# Make error with mavlink messages

**URL:** <https://discuss.px4.io/t/make-error-with-mavlink-messages/18702>\
**Category:** MAVLink\
**Created:** [September 22, 2020, 1:12pm UTC](https://discuss.px4.io/t/make-error-with-mavlink-messages/18702 "2020-09-22T13:12:55Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![kainism](https://discuss.px4.io/letter_avatar_proxy/v4/letter/k/a88e4f/32.png) [@kainism](https://discuss.px4.io/u/kainism)\
**Post date:** [September 22, 2020, 1:12pm UTC](https://discuss.px4.io/t/make-error-with-mavlink-messages/18702/1 "2020-09-22T13:12:55Z")

</div>

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.

---

<div class="post-metadata">

**Author:** ![kainism](https://discuss.px4.io/letter_avatar_proxy/v4/letter/k/a88e4f/32.png) [@kainism](https://discuss.px4.io/u/kainism)\
**Post date:** [September 22, 2020, 1:13pm UTC](https://discuss.px4.io/t/make-error-with-mavlink-messages/18702/2 "2020-09-22T13:13:31Z")

</div>

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 1`Preformatted text`