Px4 source code compilation to establish its own program module

Preface ： I found a big circle on the Internet , How to be in px4 Source code examples Add your own program , Including the official website is useless , Later, it was found that you need to pair cmake File modification , As follows ：

1. Create a new folder in the location you want , Suggestions and yours c perhaps cpp The same name of the file , Generally in module perhaps examples Create your new folder under the folder , I was in examples New below . Path is ../PX4-Autopilot/src/examples/xxx

Some students should be ../Firmware/src/examples/xxx

2. newly build .c perhaps .cpp file , as well as CMakeLists.txt

.c perhaps .cpp file and  CMakeLists.txt Please refer to the official website for the compilation suggestions

First Application Tutorial (Hello Sky) | PX4 User Guide

Here's my , Because it's just for compiling , The content is on the official website px4_simple_app Abridged edition

#CMakeLists.txt
px4_add_module(
	MODULE examples__my_example_app
	MAIN my_example_app
	STACK_MAIN 200
	SRCS
		my_example_app.c
	DEPENDS
)

#my_example_app.c
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>

__EXPORT int my_example_app_main(int argc, char *argv[]);

int my_example_app_main(int argc, char *argv[])
{
	PX4_INFO("Hello Sky!");

	PX4_INFO("exiting");

	return OK;
}

3. The most troublesome place before , As mentioned in many tutorials CMake Look for configs Folder , But do I have , Therefore, the compilation fails , Later according to

PX4 Code learning series blog (5)—— stay px4 Add your own modules to _ Blog of thousands of people -CSDN Blog

Found the corresponding modification

（1） stay PX4-Autopilot/boards/px4/sitl/default.cmake Modify in process , Just add your file name  

First note if you are compiling other versions , Then in px4 Find your compilation method under the folder , I am software in the loop simulation, so I am looking for sitl Folder

Second note , If the folder you created before is in modules Under the folder , Then your corresponding modification should be in modules below

（2） stay PX4-Autopilot/boards/px4/sitl/test.cmake Modify in process , Add your file name , The steps are the same as above

4. The modification is complete , Save the file and open it on the terminal , To run jmavsim For example

make clean
make px4_sitl jmavsim

After performing help command , See if there is the one you created in the pile given

Some words , Just type in this sentence , Let's see the output

 

completion of enforcement ~