Hello everybody,
I am trying to change the control allocation algorithm of PX4, but I get follow errors when adding “mavlink_log_critical(&mavlink_log_pub, “Reposition command rejected”);” in Firmware/src/mixer/MultirotorMixer/MultirotorMixer.cpp/MultirotorMixer::mix.
Thanks for your help.
make px4_fmu-v5_default upload
sed: 1: “s/.54539./Application …”: bad flag in substitute command: ‘X’
[0/1] Re-running CMake…
– PX4 version: v1.11.0-beta1-391-gb307c15b2a
– PX4 config file: /Users/kevin/Mycode/Firmware/boards/px4/fmu-v5/default.cmake
– PX4 config: px4_fmu-v5_default
– PX4 platform: nuttx
– cmake build type: MinSizeRel
– Enabling double FP precision hardware instructions
– ccache enabled (export CCACHE_DISABLE=1 to disable)
– Found PythonInterp: /Library/Frameworks/Python.framework/Versions/3.8/bin/python3 (found suitable version “3.8.2”, minimum required is “3”)
– build type is MinSizeRel
– PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-309-g38cbd1a
– Building and including px4_io-v2_default
– Found PythonInterp: /Library/Frameworks/Python.framework/Versions/3.8/bin/python3 (found version “3.8.2”)
– Using C++11
– Release build type: MinSizeRel
– ROMFS: px4fmu_common
– ROMFS: Adding rc.board_defaults
– ROMFS: Adding rc.board_sensors
– ROMFS: Adding rc.board_mavlink
– Found SVD:
– Configuring done
– Generating done
– Build files have been written to: /Users/kevin/Mycode/Firmware/build/px4_fmu-v5_default
[0/658] Performing build step for ‘px4io_firmware’
[0/1] Re-running CMake…
– PX4 version: v1.11.0-beta1-391-gb307c15b2a
– PX4 config file: /Users/kevin/Mycode/Firmware/boards/px4/io-v2/default.cmake
– PX4 config: px4_io-v2_default
– PX4 platform: nuttx
– cmake build type: MinSizeRel
– ccache enabled (export CCACHE_DISABLE=1 to disable)
– build type is MinSizeRel
– PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-309-g38cbd1a
– Configuring done
– Generating done
– Build files have been written to: /Users/kevin/Mycode/Firmware/build/px4_fmu-v5_default/external/Build/px4io_firmware
[2/143] Building CXX object src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj
FAILED: src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj
/usr/local/bin/ccache /usr/local/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_IO_V2 -DCONSTRAINED_FLASH -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I…/…/…/…/…/boards/px4/io-v2/src -I…/…/…/…/…/platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I…/…/…/…/…/platforms/nuttx/src/px4/stm/stm32f1/include -I…/…/…/…/…/platforms/common/include -I…/…/…/…/…/src -I…/…/…/…/…/src/include -I…/…/…/…/…/src/lib -I…/…/…/…/…/src/lib/matrix -I…/…/…/…/…/src/modules -INuttX/nuttx/arch/arm/src/armv7-m -INuttX/nuttx/arch/arm/src/chip -INuttX/nuttx/arch/arm/src/common -INuttX/apps/include -Iexternal/Install/include -Isrc/lib/mixer/MultirotorMixer -isystem …/…/…/…/…/platforms/nuttx/NuttX/include/cxx -isystem NuttX/nuttx/include/cxx -isystem NuttX/nuttx/include -mcpu=cortex-m3 -mthumb -Os -DNDEBUG -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -fno-exceptions -fno-rtti -fno-threadsafe-statics -Wreorder -Wno-overloaded-virtual -nostdinc++ -fno-sized-deallocation -std=gnu++14 -MD -MT src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj -MF src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj.d -o src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj -c …/…/…/…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp
In file included from …/…/…/…/…/platforms/common/include/px4_platform_common/defines.h:42:0,
from …/…/…/…/…/platforms/common/include/px4_defines.h:40,
from …/…/…/…/…/src/lib/matrix/matrix/helper_functions.hpp:6,
from …/…/…/…/…/src/lib/matrix/matrix/math.hpp:8,
from …/…/…/…/…/src/lib/mathlib/math/Functions.hpp:44,
from …/…/…/…/…/src/lib/mathlib/mathlib.h:45,
from …/…/…/…/…/src/lib/mixer/Mixer/Mixer.hpp:130,
from …/…/…/…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.hpp:36,
from …/…/…/…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp:40:
…/…/…/…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp: In member function ‘virtual unsigned int MultirotorMixer::mix(float*, unsigned int)’:
…/…/…/…/…/platforms/common/include/px4_platform_common/log.h:233:29: error: ‘MODULE_NAME’ was not declared in this scope
px4_log_modulename(level, MODULE_NAME, fmt, ##VA_ARGS);
^
…/…/…/…/…/platforms/common/include/px4_platform_common/log.h:430:29: note: in expansion of macro ‘__px4_log_modulename’
#define PX4_WARN(FMT, …) px4_log_modulename(PX4_LOG_LEVEL_WARN, FMT, ##VA_ARGS)
^~~~~~~~~~~~~~~~~~~~
…/…/…/…/…/src/lib/systemlib/mavlink_log.h:121:3: note: in expansion of macro ‘PX4_WARN’
PX4_WARN(text, ##VA_ARGS);
^~~~~~~~
…/…/…/…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp:671:4: note: in expansion of macro ‘mavlink_log_critical’
mavlink_log_critical(&mavlink_log_pub, “Reposition command rejected”);
^~~~~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
[4/143] Generating uORB topic sources
ninja: build stopped: subcommand failed.
[2/564] Building CXX object src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj
FAILED: src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj
/usr/local/bin/ccache /usr/local/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V5 -D_SYS_CDEFS_H -D_SYS_REENT_H -D__CUSTOM_FILE_IO -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I…/…/boards/px4/fmu-v5/src -I…/…/platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I…/…/platforms/nuttx/src/px4/stm/stm32f7/include -I…/…/platforms/common/include -I…/…/src -I…/…/src/include -I…/…/src/lib -I…/…/src/lib/matrix -I…/…/src/modules -INuttX/nuttx/arch/arm/src/armv7-m -INuttX/nuttx/arch/arm/src/chip -INuttX/nuttx/arch/arm/src/common -INuttX/apps/include -Iexternal/Install/include -Isrc/lib/mixer/MultirotorMixer -isystem …/…/platforms/nuttx/NuttX/include/cxx -isystem NuttX/nuttx/include/cxx -isystem NuttX/nuttx/include -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -fno-exceptions -fno-rtti -fno-threadsafe-statics -Wreorder -Wno-overloaded-virtual -nostdinc++ -fno-sized-deallocation -std=gnu++14 -MD -MT src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj -MF src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj.d -o src/lib/mixer/MultirotorMixer/CMakeFiles/MultirotorMixer.dir/MultirotorMixer.cpp.obj -c …/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp
In file included from …/…/platforms/common/include/px4_platform_common/defines.h:42:0,
from …/…/platforms/common/include/px4_defines.h:40,
from …/…/src/lib/matrix/matrix/helper_functions.hpp:6,
from …/…/src/lib/matrix/matrix/math.hpp:8,
from …/…/src/lib/mathlib/math/Functions.hpp:44,
from …/…/src/lib/mathlib/mathlib.h:45,
from …/…/src/lib/mixer/Mixer/Mixer.hpp:130,
from …/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.hpp:36,
from …/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp:40:
…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp: In member function ‘virtual unsigned int MultirotorMixer::mix(float*, unsigned int)’:
…/…/platforms/common/include/px4_platform_common/log.h:233:29: error: ‘MODULE_NAME’ was not declared in this scope
px4_log_modulename(level, MODULE_NAME, fmt, ##VA_ARGS);
^
…/…/platforms/common/include/px4_platform_common/log.h:430:29: note: in expansion of macro ‘__px4_log_modulename’
#define PX4_WARN(FMT, …) __px4_log_modulename(_PX4_LOG_LEVEL_WARN, FMT, ##VA_ARGS)
^~~~~~~~~~~~~~~~~~~~
…/…/src/lib/systemlib/mavlink_log.h:121:3: note: in expansion of macro ‘PX4_WARN’
PX4_WARN(_text, ##VA_ARGS);
^~~~~~~~
…/…/src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp:671:4: note: in expansion of macro ‘mavlink_log_critical’
mavlink_log_critical(&mavlink_log_pub, “Reposition command rejected”);
^~~~~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
[4/564] Generating uORB topic sources
FAILED: external/Stamp/px4io_firmware/px4io_firmware-build
cd /Users/kevin/Mycode/Firmware/build/px4_fmu-v5_default/external/Build/px4io_firmware && /usr/local/Cellar/cmake/3.18.2/bin/cmake --build .
ninja: build stopped: subcommand failed.
make: *** [px4_fmu-v5_default] Error 1Preformatted text