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Px4 adds new applications
2020-11-08 08:54:00 【http://www.bing.com/searc....tin-round+rock+texas】
Studied how to add new apps for four days , I tried to add... A few days ago .cpp File application , Following the Internet has failed , I tried to add one today .c The file application actually succeeded .
The first .c How to add the method to write , Later I learned how to add .cpp Let's revise it again .
This is the official manual for adding methods , It's also my reference :
https://dev.px4.io/master/zh/apps/hello_sky.html
One 、 New file
stay src Put the folder you want ( Such as /src/modules or /src/examples) Create a new folder in , I choose to be here /src/modules The new one in is called Data_link_read Folder .
And then in Data_link_read Create a new folder .c Documents and a CMakeLists.txt file :
Here we suggest folder names and .c Same file name
Two 、 Write .c and CMakeLists.txt file
.c Write as follows :
__EXPORT int Data_link_read_main(int argc, char *argv[]);
int Data_link_read_main(int argc, char *argv[]) { return OK; }
To avoid the trouble of adding header files , I'll take the official manual first PX4_INFO("Hello Sky!");
The sentence is deleted , After all, our goal is to create a new application and , First, the pursuit of compiler through , Let's consider making this application implement some functions !
CMakeLists.txt Write as follows :
px4_add_module(
MODULE modules__Data_link_read
MAIN Data_link_read
STACK_MAIN 2000
SRCS
Data_link_read.c
DEPENDS
)
* Be careful :CMakeLists.txt The second line MODULE trailing “modules” Because I chose src Under the modules Folder , If you choose examples, Then it should be written :
MODULE examples__Data_link_read
* Digression : stay /PX4-Autopilot/cmake Several under the folder px4_XXX.cmake There are some explanations about the format in the documents , You can refer to it
3、 ... and 、 Fill in .cmake file
To ensure that the application we added can be run , You first need to make sure that the compiler takes it as PX4 Part of the firmware is compiled .
So add our application to /PX4-Autopilot/boards/px4/fmu-v5 In folder default.cmake In file :
Here we are MODULES Add our application under .( If your app is written in examples In the folder , Then add the application to EXAMPLES Next ).
* Be careful : So here's what I chose /px4/fmu-v5 Under folder default.cmake file , It's because I'm at the terminal (terminal) The statements used in compiling are make px4_fmu-v5_default. therefore , If you don't compile with px4_fmu-v5, Please select... Under the corresponding folder default.cmake Add application !
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