Error when buliding PX4 firmware with some deactivated modules

Dear all,

I am currently using simulink to impememt my filght controller into Pixhawk 6x. At the step of building PX4 firmware I followed this tutorial https://de.mathworks.com/help/uav/px4/ug/disable-control-modules.html to avoid flash memory overflow issues, since building a default PX4 firmware itself takes already 99% of the total flash usage.

I change the code

CONFIG_MODULES_MC_ATT_CONTROL=y

to

CONFIG_MODULES_MC_ATT_CONTROL=n

in the file default.px4board.original and resave it as a new file hil.px4board. in the same folder.

In the Hardware Setup screen I tried to build ths new firmware but there is then an Error in cmd window,saying:

[706/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj 
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++  -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME=\"flight_mode_manager\" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightModeManager.cpp.obj -c ../../src/modules/flight_mode_manager/FlightModeManager.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
                 from ../../platforms/common/include/px4_platform_common/module_params.h:44,
                 from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
                 from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
                 from ../../src/modules/flight_mode_manager/FlightModeManager.cpp:34:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: 'MC_MAN_TILT_TAU' is not a member of 'px4::params'; did you mean 'MPC_MAN_TILT_MAX'?
   70 |   (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
      |                            ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro 'REM'
  239 | #define REM(...) __VA_ARGS__
      |                  ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro 'PAIR'
   60 |  do_not_explicitly_use_this_namespace::PAIR(x);
      |                                        ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro '_DEFINE_SINGLE_PARAMETER'
   45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
      |                                    ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro 'APPLY2'
  197 | #define APPLY_ALL_H3(t, n, ...) APPLY##n(t, __VA_ARGS__)
      |                                 ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro 'APPLY_ALL_H3'
  198 | #define APPLY_ALL_H2(t, n, ...) APPLY_ALL_H3(t, n, __VA_ARGS__)
      |                                 ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro 'APPLY_ALL_H2'
  199 | #define APPLY_ALL(t, ...) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
      |                           ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro 'APPLY_ALL'
   81 |  APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
      |  ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro 'DEFINE_PARAMETERS'
   68 |  DEFINE_PARAMETERS(
      |  ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

and

[707/1094] Building CXX object src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj
FAILED: src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj 
/usr/bin/ccache /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++  -DCONFIG_ARCH_BOARD_PX4_FMU_V6X -DMODULE_NAME=\"flight_mode_manager\" -DPX4_MAIN=flight_mode_manager_app_main -D_SYS_CDEFS_H_ -D_SYS_REENT_H_ -D__CUSTOM_FILE_IO__ -D__PX4_NUTTX -D__STDC_FORMAT_MACROS -I../../boards/px4/fmu-v6x/src -I../../platforms/nuttx/src/px4/common/include -I. -Isrc/lib -I../../platforms/nuttx/src/px4/stm/stm32h7/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/armv7-m -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/chip -I../../platforms/nuttx/NuttX/nuttx/arch/arm/src/common -I../../platforms/nuttx/NuttX/apps/include -Iexternal/Install/include -I../../src/modules/flight_mode_manager -Isrc/modules/flight_mode_manager -I../../src/modules/flight_mode_manager/tasks/Auto -I../../src/modules/flight_mode_manager/tasks/FlightTask -I../../src/modules/flight_mode_manager/tasks/Utility -I../../src/lib/slew_rate -I../../src/lib/motion_planning -I../../src/modules/flight_mode_manager/tasks/Descend -I../../src/modules/flight_mode_manager/tasks/Failsafe -I../../src/modules/flight_mode_manager/tasks/ManualAcceleration -I../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel -I../../src/modules/flight_mode_manager/tasks/ManualAltitude -I../../src/modules/flight_mode_manager/tasks/ManualPosition -I../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel -I../../src/modules/flight_mode_manager/tasks/Transition -I../../src/modules/flight_mode_manager/tasks/AutoFollowTarget -I../../src/modules/flight_mode_manager/tasks/Orbit -isystem ../../platforms/nuttx/NuttX/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include/cxx -isystem ../../platforms/nuttx/NuttX/nuttx/include -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -fno-exceptions -fno-sized-deallocation -fno-threadsafe-statics -nostdinc++ -Wno-cast-align -Wframe-larger-than=2048 -D__KERNEL__ -std=gnu++14 -MD -MT src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -MF src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj.d -o src/modules/flight_mode_manager/CMakeFiles/modules__flight_mode_manager.dir/FlightTasks_generated.cpp.obj -c src/modules/flight_mode_manager/FlightTasks_generated.cpp
In file included from ../../platforms/common/include/px4_platform_common/param.h:42,
                 from ../../platforms/common/include/px4_platform_common/module_params.h:44,
                 from ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp:44,
                 from ../../src/modules/flight_mode_manager/FlightModeManager.hpp:36,
                 from src/modules/flight_mode_manager/FlightTasks_generated.cpp:42:
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:70:28: error: 'MC_MAN_TILT_TAU' is not a member of 'px4::params'; did you mean 'MPC_MAN_TILT_MAX'?
   70 |   (ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
      |                            ^~~~~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:239:18: note: in definition of macro 'REM'
  239 | #define REM(...) __VA_ARGS__
      |                  ^~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:60:40: note: in expansion of macro 'PAIR'
   60 |  do_not_explicitly_use_this_namespace::PAIR(x);
      |                                        ^~~~
../../platforms/common/include/px4_platform_common/param_macros.h:45:36: note: in expansion of macro '_DEFINE_SINGLE_PARAMETER'
   45 | #define APPLY2(t, aaa, aab) t(aaa) t(aab)
      |                                    ^
../../platforms/common/include/px4_platform_common/param_macros.h:197:33: note: in expansion of macro 'APPLY2'
  197 | #define APPLY_ALL_H3(t, n, ...) APPLY##n(t, __VA_ARGS__)
      |                                 ^~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:198:33: note: in expansion of macro 'APPLY_ALL_H3'
  198 | #define APPLY_ALL_H2(t, n, ...) APPLY_ALL_H3(t, n, __VA_ARGS__)
      |                                 ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param_macros.h:199:27: note: in expansion of macro 'APPLY_ALL_H2'
  199 | #define APPLY_ALL(t, ...) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
      |                           ^~~~~~~~~~~~
../../platforms/common/include/px4_platform_common/param.h:81:2: note: in expansion of macro 'APPLY_ALL'
   81 |  APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
      |  ^~~~~~~~~
../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp:68:2: note: in expansion of macro 'DEFINE_PARAMETERS'
   68 |  DEFINE_PARAMETERS(
      |  ^~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

Have you met this issue before and how did you solve it?

any suggestions or advices are welcome.

Thanks in advance.

Y.Z.

[Saurabh]

Hi @Yifan Zhang

After saving the file as "hil.px4board," did you select the newly saved px4board build target using the "custom px4board file" option?

[Yifan]

Hi @Saurabh,

thanks for reply. Yes I did use the new hil.px4board file as the "custom px4board file" when I build it at Modeling->Modeling Settings-> Hardware Impelementation -> Target hardware sources and Change Cmake configuration .

Answer 1

[Arun Mathamkode]

PX4 modules have interdependencies. So if you remove one module you have to remove the other as well. That is why the build is failing. To help you here, the support package already provides a few px4baord options that resolve these interdependencies. For example, if you plan to develop a multicopter, you can choose the 'px4_fmu-v6x_multicopter' px4board file and with this, you should not face any flash overflow issues.

Disabling Modules in PX4board Build Target File documentation page lists a set of modules that need to be disabled based on the airframe. You have to disable them as a set, you can't disable one alone as it will result in build failure.

[Yifan]

HI, thanks for reply and detailed explanation , i also found this issue today and chose a set of modules to disable. belows are the modules/drivers that I disabed.

1. Disabled PX4 Modules:

FW_AUTOTUNE_ATTITUDE_CONTROL

MC_AUTOTUNE_ATTITUDE_CONTROL

FLIGHT_MODE_MANAGER

FW_POS_CONTROL

FW_RATE_CONTROL

FW_ATT_CONTROL

AIRSPEED_SELECTOR

BATTERY_STATUS

CAMERA_FEEDBACK

COMMANDER

MC_ATT_CONTROL

MC_HOVER_THRUST_ESTIMATOR

MC_POS_CONTROL

MC_RATE_CONTROL

NAVIGATOR

MANUAL_CONTROL

VTOL_ATT_CONTROL

TEMPERATURE_COMPENSATION

LANDING_TARGET_ESTIMATOR

2. Disabled PX4 Drivers:

CAMERA_CAPTURE

CAMERA_TRIGGER

RC_INPUT

GPS

the building and uploading onto Pixhawk 6x has no problem, but if I tried to deploy a quite simple simulink model (with only uORB Block )onto it it still doesnt work, saying

"The current CMake configuration px4_fmu-v6x_hilv2 is incompatible with selected Hardware board PX4 Pixhawk 6x in the Simulink Model. To fix this error, select Model Configuration Parameters > Hardware Implementation and either select the Hardware board that is compatible with px4_fmu-v6x_hilv2 or Click on "Change CMake configuration" to select a CMake config corresponding to PX4 Pixhawk 6x"

I assume maybe I disabled too many modules? do you have any ideas?

Thanks :)

[Arun Mathamkode]

I think the support package is doing some checks to validate correct cmake. To work this around can you try selecting the target as 'Px4 Pixhawk Series' in Simulink instead of 'PX4 Pixhawk 6x'? You might need to enter the correct COM port to upload the firmware in Simulink model configuration paramters (under Hardware implementation->Target hardware resources->Build Options).

[Yifan]

Hey, thanks for reply. I used the 'px4_fmu-v6x_multicopter' px4board file. it takes about 95% of the flash memory but works well with my simulink model for now:) . I suppose I may still need to disable some module later if the simulink model becomes larger.