
That's maybe interesting. I get:

java --version
java 9.0.1
Java(TM) SE Runtime Environment (build 9.0.1+11)
Java HotSpot(TM) 64-Bit Server VM (build 9.0.1+11, mixed mode)

sarlmolchen 2018-02-22 23:32:25 UTC #17

exact same problem.

java --version

java version "9.0.4"
Java(TM) SE Runtime Environment (build 9.0.4+11)
Java HotSpot(TM) 64-Bit Server VM (build 9.0.4+11, mixed mode)

Sushma7785 2018-03-13 23:47:47 UTC #18

I am facing the same problem. Has anyone found a solution?

JulianOes 2018-03-14 07:57:01 UTC #19

I'm looking into this. I can reproduce it with macOS Sierra, so it has nothing to do with High Sierra but rather the java version. It works with Java JDK 8 but the error happens with JDK 9.