firmament-autopilot/fmt-firmware

Firmament Autopilot Embedded System

fmt-firmware's Issues

不是一个 issue.

"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。

fmu-v5编译不成功

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.

关于io固件下载问题

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？

CUAV V5+ startup failed

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:

cmd_fmtio should move

'union sigval' 与arm-none-eabi编译器中存在命名冲突

/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

有没有更改板载传感器方向设置的参数

现在的代码不知道为什么编译的时候会报错target amov

Pixhawk2.4.8参照官方手册无法debug代码

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

Is the controller using adrc or pid? If the adrc controller is used, where is the corresponding code?

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!