The px4-sim / px4-sim-gazebo Homebrew meta-formulae can no longer
pull their Gazebo dependency chain because Homebrew 4.5+ stopped
auto-resolving cross-tap deps. PX4/homebrew-px4#104 already
deprecated px4-dev into a no-op; #111 does the same for the sim
formulae. This PR is the PX4-side counterpart: move the sim install
into Tools/setup/macos.sh with an explicit package list and tap
registration, mirroring the pattern already used for the toolchain
block. Adds xquartz install on --sim-tools.
Beyond install, three runtime and configure gaps kept make px4_sitl
gz_x500 from working on a clean macOS:
- gz-gui8 (pulled in by gz-sim8) links against Qt5, but Homebrew's
qt@5 is keg-only so CMake cannot find it. Add a POSIX-scoped hint
in platforms/posix/cmake/px4_impl_os.cmake that resolves
brew --prefix qt@5 and appends it to CMAKE_PREFIX_PATH. No-ops on
non-APPLE builds and respects a user-set Qt5_DIR.
- On macOS, dyld does not search /opt/homebrew/lib by default.
gobject-introspection typelibs reference libs by bare basename,
causing gst-plugin-scanner to fail to load plugins and adding
~90s of timeout to Gazebo's cold start. Set
DYLD_FALLBACK_LIBRARY_PATH to the Homebrew prefix lib dir in
gz_env.sh so the bridge launch inherits it. Darwin-scoped, no
effect on Linux or CI.
- configure_file on gz_env.sh.in now uses @ONLY so shell ${VAR}
references pass through untouched.
Verified locally on macOS 26.4 / arm64 / Homebrew 5.1.7: configure
clean, 1119/1119 targets compile and link, vehicle spawns in
Gazebo Harmonic 8.11.0 with a single "Waiting for Gazebo world"
wait (was ~18 before the dyld fix).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
CMake 3.27+ warns on cmake_minimum_required(VERSION < 3.10), and CMake
4.x will make it a hard error. Align the lockstep_scheduler subdir with
the root CMakeLists.txt, which is already at 3.10.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
POSIX/SITL builds on macOS produce two classes of benign warnings that
clutter output and obscure real issues:
ranlib: warning: 'lib*.a(foo.o)' has no symbols
ld: warning: ignoring duplicate libraries: ...
The ranlib warnings come from sources wrapped in #if defined(CONFIG_*)
guards (i2c.cpp, spi.cpp, board_common.c, pab_manifest.c,
px4_log_history.cpp) and dummy.cpp placeholders, which legitimately
compile to empty object files on POSIX. GNU ranlib ignores this;
Apple's warns. The warning is emitted by 'ar qc' (which implicitly
builds a symbol table), not by ranlib itself, so overriding only
ARCHIVE_FINISH is insufficient. Use 'ar qcS' to skip the implicit
symbol table, then let ranlib -no_warning_for_no_symbols build it
quietly via ARCHIVE_FINISH.
The duplicate-library warnings come from CMake intentionally
re-emitting static libraries on the link line to resolve circular
dependencies between px4_layer, px4_work_queue, px4_daemon and
lockstep_scheduler. GNU ld silently dedupes; Apple's ld-prime
(Xcode 15+) warns. Pass -no_warn_duplicate_libraries to the linker.
Both fixes are Darwin-only and have no effect on Linux CI or NuttX
builds.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add cmake/cpack infrastructure for building .deb packages from
px4_sitl_sih and px4_sitl_default targets. Includes install rules,
package scripts, Gazebo wrapper, and CI workflow.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add a scalable .deb packaging framework for VOXL2, built on the
existing cmake/package.cmake CPack infrastructure. The framework
handles multi-processor boards by having the POSIX (_default) build
own the .deb and pull in the companion SLPI build's artifacts.
Board-specific files:
- cmake/package.cmake: CPack variable overrides (name, deps, version)
- cmake/install.cmake: install() rules for all .deb contents
- debian/postinst: px4-* symlinks, DSP signature, directory setup
- debian/prerm: service stop, symlink cleanup
- debian/voxl-px4.service: systemd unit (after sscrpcd)
Infrastructure changes:
- cmake/package.cmake: hook for board-specific CPack overrides
- platforms/posix/CMakeLists.txt: hook for board install.cmake
- Makefile: %_deb pattern rule (build _default, then cpack -G DEB)
- CI: auto-discover _deb targets, collect .deb artifacts, upload
to GitHub Releases
Future boards: add cmake/package.cmake + cmake/install.cmake and
CI discovers it automatically. No new file formats or tools needed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The mavlink_tests module was deleted in 1009268d31 but several
references were left behind, breaking builds on all targets.
Removed:
- CMakeLists.txt: add_subdirectory(mavlink_tests)
- mavlink_ftp.cpp: #include of deleted mavlink_ftp_test.h
- mavlink_ftp.h: MavlinkFtpTest forward decl and friend class
- posix-configs/SITL/init/test/test_mavlink: dead init script
- sitl_tests.cmake: sitl-mavlink CTest target
- install-voxl.sh: px4-mavlink_tests symlink
Ref: https://github.com/PX4/PX4-Autopilot/issues/26738
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
call into a new UORB COMMUNICATOR ICHANNEL shutdown interface if it has been configured, otherwise it
does nothing. This allows ICHANNEL implementations to pass on a shutdown indication to a remote processor.
Implemented the shutdown interface in the muorb module for VOXL flight controllers.
- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* platforms: Serial new dedicated writeBlocking method
* finish writeBlocking()
* add back fsync
* updated posix, added string constant for port not open error
* format
* fix build
* remove fsync
* actually remove fsync
* remove fsync from write
* review feedback
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
From https://github.com/google/fuzztest.
This will now also add gtest (via cmake FetchContent)
And requires newer cmake (container updates):
CMake 3.19 or higher is required. You are running version 3.16.3
* gnss: update supported baud rates
The Septentrio GNSS driver requires certain baud rates to test all the
supported baud rates of the receiver. Without these changes, certain
"non-standard" ones would print an error to the MAVLink console when the
driver was started through the console.
* platforms: add missing baudrate defines
---------
Co-authored-by: Thomas Frans <franske2000@gmail.com>
Co-authored-by: Julian Oes <julian@oes.ch>
* Made Serial API open the UART in NON BLOCKING mode
* Updated voxl_esc driver to latest from ModalAI fork
* Ported voxl_esc driver over to new Serial UART API
* Removed voxl_esc serial abstraction since new Serial API is already a serial abstraction
- Added an empty constructor, setPort, and validatePort functions for Serial API
- Changed GPS to not allocate Serial object dynamically
- Moved access check on serial port name into the Serial API
- Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check
to the setPort Serial function to make sure it isn't called after the port has been already opened.
- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative
PX4_SIM model need the simulator (gz_) prefix
Fix post debug task
Add x500_depth, rc_cessna, standard_vtol
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
* Changed the method of checking and setting the server file lock on Posix to avoid conditions where the server can indicate that it is running but still hasn't finished it's initialization
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.
According to https://linux.die.net/man/3/pthread_cond_destroy:
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
- additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
- use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
Ramon Roche
Jacob Dahl
Ege Kural
Eric Katzfey
Jacob Dahl
Niklas Hauser
Alexander Sherikov
Daniel Agar
Beat Küng
Silvan
Thomas Frans
Matthias Grob
Rowan Dempster
Eric Katzfey
Daniel Honies
Patrick José Pereira
Beniamino Pozzan