Lack (gap) of documentation about custom ardupilot build and server

Development Team
1

Hi,

using custom online builder I did not find a way to add custom parameters before build.

I had to add custom params in hwdef.dat because my USB connector is “gone” and I use UART 1 for flashing and communication with FC.

Playing around with local build on PC, I found a lot of topics that are not clear.

Most important:

  • apj_tool is yet laying around - is it dead or is it kind of mummy that You can awake if needed ?
  • waf commandline –enable *** options: combinations do not always work
  • extract_features.py : seems to give always same results, independent by hex/bin file
  • 1 Mbyte board limit (#define) - looking at code is not so clear (e.g. VTX TRAMP protocol inclusion)
  • how is it possible to check which features are included in fw >>after<< (not before) the build ?
  • Are modules (git) versioned like other sw ? (I clone lastdev for creating build env, then I download stable branch for fw - dont know if it is good practice - other methods welcome)
  • hwdef.dat is tuned for boot params, or customization can take place there for all features to be included in build ?

I think the most important point is how to check included features in fw and how to use online server for “recovery” fw that - as an example - fw that cannot rely on USB connector for GCS (my case). Only a few FCs allow wifi flashing.

Hope this questions help , and hope also answers will come ….:slight_smile:

Thanks in advance,

Alfredo

2

Addendum :

the following sequence:

  • create custom fw using online server
  • include originated online extra_hwdef.dat at the end of original (local on pc) hwdef.dat
  • ./waf clean
  • ./waf configure --board speedybeef4v3
  • ./waf copter

I obtain same binary equal files built online.

At this point I guess I can make another local build with custom >params< (not >features<) to enable UART1 mavlink and UART4 mavlink for SpeedyBeeF4V3 FC, that has different build defaults for UARTS use. UART 4 can work with BLE using (under Linux) BLE python scripts as described in

This tool permits use of UART4 as BLE connection to GCS in place of USB, but UART4 must be configured, in order to do this, as soon as possible (at boot - best).

This is just an example of ”recovery” firmware build using a method not availbale with build online server (if I am correct).

Alfredo

3

Custom defaults for parameters are defined on the board-level. This isn’t controlled by the custom features workflow. So I don’t really see a way to do it.

4

So rewrite hwdef?

5

Adding custom lines in hwdef.dat worked for me.

I got a binary with different uart setup and rc_mavlink, sdcard_mission and other features enabled, that were not enabled by default.

But I had to add lines in this way:

undef MY_FEATURE_ENABLED

define MY_FEATURE_ENABLED 1

not to be confused with

#define directives for C/C++.

Other methods (waf options or modif in APM_config.h) did not work.

Other questions above have not yet been answered.

Hope this help,

Alfredo

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