Dear all,
I am currently using simulink to impememt my filght controller into Pixhawk 6x. At the step of building PX4 firmware I followed this tutorial https://ch.mathworks.com/help/uav/px4/ug/disable-control-modules.html. to avoid flash memory overflow issues, since building a default PX4 firmware itself takes already 99% of the total flash usage.
I change the code
CONFIG_MODULES_MC_ATT_CONTROL=y
to
CONFIG_MODULES_MC_ATT_CONTROL=n
in the file default.px4board.original and resave it as a new file hil.px4board. in the same folder.
In the Hardware Setup screen I tried to build ths new firmware but there is then an Error in cmd window,saying:
[706/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -c ../../src/modules/flight_mode_manager/FlightModeManager.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from ../../src/modules/flight_mode_manager/FlightModeManager.cpp:34:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
and
[707/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -c src/modules/flight_mode_manager/FlightTasks_generated.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from src/modules/flight_mode_manager/FlightTasks_generated.cpp:42:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
Have you met this issue before and how did you solve it?
any suggestions or advices are welcome.
Thanks in advance.
Y.Z.Dear all,
I am currently using simulink to impememt my filght controller into Pixhawk 6x. At the step of building PX4 firmware I followed this tutorial https://ch.mathworks.com/help/uav/px4/ug/disable-control-modules.html. to avoid flash memory overflow issues, since building a default PX4 firmware itself takes already 99% of the total flash usage.
I change the code
CONFIG_MODULES_MC_ATT_CONTROL=y
to
CONFIG_MODULES_MC_ATT_CONTROL=n
in the file default.px4board.original and resave it as a new file hil.px4board. in the same folder.
In the Hardware Setup screen I tried to build ths new firmware but there is then an Error in cmd window,saying:
[706/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -c ../../src/modules/flight_mode_manager/FlightModeManager.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from ../../src/modules/flight_mode_manager/FlightModeManager.cpp:34:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
and
[707/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -c src/modules/flight_mode_manager/FlightTasks_generated.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from src/modules/flight_mode_manager/FlightTasks_generated.cpp:42:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
Have you met this issue before and how did you solve it?
any suggestions or advices are welcome.
Thanks in advance.
Y.Z. Dear all,
I am currently using simulink to impememt my filght controller into Pixhawk 6x. At the step of building PX4 firmware I followed this tutorial https://ch.mathworks.com/help/uav/px4/ug/disable-control-modules.html. to avoid flash memory overflow issues, since building a default PX4 firmware itself takes already 99% of the total flash usage.
I change the code
CONFIG_MODULES_MC_ATT_CONTROL=y
to
CONFIG_MODULES_MC_ATT_CONTROL=n
in the file default.px4board.original and resave it as a new file hil.px4board. in the same folder.
In the Hardware Setup screen I tried to build ths new firmware but there is then an Error in cmd window,saying:
[706/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -c ../../src/modules/flight_mode_manager/FlightModeManager.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from ../../src/modules/flight_mode_manager/FlightModeManager.cpp:34:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
and
[707/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME="flight_mode_manager" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/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 -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -c src/modules/flight_mode_manager/FlightTasks_generated.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
from ../../platforms/common/include/px4_platform_common/module_params.h:44,
from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
from src/modules/flight_mode_manager/FlightTasks_generated.cpp:42:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: ‘MC_MAN_TILT_TAU’ is not a member of ‘px4::params’; did you mean ‘MPC_MAN_TILT_MAX’?
70 | (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
| ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro ‘REM’
239 | #define REM(…) __VA_ARGS__
| ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro ‘PAIR’
60 | do_not_explicitly_use_this_namespace::PAIR(x);
| ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro ‘_DEFINE_SINGLE_PARAMETER’
45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
| ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro ‘APPLY2’
197 | #define APPLY_ALL_H3(t, n, …) APPLY##n(t, __VA_ARGS__)
| ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro ‘APPLY_ALL_H3’
198 | #define APPLY_ALL_H2(t, n, …) APPLY_ALL_H3(t, n, __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro ‘APPLY_ALL_H2’
199 | #define APPLY_ALL(t, …) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
| ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro ‘APPLY_ALL’
81 | APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__)
| ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro ‘DEFINE_PARAMETERS’
68 | DEFINE_PARAMETERS(
| ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
Have you met this issue before and how did you solve it?
any suggestions or advices are welcome.
Thanks in advance.
Y.Z. px4, simulink, pixhawk, uav, firmware MATLAB Answers — New Questions

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