firmament-autopilot / fmt-firmware Goto Github PK

The implementation in target/pixhawk/fmu-v2/drivers/sdio/drv_sdio.c is rt_err_t drv_sdio_init(const char* device_name), but in target/pixhawk/fmu-v2/drivers/sdio/drv_sdio.h and the implementation in board.c, it is declared and implemented as rt_err_t drv_sdio_init(void). So when I click drv_sdio_init , a funtion, of board.c in fmu-v2, it will go to definition of drv_sdio.c in fmu-v5.

/data/arm-gcc-toolchain/arm-none-eabi/include/sys/signal.h:42:7: error: redefinition of 'union sigval'
union sigval {
^~~~~~
In file included from /data/cpuls/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0,
from /data/cpuls/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /data/cpuls/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /data/cpuls/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /data/cpuls/FMT-Firmware/src/firmament.h:25,
from /data/cpuls/FMT-Firmware/src/module/toml/toml.c:28:
/data/cpuls/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:28:7: note: originally defined here
union sigval

I want to learn about the adrc controller. Is the adrc controller used in the code? Can you tell me where the controller code for adrc is? Thank you very much!

环境: stm32h7xx, arm-none-eabi-gcc v10.3
源码版本: af9c088

描述: 在环境平台中运行仿真, 多旋翼 plant 模型GPS传感器数据输出纬度异常(Plant_States 中纬度正常，GPS传感器模型输出的纬度异常），其它的数据均正常。经初步测试排查, 发现将 arm_sin_f32 arm_cos_f32 替换为双精度的 sin cos 函数后正常。

I have successfully comipled the project, and download fmt_cuav-v5+.bin the qgc. But the firmware can't startup, the debug console print the following message:

有如下疑惑：

• fmt的控制台如何调用出来
• 是否可以使用usb口连接QGroundControl用mavlink console下载IO固件？如果可以该如何输入命令？

linux：ubuntu 20.04
工具链：gcc-arm-none-eabi-7-2018-q2-update
代码版本：v0.2.1

编译fmu-v2版与io固件没问题，但是编译fmu-v5固件时会出现如下报错

scons: Reading SConscript files ...
scons: done reading SConscript files.
scons: Building targets ...
scons: building associated VariantDir targets: build
CC build/fmt/src/module/toml/toml.o
In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:42:7: error: redefinition of 'union sigval'
union sigval {
^~~~~~
In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:28:7: note: originally defined here
union sigval
^~~~~~
In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:47:8: error: redefinition of 'struct sigevent'
struct sigevent {
^~~~~~~~
In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:36:8: note: originally defined here
struct sigevent
^~~~~~~~
In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:72:3: error: conflicting types for 'siginfo_t'
} siginfo_t;
^~~~~~~~~
In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24,
from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15,
from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23,
from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28:
/home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:55:24: note: previous declaration of 'siginfo_t' was here
typedef struct siginfo siginfo_t;
^~~~~~~~~
CC build/fmt/src/task/fmtio/task_fmtio.o
CC build/fmt/src/task/logger/task_logger.o
CC build/fmt/src/task/status/task_status.o
CC build/fmt/src/task/vehicle/multicopter/task_vehicle.o
scons: *** [build/fmt/src/module/toml/toml.o] Error 1
scons: building terminated because of errors.

"基于模型设计提供更高效的开发体验以及更轻松的调试方式 " ，一直很向往MBD的开发方式，但平时工作没有使用过这种方式。
主要是自己能力上欠缺，另一方面是目前调试的硬件还不能支持MBD方式，芯片flash不够，也没有足够的引脚来接个SD卡，用来记录日志，平时调试都是用很多时间来换取一般效果。（用PIX4板子是可以的，但工作上用不上）

希望MBD方式发扬光大，在飞控这一块大放异彩。FMT是一个里程碑。

编译正常，rtconfig改为debug模式，Jlink连接pixhwak2.4.8引出的调试引脚，接线线序无误，vscode开始debug直接卡死在rt_assert_handler，向上追溯到rt_mutex_take后无法继续追溯，在main函数的rtthread_startup处打断点不会被触发，应该是没进入到main函数当中，望解决