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feat(tools): ship metadata, IO and BL files on SD card
EKF Update Change Indicator / unit_tests (push) Has been cancelled
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This pushes the metadata files as well as the IO firmware and the
bootloader binary to the SD card.
That way, the files are don't have to be added to the firmware
binary or served via s3 for FLASH_CONSTRAINED targets.

The files are pushed after upload and verified in commander as part of
the preflight checks. If missing, a warning is displayed and arming is
prevented.

This means that an SD card can't be swapped out without reflashing (or
copying over the contents).
This commit is contained in:
Julian Oes
2026-02-03 09:27:01 +13:00
parent 5dba9990b4
commit 81e4e33811
18 changed files with 665 additions and 34 deletions
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ROMFS/CMakeLists.txt
+27 -4
View File
@@ -136,6 +136,14 @@ add_custom_command(
)
# Compute IO firmware path for filepaths generator
set(iofw_path_arg)
if(CONFIG_BOARD_IO)
if(CONFIG_BOARD_ROOT_PATH)
set(iofw_path_arg --iofw-path ${CONFIG_BOARD_ROOT_PATH}/px4/extras/${CONFIG_BOARD_IO}.bin)
endif()
endif()
set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
add_custom_command(
OUTPUT
@@ -157,6 +165,7 @@ add_custom_command(
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
--rc-dir ${romfs_gen_root_dir}/init.d
--params-file ${CONFIG_BOARD_PARAM_FILE}
${iofw_path_arg}
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
WORKING_DIRECTORY ${romfs_gen_root_dir}
DEPENDS ${romfs_tar_file}
@@ -255,7 +264,8 @@ set(OPTIONAL_BOARD_EXTRAS)
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
# bootloader (optional)
# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade
# - when CONFIG_BOARD_ROOT_PATH is set, bootloader binary is on SD card (not in ROMFS)
# - otherwise remove bootloader binary from extras in final ROMFS
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
@@ -263,6 +273,13 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
# generate rc.board_bootloader_upgrade
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
if(CONFIG_BOARD_ROOT_PATH)
set(BOARD_FIRMWARE_PATH "${CONFIG_BOARD_ROOT_PATH}/px4/extras/${BOARD_FIRMWARE_BIN}")
else()
set(BOARD_FIRMWARE_PATH "/etc/extras/${BOARD_FIRMWARE_BIN}")
endif()
message(STATUS "ROMFS: Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
# Generate the file using configure_file at configure time to a temporary location
@@ -286,13 +303,19 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
list(APPEND extras_dependencies
rc.board_bootloader_upgrade.stamp
)
else()
# remove bootloader from extras
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
endif()
# remove bootloader binary from ROMFS extras (either on SD card or bl_update not enabled)
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
endif()
endforeach()
# When CONFIG_BOARD_ROOT_PATH is set, IO firmware is on SD card - remove from ROMFS extras
if(CONFIG_BOARD_ROOT_PATH AND CONFIG_BOARD_IO)
set(_io_bin_path "${PX4_BOARD_DIR}/extras/${CONFIG_BOARD_IO}.bin")
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${_io_bin_path})
endif()
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
if(EXISTS "${board_extra_file}")