# How can I apply patches about Nuttx **URL:** \ **Category:** Uncategorized\ **Created:** [November 27, 2018, 8:53am UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642 "2018-11-27T08:53:38Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 27, 2018, 8:53am UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/1 "2018-11-27T08:53:38Z")
Hi all, I found some recent patches and updates for Nuttx here [GitHub - PX4/NuttX: Standard NuttX with current PX4 patches](https://github.com/PX4/NuttX) and would like to update my local branch. Is this is something can be done by simply replacing contents of /platforms/nuttx/Nuttx folder with new one? The reason for this is to make sure nuttx runs more reliable with no further delays in running apps. I see some jitter in time dt in some estimators, controllers. Kyu ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [November 27, 2018, 9:10am UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/2 "2018-11-27T09:10:50Z")
Hi Kyu, From what I know, you could just go into the nuttx directory and get the latest like that: ```auto cd platforms/nuttx/NuttX/nuttx git fetch git checkout master git merge ``` This would mean that you’re using the latest master of PX4/NuttX, however, it also means that you’re running an untested state (if it even compiles). Generally, NuttX updates will go into the Firmware after a while, usually after a release is out and riskier changes can get in again. If you plan to do serious testing and/or want to help with NuttX updates, make sure to also coordinate with @david_s5 who is usually driving this. ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 27, 2018, 12:18pm UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/3 "2018-11-27T12:18:03Z")
Hi @JulianOes, Thanks for your comment. I was able to update nuttx and successfully build after git submodule update --init --recursive Seems like flying itself is just as before though CPU usage downed a little bit. Kyu ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [November 27, 2018, 12:48pm UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/4 "2018-11-27T12:48:52Z")
If you do: > [@Kyuhyong\_You](#): > > git submodule update --init --recursive Then you’re essentially resetting the change you just did in the submodule and you are not testing any changes. Try `git status` to check what your source tree looks like and what submodules you have checked out, or use `export GIT_SUBMODULES_ARE_EVIL=1` to prevent the git submodule auto check to come up. ---
**Author:** ![david\_s5](https://discuss.px4.io/user_avatar/discuss.px4.io/david_s5/32/4160_2.png) [@david\_s5](https://discuss.px4.io/u/david_s5)\ **Post date:** [November 27, 2018, 4:41pm UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/5 "2018-11-27T16:41:40Z")
@Kyuhyong_You, I will be working on a branch over the next few weeks that will build PX4 on the most recent NuttX master. ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 28, 2018, 2:10am UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/6 "2018-11-28T02:10:45Z")
Ok I checked my branch on platforms/nuttx/NuttX/nuttx and it returns > HEAD detached at 0ac630e > nothing to commit, working directory clean So I redo > ``` > git fetch > git checkout master > > ``` and I got these error > Previous HEAD position was 0ac630e… [BACKPORT] Merged in david\_s5/nuttx/master\_kinetis\_usb\_fixes (pull request #634) > Switched to branch ‘master’ > Your branch is behind ‘origin/master’ by 8 commits, and can be fast-forwarded. > (use “git pull” to update your local branch) So I git pull again end up getting > Updating d8cf3bf…5da7dba > Fast-forward > arch/arm/src/armv7-m/dwt.h | 210 ++++++++++±-------- > arch/arm/src/armv7-m/itm.h | 137 ++++++±----- > arch/arm/src/armv7-m/tpi.h | 220 +++++++++++±-------- > arch/arm/src/armv7-m/up\_itm.c | 4 ± > arch/arm/src/armv7-m/up\_itm\_syslog.c | 2 ± > arch/arm/src/lpc54xx/lpc54\_lowputc.c | 60 ±---- > arch/arm/src/max326xx/common/max326\_start.c | 4 + > …/src/max326xx/max32660/max32660\_clockconfig.c | 4 ± > arch/arm/src/max326xx/max32660/max32660\_gpio.c | 4 ± > arch/arm/src/max326xx/max32660/max32660\_gpio.h | 2 ± > arch/arm/src/max326xx/max32660/max32660\_lowputc.c | 24 ±- > arch/arm/src/max326xx/max32660/max32660\_serial.c | 12 ± > configs/max32660-evsys/README.txt | 64 ++++± > configs/max32660-evsys/scripts/Make.defs | 4 + > configs/max32660-evsys/scripts/sram.ld | 115 +++++++++++ > configs/stm32f4discovery/src/stm32\_critmon.c | 9 ± > net/socket/net\_clone.c | 6 + > net/socket/net\_close.c | 2 ± > net/socket/net\_sockets.c | 6 ± > net/socket/socket.h | 4 ± > wireless/bluetooth/bt\_att.c | 9 ± > 21 files changed, 551 insertions(+), 351 deletions(-) > create mode 100644 configs/max32660-evsys/scripts/sram.ld Then I can git checkout master > Already on ‘master’ > Your branch is up-to-date with ‘origin/master’. To rebuild I make clean and did **$ export GIT\_SUBMODULES\_ARE\_EVIL=1** thing followed by make again Now it gives bunch of submodule skipping message as follows > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules tools/gencpp update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules tools/genmsg update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules src/lib/DriverFramework update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules ecl update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules matrix update. > – PX4 ECL: Very lightweight Estimation & Control Library v0.9.0-521-g3077e6a > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules devices update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules /home/dronedev/workspace/pitta/px4/fw/cf\_px4\_origin/mavlink/include/mavlink/v2.0 update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules nuttx update. > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules apps update. > – NuttX: crazyflie nsh cortex-m4 > – ROMFS: px4fmu\_common > – Configuring done > – Generating done > – Build files have been written to: /home/dronedev/workspace/pitta/px4/fw/cf\_px4\_origin/build/crazyflie\_default > [10/506] git submodule ecl > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules ecl update. > [11/506] git submodule devices > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules devices update. > [12/506] git submodule /home/dronedev/…x4\_origin/mavlink/include/mavlink/v2.0 > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules /home/dronedev/workspace/pitta/px4/fw/cf\_px4\_origin/mavlink/include/mavlink/v2.0 update. > [12/506] git submodule apps > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules apps update. > [12/506] git submodule nuttx > GIT\_SUBMODULES\_ARE\_EVIL is defined - Skipping submodules nuttx update. > [506/506] Creating /home/dronedev/work…razyflie\_default/crazyflie\_default.px4 Anyway it can rebuild just fine but not sure if I did all things right. Is there any way to check the current build or version of nuttx in nsh? @JulianOes Thank you for helping me out. Kyu – Added I still see git status shows HEAD detached at 0ac630e Which is not what current master shows as 166d898 ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [November 28, 2018, 8:32am UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/7 "2018-11-28T08:32:08Z")
Ok, I would start fresh like this: ```auto cd Firmware git checkout master git pull git submodule update --init --recursive ``` All is clean now: ```auto git status On branch master Your branch is up to date with 'origin/master'. nothing to commit, working tree clean ``` Then I would go into the Nuttx directory and get the latest master there: ```auto cd platforms/nuttx/NuttX/nuttx git checkout master git pull ``` NuttX is now at 5da7dba like you. Then I go back and the status looks like this: ```auto cd ../../../.. git status On branch master Your branch is up to date with 'origin/master'. Changes not staged for commit: (use "git add ..." to update what will be committed) (use "git checkout -- ..." to discard changes in working directory) modified: platforms/nuttx/NuttX/nuttx (new commits) ``` So, this tells me the NuttX submodule has now new commits, so is different from what the reference is by default. Now it’s probably a good idea to do a clean builld: ```auto export GIT_SUBMODULES_ARE_EVIL=1 make clean make px4fmu-v2_default ``` The build fails, presumably there were some changes that need some work for the Firmware: ```auto [3%] Copying NuttX/nuttx to /home/julianoes/src/Firmware-master/build/px4_fmu-v2_default/NuttX cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32butterfly2/include': File exists cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32f334-disco/include': File exists cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32f334-disco/nsh': File exists cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32f334-disco/scripts': File exists cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32f3discovery/include': File exists cp: cannot create directory 'build/px4_fmu-v2_default/NuttX/nuttx/configs/stm32f3discovery/nsh': File exists ... ``` Now it’s probably a good idea to wait for @david_s5 to create a branch to try this, as he wrote above: > I will be working on a branch over the next few weeks that will build PX4 on the most recent NuttX master. ---
**Author:** ![david\_s5](https://discuss.px4.io/user_avatar/discuss.px4.io/david_s5/32/4160_2.png) [@david\_s5](https://discuss.px4.io/u/david_s5)\ **Post date:** [November 28, 2018, 12:04pm UTC](https://discuss.px4.io/t/how-can-i-apply-patches-about-nuttx/8642/8 "2018-11-28T12:04:16Z")
Hi @JulianOes and @Kyuhyong_You From 7.22 to 7.27+ Nuttx There are a lot of deltas in features and functionality and the way nuttx is configured and it’s build works. I have got one board to the link stage. Once that is resolved, I need to test. Then filter the deltas by board and apply and test those changes. Then I will push a WIP set of branches. (Nuttx:nuttx, apps and PX4 on 7.27+)