posix: enable ROMFSROOT

This will copy the ROMFS into the build directory under etc/, and thus
needs a change of the PX4 startup parameters and mixer paths.

Tools/gazebo_sitl_multiple_run.sh

@@ -30,7 +30,7 @@ function spawn_model() {
 
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $n in $(pwd)"
-	../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -w sitl_${MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
+	../bin/px4 -i $n -d "$build_path/etc" -w sitl_${MODEL}_${n} -s etc/init.d-posix/rcS >out.log 2>err.log &
 	python3 ${src_path}/Tools/sitl_gazebo/scripts/xacro.py ${src_path}/Tools/sitl_gazebo/models/rotors_description/urdf/${MODEL}_base.xacro \
 		rotors_description_dir:=${src_path}/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(($mavlink_udp_port+$N)) \
 		mavlink_tcp_port:=$(($mavlink_tcp_port+$N))  -o /tmp/${MODEL}_${N}.urdf

Tools/sitl_multiple_run.sh

@@ -28,7 +28,7 @@ while [ $n -lt $sitl_num ]; do
 
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $n in $(pwd)"
-	../bin/px4 -i $n -d "$src_path/ROMFS/px4fmu_common" -s etc/init.d-posix/rcS >out.log 2>err.log &
+	../bin/px4 -i $n -d "$build_path/etc" -s etc/init.d-posix/rcS >out.log 2>err.log &
 	popd &>/dev/null
 
 	n=$(($n + 1))

Tools/sitl_run.sh

@@ -156,7 +156,7 @@ set +e
 if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
 	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
 else
-	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
+	sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
 fi
 
 echo SITL COMMAND: $sitl_command

boards/atlflight/eagle/cmake/upload.cmake

@@ -46,7 +46,7 @@ else()
 
 	add_custom_target(upload
 		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_SOURCE_DIR}/ROMFS # source
+				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
 				/home/linaro # destination
 		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
 		COMMENT "uploading px4"

boards/atlflight/eagle/default.cmake

@@ -41,6 +41,7 @@ px4_add_board(
 	LABEL default
 	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
+	ROMFSROOT px4fmu_common
 	DRIVERS
 		#barometer # all available barometer drivers
 		batt_smbus

boards/beaglebone/blue/cmake/upload.cmake

@@ -33,7 +33,7 @@
 
 add_custom_target(upload
 	COMMAND rsync -arh --progress
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_BINARY_DIR}/etc # source
 			debian@beaglebone.lan:/home/debian/px4 # destination
 	DEPENDS px4
 	COMMENT "uploading px4"

boards/beaglebone/blue/default.cmake

@@ -10,6 +10,7 @@ px4_add_board(
 	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a8
+	ROMFSROOT px4fmu_common
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS

boards/emlid/navio2/cmake/upload.cmake

@@ -39,7 +39,7 @@ endif()
 
 add_custom_target(upload
 	COMMAND rsync -arh --progress
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
 			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4
 	COMMENT "uploading px4"

boards/emlid/navio2/default.cmake

@@ -8,6 +8,7 @@ px4_add_board(
 	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a53
+	ROMFSROOT px4fmu_common
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS

boards/px4/raspberrypi/cmake/upload.cmake

@@ -39,7 +39,7 @@ endif()
 
 add_custom_target(upload
 	COMMAND rsync -arh --progress
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
 			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4
 	COMMENT "uploading px4"

boards/px4/raspberrypi/default.cmake

@@ -8,6 +8,7 @@ px4_add_board(
 	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a53
+	ROMFSROOT px4fmu_common
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS

boards/px4/sitl/default.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
+	ROMFSROOT px4fmu_common
 	LABEL default
 	TESTING
 	DRIVERS

boards/px4/sitl/nolockstep.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
+	ROMFSROOT px4fmu_common
 	LABEL nolockstep
 	TESTING
 	DRIVERS

boards/px4/sitl/replay.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
+	ROMFSROOT px4fmu_common
 	LABEL replay
 	MODULES
 		ekf2

boards/px4/sitl/rtps.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
+	ROMFSROOT px4fmu_common
 	LABEL rtps
 	TESTING
 	DRIVERS

boards/px4/sitl/test.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
+	ROMFSROOT px4fmu_common
 	LABEL test
 	TESTING
 	DRIVERS

launch/posix_sitl.launch

@@ -29,7 +29,7 @@
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
     <node name="sitl" pkg="px4" type="px4" output="screen"
-        args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
+        args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
 
     <!-- Gazebo sim -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">

launch/px4.launch

@@ -13,6 +13,6 @@
     <env name="PX4_ESTIMATOR" value="$(arg est)" />
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
     </node>
 </launch>

launch/single_vehicle_spawn.launch

@@ -25,7 +25,7 @@
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

launch/single_vehicle_spawn_sdf.launch

@@ -25,7 +25,7 @@
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

posix-configs/bbblue/px4.config

@@ -82,9 +82,9 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 #rc_input start -d /dev/ttyS4
 
-# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
-linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
-#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+# default: etc/mixers/quad_x.main.mix, 8 output channels
+linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
+#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 

posix-configs/bbblue/px4_fw.config

@@ -78,9 +78,9 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 rc_input start -d /dev/ttyS4
 
-# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
-#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
-linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+# default: etc/mixers/quad_x.main.mix, 8 output channels
+#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
+linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 

posix-configs/ocpoc/px4.config

@@ -46,6 +46,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
 
 rc_input start -d /dev/ttyS2
 
-linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix
 logger start -t -b 200
 mavlink boot_complete

posix-configs/rpi/px4_fw.config

@@ -50,7 +50,7 @@ then
 fi
 
 navio_sysfs_rc_in start
-linux_pwm_out start -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+linux_pwm_out start -m etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 

posix-configs/rpi/px4_hil.config

@@ -36,7 +36,7 @@ mc_rate_control start
 mavlink start -x -u 14577 -r 1000000
 navio_sysfs_rc_in start
 pwm_out_sim start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix
 
 logger start -t -b 200
 

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -72,7 +72,7 @@ static bool _is_running = false;
 static char _device[64] = "/sys/class/pwm/pwmchip0";
 static char _protocol[64] = "navio";
 static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
-static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
+static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix";
 
 // subscriptions
 int     _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
@@ -495,7 +495,7 @@ void usage()
 	PX4_INFO("       -d pwmdevice : sysfs device for pwm generation (only for Navio)");
 	PX4_INFO("                       (default /sys/class/pwm/pwmchip0)");
 	PX4_INFO("       -m mixerfile : path to mixerfile");
-	PX4_INFO("                       (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
+	PX4_INFO("                       (default etc/mixers/quad_x.main.mix)");
 	PX4_INFO("       -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
 	PX4_INFO("                       (default is navio)");
 	PX4_INFO("       -n num_outputs : maximum number of outputs the driver should use");

src/drivers/pca9685_pwm_out/main.cpp

@@ -516,7 +516,7 @@ It is typically started with:
 $ pca9685_pwm_out start -a 64 -b 1
 
 Use the `mixer` command to load mixer files.
-`mixer load /dev/pca9685 ROMFS/px4fmu_common/mixers/quad_x.main.mix`
+`mixer load /dev/pca9685 etc/mixers/quad_x.main.mix`
 )DESCR_STR");
 
     PRINT_MODULE_USAGE_NAME("pca9685_pwm_out", "driver");

test/mavsdk_tests/process_helper.py

@@ -145,7 +145,7 @@ class Px4Runner(Runner):
         self.cmd = workspace_dir + "/build/px4_sitl_default/bin/px4"
         self.cwd = workspace_dir + "/build/px4_sitl_default/tmp/rootfs"
         self.args = [
-                workspace_dir + "/ROMFS/px4fmu_common",
+                workspace_dir + "/build/px4_sitl_default/etc",
                 "-s",
                 "etc/init.d-posix/rcS",
                 "-t",