cmake fmu-v3 fix and enable more examples

- sync posix_sitl_default and px4fmu-v4pro/v5 with fmu-v3
 - fixes #6667

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -152,10 +152,12 @@ set(config_module_list
 	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
@@ -171,25 +173,25 @@ set(config_module_list
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
+	examples/px4_daemon_app
 
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
+	examples/px4_mavlink_debug
 
 	# Tutorial code from
 	# https://px4.io/dev/example_fixedwing_control
 	examples/fixedwing_control
 
 	# Hardware test
-	#examples/hwtest
+	examples/hwtest
 
 	# EKF
 	examples/ekf_att_pos_estimator

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -10,51 +10,52 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/airspeed
+	drivers/blinkm
+	drivers/bma180
+	drivers/bmi160
+	drivers/bmp280
+	drivers/boards/px4fmu-v4pro
+	drivers/bst
+	drivers/camera_trigger
 	drivers/device
+	drivers/ets_airspeed
+	drivers/frsky_telemetry
+	drivers/gps
+	drivers/hmc5883
+	drivers/hott
+	drivers/hott/hott_sensors
+	drivers/hott/hott_telemetry
+	drivers/iridiumsbd
+	drivers/l3gd20
+	drivers/led
+	drivers/lis3mdl
+	drivers/ll40ls
+	drivers/lsm303d
+	drivers/mb12xx
+	drivers/meas_airspeed
+	drivers/mkblctrl
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/ms5611
+	drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/px4io
+	drivers/rgbled
+	drivers/sf0x
+	drivers/sf1xx
+	drivers/snapdragon_rc_pwm
+	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/px4io
-	drivers/boards/px4fmu-v4pro
-	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/trone
-	drivers/gps
-	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
-	drivers/blinkm
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/meas_airspeed
-	drivers/frsky_telemetry
-	modules/sensors
-	drivers/mkblctrl
-	drivers/px4flow
-	drivers/oreoled
-	drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
-	drivers/sf1xx
-	drivers/bmp280
-	drivers/bma180
-	drivers/bmi160
 	drivers/tap_esc
+	drivers/trone
+	drivers/vmount
+	modules/sensors
 
 	#
 	# System commands
@@ -82,10 +83,11 @@ set(config_module_list
 	#
 	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
+	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/mc_pos_control/mc_pos_control_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
@@ -95,27 +97,26 @@ set(config_module_list
 	#
 	modules/commander
 	modules/events
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
 	modules/gpio_led
-	modules/uavcan
 	modules/land_detector
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	modules/uavcan
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
 	modules/ekf2
+	modules/local_position_estimator
+	modules/position_estimator_inav
 
 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
-	modules/fw_pos_control_l1
 	modules/fw_att_control
+	modules/fw_pos_control_l1
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/vtol_att_control
@@ -123,39 +124,41 @@ set(config_module_list
 	#
 	# Logging
 	#
-	modules/sdlog2
 	modules/logger
+	modules/sdlog2
 
 	#
 	# Library modules
 	#
+	modules/dataman
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
-	modules/dataman
 
 	#
 	# Libraries
 	#
 	lib/controllib
-	lib/mathlib
+	lib/conversion
-	lib/mathlib/math/filter
+	lib/DriverFramework/framework
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/geo_lookup
-	lib/conversion
 	lib/launchdetection
-	lib/terrain_estimation
+	lib/mathlib
+	lib/mathlib/math/filter
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/terrain_estimation
 	lib/version
-	lib/DriverFramework/framework
-	platforms/nuttx
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
@@ -171,10 +174,10 @@ set(config_module_list
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
+	#examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -192,7 +195,7 @@ set(config_module_list
 	#examples/hwtest
 
 	# EKF
-	examples/ekf_att_pos_estimator
+	#examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -10,47 +10,49 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/airspeed
+	drivers/blinkm
+	drivers/bma180
+	drivers/bmi160
+	drivers/bmp280
+	drivers/boards/px4fmu-v5
+	drivers/bst
+	drivers/camera_trigger
 	drivers/device
+	drivers/ets_airspeed
+	drivers/frsky_telemetry
+	drivers/gps
+	drivers/hmc5883
+	drivers/hott
+	drivers/hott/hott_sensors
+	drivers/hott/hott_telemetry
+	drivers/iridiumsbd
+	drivers/led
+	drivers/lis3mdl
+	drivers/ll40ls
+	drivers/mb12xx
+	drivers/meas_airspeed
+	drivers/mkblctrl
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/ms5611
+	drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/rgbled_pwm
+	drivers/sf0x
+	drivers/sf1xx
+	drivers/snapdragon_rc_pwm
+	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/boards/px4fmu-v5
-	drivers/rgbled_pwm
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/hmc5883
-	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/trone
-	drivers/gps
-	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
-	drivers/blinkm
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/meas_airspeed
-	drivers/frsky_telemetry
-	modules/sensors
-	drivers/mkblctrl
-	drivers/px4flow
-	drivers/oreoled
-	drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
-	drivers/bmp280
-	drivers/bma180
-	drivers/bmi160
 	drivers/tap_esc
+	drivers/trone
+	drivers/vmount
+	modules/sensors
 
 	#
 	# System commands
@@ -73,32 +75,45 @@ set(config_module_list
 	systemcmds/topic_listener
 	systemcmds/ver
 
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	#lib/rc/rc_tests
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	#
 	# General system control
 	#
 	modules/commander
 	modules/events
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
 	modules/gpio_led
-	modules/uavcan
 	modules/land_detector
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	modules/uavcan
 
 	#
 	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
 	modules/ekf2
+	modules/local_position_estimator
+	modules/position_estimator_inav
 
 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
-	modules/fw_pos_control_l1
 	modules/fw_att_control
+	modules/fw_pos_control_l1
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/vtol_att_control
@@ -112,53 +127,55 @@ set(config_module_list
 	#
 	# Library modules
 	#
+	modules/dataman
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
-	modules/dataman
 
 	#
 	# Libraries
 	#
 	lib/controllib
-	lib/mathlib
+	lib/conversion
-	lib/mathlib/math/filter
+	lib/DriverFramework/framework
-	lib/rc
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/geo_lookup
-	lib/conversion
 	lib/launchdetection
-	lib/terrain_estimation
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/rc
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/terrain_estimation
 	lib/version
-	lib/DriverFramework/framework
-	platforms/nuttx
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
 	#
-	modules/bottle_drop
+	#modules/bottle_drop
 
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	#examples/rover_steering_control
 
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
+	#examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -174,6 +191,9 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	#examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds

cmake/configs/posix_sitl_default.cmake

@@ -9,8 +9,7 @@ set(config_module_list
 	drivers/gps
 	drivers/pwm_out_sim
 	drivers/vmount
-
+	modules/sensors
-	platforms/common
 	platforms/posix/drivers/accelsim
 	platforms/posix/drivers/adcsim
 	platforms/posix/drivers/airspeedsim
@@ -20,46 +19,92 @@ set(config_module_list
 	platforms/posix/drivers/ledsim
 	platforms/posix/drivers/rgbledsim
 	platforms/posix/drivers/tonealrmsim
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 
+	#
+	# System commands
+	#
+	#systemcmds/bl_update
+	#systemcmds/config
+	#systemcmds/dumpfile
 	systemcmds/esc_calib
+	#systemcmds/hardfault_log
 	systemcmds/mixer
+	systemcmds/motor_ramp
+	#systemcmds/mtd
+	#systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
+	#systemcmds/pwm
 	systemcmds/reboot
 	systemcmds/sd_bench
+	systemcmds/top
 	systemcmds/topic_listener
 	systemcmds/ver
-	systemcmds/top
-	systemcmds/motor_ramp
 
-	modules/attitude_estimator_q
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	#drivers/test_ppm
+	lib/rc/rc_tests
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
+	#
+	# General system control
+	#
 	modules/commander
-	modules/dataman
+	modules/events
+	#modules/gpio_led
+	modules/land_detector
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	modules/replay
+	modules/simulator
+	#modules/uavcan
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
 	modules/ekf2
 	modules/ekf2_replay
-	modules/events
+	modules/local_position_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
 	modules/fw_att_control
 	modules/fw_pos_control_l1
-	modules/land_detector
-	modules/logger
-	modules/mavlink
 	modules/mc_att_control
 	modules/mc_pos_control
-	modules/navigator
+	modules/vtol_att_control
-	modules/param
+
-	modules/position_estimator_inav
+	#
-	modules/local_position_estimator
+	# Logging
-	modules/replay
+	#
+	modules/logger
 	modules/sdlog2
-	modules/sensors
+
-	modules/simulator
+	#
+	# Library modules
+	#
+	modules/dataman
+	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
-	modules/vtol_att_control
 
+	#
+	# Libraries
+	#
 	lib/controllib
 	lib/conversion
 	lib/DriverFramework/framework
@@ -76,27 +121,49 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 
+	#
+	# Platform
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
-	examples/mc_att_control_multiplatform
+
-	examples/mc_pos_control_multiplatform
+	# Tutorial code from
-	examples/ekf_att_pos_estimator
+	# https://px4.io/dev/daemon
-	examples/attitude_estimator_ekf
+	examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
 	examples/fixedwing_control
 
-	#
+	# Hardware test
-	# Testing
+	#examples/hwtest
-	#
-	drivers/sf0x/sf0x_tests
-	lib/rc/rc_tests
-	modules/commander/commander_tests
-	modules/mc_pos_control/mc_pos_control_tests
-	modules/controllib_test
-	modules/mavlink/mavlink_tests
-	modules/unit_test
-	modules/uORB/uORB_tests
-	systemcmds/tests
 
-	)
+	# EKF
+	examples/ekf_att_pos_estimator
+)
 
 set(config_extra_builtin_cmds
 	serdis

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -44,7 +44,7 @@
 #include <unistd.h>
 
 #include <px4_config.h>
-#include <nuttx/sched.h>
+#include <px4_tasks.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>

src/examples/rover_steering_control/main.cpp

@@ -427,7 +427,7 @@ int rover_steering_control_main(int argc, char *argv[])
 						 SCHED_PRIORITY_MAX - 20,
 						 2048,
 						 rover_steering_control_thread_main,
-						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
+						 (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
 		thread_running = true;
 		exit(0);
 	}

src/modules/bottle_drop/bottle_drop.cpp

@@ -206,7 +206,7 @@ BottleDrop::~BottleDrop()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_main_task);
+				px4_task_delete(_main_task);
 				break;
 			}
 		} while (_main_task != -1);
@@ -225,7 +225,7 @@ BottleDrop::start()
 					SCHED_DEFAULT,
 					SCHED_PRIORITY_DEFAULT + 15,
 					1500,
-					(main_t)&BottleDrop::task_main_trampoline,
+					(px4_main_t)&BottleDrop::task_main_trampoline,
 					nullptr);
 
 	if (_main_task < 0) {
@@ -653,7 +653,7 @@ BottleDrop::task_main()
 						// We're close enough - open the bay
 						distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body));
 
-						if (isfinite(distance_real) && distance_real < distance_open_door &&
+						if (PX4_ISFINITE(distance_real) && distance_real < distance_open_door &&
 						    fabsf(approach_error) < math::radians(20.0f)) {
 							open_bay();
 							_drop_state = DROP_STATE_BAY_OPEN;
@@ -671,7 +671,7 @@ BottleDrop::task_main()
 						map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED);
 						future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon);
 
-						if (isfinite(distance_real) &&
+						if (PX4_ISFINITE(distance_real) &&
 						    (distance_real < precision) && ((distance_real < future_distance))) {
 							drop();
 							_drop_state = DROP_STATE_DROPPED;