diff --git a/ArduCopter/version.h b/ArduCopter/version.h index 3df99b233e..c035847e84 100644 --- a/ArduCopter/version.h +++ b/ArduCopter/version.h @@ -6,7 +6,7 @@ #include "ap_version.h" -#define THISFIRMWARE "ZRUAV v4.0.17-RC7" //"ArduCopter V4.0.0" +#define THISFIRMWARE "ZRUAV v4.0.17-RC8" //"ArduCopter V4.0.0" // the following line is parsed by the autotest scripts #define FIRMWARE_VERSION 4,0,17,FIRMWARE_VERSION_TYPE_OFFICIAL diff --git a/all.sh b/all.sh index b3c4ad3479..9fbecedb53 100755 --- a/all.sh +++ b/all.sh @@ -6,30 +6,30 @@ starttime=`date +'%Y-%m-%d %H:%M:%S'` ./waf configure --board rs100 > build_log.txt # ./waf clean >> build_log.txt ./waf copter >> build_log.txt -cp ./build/rs100/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/致睿rs100-v4.0.17-RC6.px4 +cp ./build/rs100/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/致睿rs100-v4.0.17-RC8.px4 echo "finish build rs100 " ./waf configure --board rs100h >> build_log.txt # ./waf clean >> build_log.txt ./waf copter >> build_log.txt -cp ./build/rs100h/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/致睿rs100h-v4.0.17-RC6.px4 +cp ./build/rs100h/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/致睿rs100h-v4.0.17-RC8.px4 echo "finish build rs100h " ./waf configure --board d100 >> build_log.txt # ./waf clean >> build_log.txt ./waf copter >> build_log.txt -cp ./build/d100/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/中海达d100-v4.0.17-RC6.px4 +cp ./build/d100/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/中海达d100-v4.0.17-RC8.px4 echo "finish build d100 " ./waf configure --board d100h >> build_log.txt # ./waf clean >> build_log.txt ./waf copter >> build_log.txt -cp ./build/d100h/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/中海达d100h-v4.0.17-RC6.px4 +cp ./build/d100h/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/中海达d100h-v4.0.17-RC8.px4 echo "finish build d100h " # ./waf configure --board zr-hexa >> build_log.txt # ./waf clean >> build_log.txt # ./waf copter >> build_log.txt -# cp ./build/zr-hexa/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/六轴m66-v4.0.17-RC6.px4 +# cp ./build/zr-hexa/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/六轴m66-v4.0.17-RC8.px4 # echo "finish build zr-hexa " endtime=`date +'%Y-%m-%d %H:%M:%S'` diff --git a/build_log.txt b/build_log.txt index 2980ca64e9..61665f4929 100644 --- a/build_log.txt +++ b/build_log.txt @@ -41,4 +41,592 @@ env set PROCESS_STACK=0x2000 Enabling ChibiOS asserts : no Checking for intelhex module: : disabled Checking for HAVE_CMATH_ISFINITE : yes -Checking for HAVE_CMATH_ISINF : Interrupted +Checking for HAVE_CMATH_ISINF : yes +Checking for HAVE_CMATH_ISNAN : yes +Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes +Checking for header endian.h : not found +Checking for header byteswap.h : not found +Checking for HAVE_MEMRCHR : no +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Source is git repository : yes +Update submodules : yes +Checking for program 'git' : /usr/bin/git +Gtest : STM32 boards currently don't support compiling gtest +Checking for program 'arm-none-eabi-size' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-size +Benchmarks : disabled +Unit tests : disabled +Scripting : enabled +Scripting runtime checks : enabled +Checking for program 'rsync' : /usr/bin/rsync +'configure' finished successfully (1.494s) +Waf: Entering directory `/home/z/code/zr-v4/build/rs100' +Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua +Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin +Checking for env.py +env added DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/rs100/defaults.parm +env added BOARD_FLASH_SIZE=2048 +env added APJ_BOARD_TYPE=STM32F767xx +env added OPTIMIZE=-O2 +env added USBID=0x1209/0x5740 +env added MAIN_STACK=0x400 +env added APJ_BOARD_ID=50 +env added HAL_WITH_UAVCAN=1 +env added FLASH_RESERVE_START_KB=32 +env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env added IOMCU_FW=0 +env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env added PERIPH_FW=0 +env added PROCESS_STACK=0x2000 +[642/645] Linking build/rs100/bin/arducopter +[643/645] apj_tool build/rs100/bin/arducopter +Loaded binary file of length 3099620 +Setting defaults from /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/rs100/defaults.parm +Saved binary of length 3099620 +[644/645] Generating bin/arducopter.bin +[645/645] apj_gen build/rs100/bin/arducopter.bin +Waf: Leaving directory `/home/z/code/zr-v4/build/rs100' + +BUILD SUMMARY +Build directory: /home/z/code/zr-v4/build/rs100 +Target Text Data BSS Total +---------------------------------------------- +bin/arducopter 1268484 3956 389492 1661932 + +Build commands will be stored in build/rs100/compile_commands.json +'copter' finished successfully (3.082s) +Setting top to : /home/z/code/zr-v4 +Setting out to : /home/z/code/zr-v4/build +Autoconfiguration : enabled +Setting board to : rs100h +Using toolchain : arm-none-eabi +Checking for 'g++' (C++ compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-g++ +Checking for 'gcc' (C compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-gcc +Checking for c flags '-MMD' : yes +Checking for cxx flags '-MMD' : yes +Checking for program 'make' : /usr/bin/make +Checking for program 'arm-none-eabi-objcopy' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-objcopy +Including /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat +Adding environment OPTIMIZE -O2 +Removing ZR_FRAME_TYPE +Removing HAL_BATT_VOLT_SCALE +Removing HAL_BATT_CURR_SCALE +Removing AC_ATC_MULTI_RATE_RP_P +Removing AC_ATC_MULTI_RATE_RP_I +Removing AC_ATC_MULTI_RATE_YAW_P +Removing AC_ATC_MULTI_RATE_YAW_I +Setup for MCU STM32F767xx +Writing hwdef setup in /home/z/code/zr-v4/build/rs100h/hwdef.h +Writing DMA map +Generating ldscript.ld +Adding defaults.parm +Checking for env.py +env set DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/rs100h/defaults.parm +env set BOARD_FLASH_SIZE=2048 +env set APJ_BOARD_TYPE=STM32F767xx +env set OPTIMIZE=-O2 +env set USBID=0x1209/0x5740 +env set MAIN_STACK=0x400 +env set APJ_BOARD_ID=50 +env set HAL_WITH_UAVCAN=1 +env set FLASH_RESERVE_START_KB=32 +env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env set IOMCU_FW=0 +env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env set PERIPH_FW=0 +env set PROCESS_STACK=0x2000 +Enabling ChibiOS asserts : no +Checking for intelhex module: : disabled +Checking for HAVE_CMATH_ISFINITE : yes +Checking for HAVE_CMATH_ISINF : yes +Checking for HAVE_CMATH_ISNAN : yes +Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes +Checking for header endian.h : not found +Checking for header byteswap.h : not found +Checking for HAVE_MEMRCHR : no +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Source is git repository : yes +Update submodules : yes +Checking for program 'git' : /usr/bin/git +Gtest : STM32 boards currently don't support compiling gtest +Checking for program 'arm-none-eabi-size' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-size +Benchmarks : disabled +Unit tests : disabled +Scripting : enabled +Scripting runtime checks : enabled +Checking for program 'rsync' : /usr/bin/rsync +'configure' finished successfully (1.510s) +Waf: Entering directory `/home/z/code/zr-v4/build/rs100h' +Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua +Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin +Checking for env.py +env added DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/rs100h/defaults.parm +env added BOARD_FLASH_SIZE=2048 +env added APJ_BOARD_TYPE=STM32F767xx +env added OPTIMIZE=-O2 +env added USBID=0x1209/0x5740 +env added MAIN_STACK=0x400 +env added APJ_BOARD_ID=50 +env added HAL_WITH_UAVCAN=1 +env added FLASH_RESERVE_START_KB=32 +env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env added IOMCU_FW=0 +env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env added PERIPH_FW=0 +env added PROCESS_STACK=0x2000 +[ 20/645] Compiling libraries/AC_Flow_Measure/AC_Flow_Measure.cpp +[376/645] Compiling libraries/AP_UAVCAN/AP_UAVCAN.cpp +[553/645] Compiling libraries/GCS_MAVLink/GCS_Common.cpp +[567/645] Compiling ArduCopter/mode_systemid.cpp +[569/645] Compiling ArduCopter/Attitude.cpp +[570/645] Compiling ArduCopter/Log.cpp +[571/645] Compiling ArduCopter/GCS_Copter.cpp +[572/645] Compiling ArduCopter/mode_follow.cpp +[573/645] Compiling ArduCopter/radio.cpp +[574/645] Compiling ArduCopter/failsafe.cpp +[575/645] Compiling ArduCopter/events.cpp +[576/645] Compiling ArduCopter/land_detector.cpp +[577/645] Compiling ArduCopter/GCS_Mavlink.cpp +[578/645] Compiling ArduCopter/system.cpp +[579/645] Compiling ArduCopter/avoidance_adsb.cpp +[580/645] Compiling ArduCopter/surface_tracking.cpp +[582/645] Compiling ArduCopter/precision_landing.cpp +[583/645] Compiling ArduCopter/compassmot.cpp +[584/645] Compiling ArduCopter/crash_check.cpp +[585/645] Compiling ArduCopter/version.cpp +[586/645] Compiling ArduCopter/AP_Arming.cpp +[587/645] Compiling ArduCopter/leds.cpp +[588/645] Compiling ArduCopter/heli.cpp +[589/645] Compiling ArduCopter/mode_loiter.cpp +[590/645] Compiling ArduCopter/Copter.cpp +[591/645] Compiling ArduCopter/baro_ground_effect.cpp +[592/645] Compiling ArduCopter/mode_zigzag.cpp +[593/645] Compiling ArduCopter/mode_flowmeasure.cpp +[594/645] Compiling ArduCopter/mode.cpp +[595/645] Compiling ArduCopter/zr_flight.cpp +[596/645] Compiling ArduCopter/UserCode.cpp +[597/645] Compiling ArduCopter/mode_circle.cpp +[598/645] Compiling ArduCopter/mode_rtl.cpp +[599/645] Compiling ArduCopter/ekf_check.cpp +[600/645] Compiling ArduCopter/inertia.cpp +[601/645] Compiling ArduCopter/mode_flowhold.cpp +[602/645] Compiling ArduCopter/AP_Rally.cpp +[603/645] Compiling ArduCopter/mode_guided_nogps.cpp +[604/645] Compiling ArduCopter/mode_throw.cpp +[605/645] Compiling ArduCopter/motor_test.cpp +[606/645] Compiling ArduCopter/mode_stabilize.cpp +[607/645] Compiling ArduCopter/RC_Channel.cpp +[608/645] Compiling ArduCopter/standby.cpp +[609/645] Compiling ArduCopter/esc_calibration.cpp +[610/645] Compiling ArduCopter/mode_auto.cpp +[611/645] Compiling ArduCopter/mode_acro.cpp +[612/645] Compiling ArduCopter/mode_smart_rtl.cpp +[613/645] Compiling ArduCopter/Parameters.cpp +[614/645] Compiling ArduCopter/takeoff.cpp +[615/645] Compiling ArduCopter/AP_State.cpp +[616/645] Compiling ArduCopter/mode_drift.cpp +[617/645] Compiling ArduCopter/mode_guided.cpp +[618/645] Compiling ArduCopter/setup.cpp +[619/645] Compiling ArduCopter/autoyaw.cpp +[620/645] Compiling ArduCopter/motors.cpp +[621/645] Compiling ArduCopter/afs_copter.cpp +[622/645] Compiling ArduCopter/navigation.cpp +[623/645] Compiling ArduCopter/mode_sport.cpp +[624/645] Compiling ArduCopter/mode_autorotate.cpp +[625/645] Compiling ArduCopter/mode_acro_heli.cpp +[626/645] Compiling ArduCopter/terrain.cpp +[627/645] Compiling ArduCopter/mode_autotune.cpp +[628/645] Compiling ArduCopter/mode_althold.cpp +[629/645] Compiling ArduCopter/mode_avoid_adsb.cpp +[630/645] Compiling ArduCopter/toy_mode.cpp +[631/645] Compiling ArduCopter/mode_flip.cpp +[632/645] Compiling ArduCopter/tuning.cpp +[633/645] Compiling ArduCopter/mode_brake.cpp +[634/645] Compiling ArduCopter/mode_stabilize_heli.cpp +[635/645] Compiling ArduCopter/landing_gear.cpp +[636/645] Compiling ArduCopter/sensors.cpp +[637/645] Compiling ArduCopter/commands.cpp +[638/645] Compiling ArduCopter/mode_land.cpp +[639/645] Compiling ArduCopter/fence.cpp +[640/645] Compiling ArduCopter/mode_poshold.cpp +[641/645] Linking build/rs100h/lib/libArduCopter_libs.a +[642/645] Linking build/rs100h/bin/arducopter +[643/645] apj_tool build/rs100h/bin/arducopter +Loaded binary file of length 3099624 +Setting defaults from /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/rs100h/defaults.parm +Saved binary of length 3099624 +[644/645] Generating bin/arducopter.bin +[645/645] apj_gen build/rs100h/bin/arducopter.bin +Waf: Leaving directory `/home/z/code/zr-v4/build/rs100h' + +BUILD SUMMARY +Build directory: /home/z/code/zr-v4/build/rs100h +Target Text Data BSS Total +---------------------------------------------- +bin/arducopter 1268488 3956 389488 1661932 + +Build commands will be stored in build/rs100h/compile_commands.json +'copter' finished successfully (8.007s) +Setting top to : /home/z/code/zr-v4 +Setting out to : /home/z/code/zr-v4/build +Autoconfiguration : enabled +Setting board to : d100 +Using toolchain : arm-none-eabi +Checking for 'g++' (C++ compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-g++ +Checking for 'gcc' (C compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-gcc +Checking for c flags '-MMD' : yes +Checking for cxx flags '-MMD' : yes +Checking for program 'make' : /usr/bin/make +Checking for program 'arm-none-eabi-objcopy' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-objcopy +Including /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat +Adding environment OPTIMIZE -O2 +Removing ZR_FRAME_TYPE +Removing HAL_BATT_VOLT_SCALE +Removing HAL_BATT_CURR_SCALE +Removing AC_ATC_MULTI_RATE_RP_P +Removing AC_ATC_MULTI_RATE_RP_I +Removing AC_ATC_MULTI_RATE_YAW_P +Removing AC_ATC_MULTI_RATE_YAW_I +Setup for MCU STM32F767xx +Writing hwdef setup in /home/z/code/zr-v4/build/d100/hwdef.h +Writing DMA map +Generating ldscript.ld +Adding defaults.parm +Checking for env.py +env set DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100/defaults.parm +env set BOARD_FLASH_SIZE=2048 +env set APJ_BOARD_TYPE=STM32F767xx +env set OPTIMIZE=-O2 +env set USBID=0x1209/0x5740 +env set MAIN_STACK=0x400 +env set APJ_BOARD_ID=50 +env set HAL_WITH_UAVCAN=1 +env set FLASH_RESERVE_START_KB=32 +env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env set IOMCU_FW=0 +env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env set PERIPH_FW=0 +env set PROCESS_STACK=0x2000 +Enabling ChibiOS asserts : no +Checking for intelhex module: : disabled +Checking for HAVE_CMATH_ISFINITE : yes +Checking for HAVE_CMATH_ISINF : yes +Checking for HAVE_CMATH_ISNAN : yes +Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes +Checking for header endian.h : not found +Checking for header byteswap.h : not found +Checking for HAVE_MEMRCHR : no +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Source is git repository : yes +Update submodules : yes +Checking for program 'git' : /usr/bin/git +Gtest : STM32 boards currently don't support compiling gtest +Checking for program 'arm-none-eabi-size' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-size +Benchmarks : disabled +Unit tests : disabled +Scripting : enabled +Scripting runtime checks : enabled +Checking for program 'rsync' : /usr/bin/rsync +'configure' finished successfully (1.490s) +Waf: Entering directory `/home/z/code/zr-v4/build/d100' +Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua +Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin +Checking for env.py +env added DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100/defaults.parm +env added BOARD_FLASH_SIZE=2048 +env added APJ_BOARD_TYPE=STM32F767xx +env added OPTIMIZE=-O2 +env added USBID=0x1209/0x5740 +env added MAIN_STACK=0x400 +env added APJ_BOARD_ID=50 +env added HAL_WITH_UAVCAN=1 +env added FLASH_RESERVE_START_KB=32 +env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env added IOMCU_FW=0 +env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env added PERIPH_FW=0 +env added PROCESS_STACK=0x2000 +[ 20/645] Compiling libraries/AC_Flow_Measure/AC_Flow_Measure.cpp +[376/645] Compiling libraries/AP_UAVCAN/AP_UAVCAN.cpp +[553/645] Compiling libraries/GCS_MAVLink/GCS_Common.cpp +[567/645] Compiling ArduCopter/mode_systemid.cpp +[569/645] Compiling ArduCopter/Attitude.cpp +[570/645] Compiling ArduCopter/Log.cpp +[571/645] Compiling ArduCopter/GCS_Copter.cpp +[572/645] Compiling ArduCopter/mode_follow.cpp +[573/645] Compiling ArduCopter/radio.cpp +[574/645] Compiling ArduCopter/failsafe.cpp +[575/645] Compiling ArduCopter/events.cpp +[576/645] Compiling ArduCopter/land_detector.cpp +[577/645] Compiling ArduCopter/GCS_Mavlink.cpp +[578/645] Compiling ArduCopter/system.cpp +[580/645] Compiling ArduCopter/surface_tracking.cpp +[581/645] Compiling ArduCopter/compassmot.cpp +[582/645] Compiling ArduCopter/mode_land.cpp +[583/645] Compiling ArduCopter/mode_flip.cpp +[584/645] Compiling ArduCopter/mode_drift.cpp +[585/645] Compiling ArduCopter/mode.cpp +[586/645] Compiling ArduCopter/mode_flowmeasure.cpp +[587/645] Compiling ArduCopter/mode_zigzag.cpp +[588/645] Compiling ArduCopter/leds.cpp +[589/645] Compiling ArduCopter/heli.cpp +[590/645] Compiling ArduCopter/mode_loiter.cpp +[591/645] Compiling ArduCopter/Copter.cpp +[592/645] Compiling ArduCopter/baro_ground_effect.cpp +[593/645] Compiling ArduCopter/zr_flight.cpp +[594/645] Compiling ArduCopter/UserCode.cpp +[595/645] Compiling ArduCopter/mode_circle.cpp +[596/645] Compiling ArduCopter/mode_rtl.cpp +[597/645] Compiling ArduCopter/ekf_check.cpp +[598/645] Compiling ArduCopter/inertia.cpp +[599/645] Compiling ArduCopter/mode_flowhold.cpp +[600/645] Compiling ArduCopter/AP_Rally.cpp +[601/645] Compiling ArduCopter/mode_guided_nogps.cpp +[602/645] Compiling ArduCopter/mode_throw.cpp +[603/645] Compiling ArduCopter/motor_test.cpp +[604/645] Compiling ArduCopter/mode_stabilize.cpp +[605/645] Compiling ArduCopter/RC_Channel.cpp +[606/645] Compiling ArduCopter/standby.cpp +[607/645] Compiling ArduCopter/esc_calibration.cpp +[608/645] Compiling ArduCopter/mode_auto.cpp +[609/645] Compiling ArduCopter/mode_acro.cpp +[610/645] Compiling ArduCopter/mode_smart_rtl.cpp +[611/645] Compiling ArduCopter/Parameters.cpp +[612/645] Compiling ArduCopter/AP_State.cpp +[613/645] Compiling ArduCopter/AP_Arming.cpp +[614/645] Compiling ArduCopter/mode_guided.cpp +[615/645] Compiling ArduCopter/takeoff.cpp +[616/645] Compiling ArduCopter/setup.cpp +[617/645] Compiling ArduCopter/autoyaw.cpp +[618/645] Compiling ArduCopter/motors.cpp +[619/645] Compiling ArduCopter/afs_copter.cpp +[620/645] Compiling ArduCopter/navigation.cpp +[621/645] Compiling ArduCopter/mode_sport.cpp +[622/645] Compiling ArduCopter/mode_autorotate.cpp +[623/645] Compiling ArduCopter/mode_acro_heli.cpp +[624/645] Compiling ArduCopter/terrain.cpp +[625/645] Compiling ArduCopter/mode_autotune.cpp +[626/645] Compiling ArduCopter/mode_althold.cpp +[627/645] Compiling ArduCopter/toy_mode.cpp +[628/645] Compiling ArduCopter/version.cpp +[629/645] Compiling ArduCopter/tuning.cpp +[630/645] Compiling ArduCopter/mode_avoid_adsb.cpp +[631/645] Compiling ArduCopter/mode_brake.cpp +[632/645] Compiling ArduCopter/mode_stabilize_heli.cpp +[633/645] Compiling ArduCopter/landing_gear.cpp +[634/645] Compiling ArduCopter/commands.cpp +[635/645] Compiling ArduCopter/crash_check.cpp +[636/645] Compiling ArduCopter/mode_poshold.cpp +[637/645] Compiling ArduCopter/sensors.cpp +[638/645] Compiling ArduCopter/fence.cpp +[639/645] Compiling ArduCopter/avoidance_adsb.cpp +[640/645] Compiling ArduCopter/precision_landing.cpp +[641/645] Linking build/d100/lib/libArduCopter_libs.a +[642/645] Linking build/d100/bin/arducopter +[643/645] apj_tool build/d100/bin/arducopter +Loaded binary file of length 3099644 +Setting defaults from /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100/defaults.parm +Saved binary of length 3099644 +[644/645] Generating bin/arducopter.bin +[645/645] apj_gen build/d100/bin/arducopter.bin +Waf: Leaving directory `/home/z/code/zr-v4/build/d100' + +BUILD SUMMARY +Build directory: /home/z/code/zr-v4/build/d100 +Target Text Data BSS Total +---------------------------------------------- +bin/arducopter 1268472 3956 389488 1661916 + +Build commands will be stored in build/d100/compile_commands.json +'copter' finished successfully (7.795s) +Setting top to : /home/z/code/zr-v4 +Setting out to : /home/z/code/zr-v4/build +Autoconfiguration : enabled +Setting board to : d100h +Using toolchain : arm-none-eabi +Checking for 'g++' (C++ compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-g++ +Checking for 'gcc' (C compiler) : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-gcc +Checking for c flags '-MMD' : yes +Checking for cxx flags '-MMD' : yes +Checking for program 'make' : /usr/bin/make +Checking for program 'arm-none-eabi-objcopy' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-objcopy +Including /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat +Adding environment OPTIMIZE -O2 +Removing ZR_FRAME_TYPE +Removing HAL_BATT_VOLT_SCALE +Removing HAL_BATT_CURR_SCALE +Removing AC_ATC_MULTI_RATE_RP_P +Removing AC_ATC_MULTI_RATE_RP_I +Removing AC_ATC_MULTI_RATE_YAW_P +Removing AC_ATC_MULTI_RATE_YAW_I +Setup for MCU STM32F767xx +Writing hwdef setup in /home/z/code/zr-v4/build/d100h/hwdef.h +Writing DMA map +Generating ldscript.ld +Adding defaults.parm +Checking for env.py +env set DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100h/defaults.parm +env set BOARD_FLASH_SIZE=2048 +env set APJ_BOARD_TYPE=STM32F767xx +env set OPTIMIZE=-O2 +env set USBID=0x1209/0x5740 +env set MAIN_STACK=0x400 +env set APJ_BOARD_ID=50 +env set HAL_WITH_UAVCAN=1 +env set FLASH_RESERVE_START_KB=32 +env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env set IOMCU_FW=0 +env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env set PERIPH_FW=0 +env set PROCESS_STACK=0x2000 +Enabling ChibiOS asserts : no +Checking for intelhex module: : disabled +Checking for HAVE_CMATH_ISFINITE : yes +Checking for HAVE_CMATH_ISINF : yes +Checking for HAVE_CMATH_ISNAN : yes +Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes +Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes +Checking for header endian.h : not found +Checking for header byteswap.h : not found +Checking for HAVE_MEMRCHR : no +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Checking for program 'python' : /usr/bin/python +Checking for python version >= 2.7.0 : 2.7.17 +Source is git repository : yes +Update submodules : yes +Checking for program 'git' : /usr/bin/git +Gtest : STM32 boards currently don't support compiling gtest +Checking for program 'arm-none-eabi-size' : /opt/gcc-arm-none-eabi-6-2017-q2-update/bin/arm-none-eabi-size +Benchmarks : disabled +Unit tests : disabled +Scripting : enabled +Scripting runtime checks : enabled +Checking for program 'rsync' : /usr/bin/rsync +'configure' finished successfully (1.490s) +Waf: Entering directory `/home/z/code/zr-v4/build/d100h' +Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua +Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin +Checking for env.py +env added DEFAULT_PARAMETERS=/home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100h/defaults.parm +env added BOARD_FLASH_SIZE=2048 +env added APJ_BOARD_TYPE=STM32F767xx +env added OPTIMIZE=-O2 +env added USBID=0x1209/0x5740 +env added MAIN_STACK=0x400 +env added APJ_BOARD_ID=50 +env added HAL_WITH_UAVCAN=1 +env added FLASH_RESERVE_START_KB=32 +env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk +env added IOMCU_FW=0 +env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float'] +env added PERIPH_FW=0 +env added PROCESS_STACK=0x2000 +[ 20/645] Compiling libraries/AC_Flow_Measure/AC_Flow_Measure.cpp +[377/645] Compiling libraries/AP_UAVCAN/AP_UAVCAN.cpp +[553/645] Compiling libraries/GCS_MAVLink/GCS_Common.cpp +[567/645] Compiling ArduCopter/mode_systemid.cpp +[569/645] Compiling ArduCopter/Attitude.cpp +[570/645] Compiling ArduCopter/Log.cpp +[571/645] Compiling ArduCopter/GCS_Copter.cpp +[572/645] Compiling ArduCopter/mode_follow.cpp +[573/645] Compiling ArduCopter/radio.cpp +[574/645] Compiling ArduCopter/failsafe.cpp +[575/645] Compiling ArduCopter/events.cpp +[576/645] Compiling ArduCopter/land_detector.cpp +[577/645] Compiling ArduCopter/GCS_Mavlink.cpp +[578/645] Compiling ArduCopter/system.cpp +[579/645] Compiling ArduCopter/avoidance_adsb.cpp +[580/645] Compiling ArduCopter/surface_tracking.cpp +[582/645] Compiling ArduCopter/precision_landing.cpp +[583/645] Compiling ArduCopter/fence.cpp +[584/645] Compiling ArduCopter/mode_poshold.cpp +[585/645] Compiling ArduCopter/commands.cpp +[586/645] Compiling ArduCopter/toy_mode.cpp +[587/645] Compiling ArduCopter/AP_State.cpp +[588/645] Compiling ArduCopter/leds.cpp +[589/645] Compiling ArduCopter/heli.cpp +[590/645] Compiling ArduCopter/mode_loiter.cpp +[591/645] Compiling ArduCopter/Copter.cpp +[592/645] Compiling ArduCopter/baro_ground_effect.cpp +[593/645] Compiling ArduCopter/mode_zigzag.cpp +[594/645] Compiling ArduCopter/mode_flowmeasure.cpp +[595/645] Compiling ArduCopter/mode.cpp +[596/645] Compiling ArduCopter/zr_flight.cpp +[597/645] Compiling ArduCopter/UserCode.cpp +[598/645] Compiling ArduCopter/mode_circle.cpp +[599/645] Compiling ArduCopter/mode_rtl.cpp +[600/645] Compiling ArduCopter/ekf_check.cpp +[601/645] Compiling ArduCopter/inertia.cpp +[602/645] Compiling ArduCopter/mode_flowhold.cpp +[603/645] Compiling ArduCopter/AP_Rally.cpp +[604/645] Compiling ArduCopter/mode_guided_nogps.cpp +[605/645] Compiling ArduCopter/mode_throw.cpp +[606/645] Compiling ArduCopter/motor_test.cpp +[607/645] Compiling ArduCopter/mode_stabilize.cpp +[608/645] Compiling ArduCopter/RC_Channel.cpp +[609/645] Compiling ArduCopter/standby.cpp +[610/645] Compiling ArduCopter/esc_calibration.cpp +[611/645] Compiling ArduCopter/mode_auto.cpp +[612/645] Compiling ArduCopter/mode_acro.cpp +[613/645] Compiling ArduCopter/mode_smart_rtl.cpp +[614/645] Compiling ArduCopter/AP_Arming.cpp +[615/645] Compiling ArduCopter/Parameters.cpp +[616/645] Compiling ArduCopter/takeoff.cpp +[617/645] Compiling ArduCopter/mode_drift.cpp +[618/645] Compiling ArduCopter/mode_guided.cpp +[619/645] Compiling ArduCopter/setup.cpp +[620/645] Compiling ArduCopter/autoyaw.cpp +[621/645] Compiling ArduCopter/motors.cpp +[622/645] Compiling ArduCopter/afs_copter.cpp +[623/645] Compiling ArduCopter/navigation.cpp +[624/645] Compiling ArduCopter/mode_sport.cpp +[625/645] Compiling ArduCopter/mode_autorotate.cpp +[626/645] Compiling ArduCopter/mode_acro_heli.cpp +[627/645] Compiling ArduCopter/terrain.cpp +[628/645] Compiling ArduCopter/mode_autotune.cpp +[629/645] Compiling ArduCopter/version.cpp +[630/645] Compiling ArduCopter/mode_althold.cpp +[631/645] Compiling ArduCopter/mode_avoid_adsb.cpp +[632/645] Compiling ArduCopter/mode_flip.cpp +[633/645] Compiling ArduCopter/tuning.cpp +[634/645] Compiling ArduCopter/mode_brake.cpp +[635/645] Compiling ArduCopter/mode_stabilize_heli.cpp +[636/645] Compiling ArduCopter/crash_check.cpp +[637/645] Compiling ArduCopter/landing_gear.cpp +[638/645] Compiling ArduCopter/sensors.cpp +[639/645] Compiling ArduCopter/compassmot.cpp +[640/645] Compiling ArduCopter/mode_land.cpp +[641/645] Linking build/d100h/lib/libArduCopter_libs.a +[642/645] Linking build/d100h/bin/arducopter +[643/645] apj_tool build/d100h/bin/arducopter +Loaded binary file of length 3099620 +Setting defaults from /home/z/code/zr-v4/libraries/AP_HAL_ChibiOS/hwdef/d100h/defaults.parm +Saved binary of length 3099620 +[644/645] Generating bin/arducopter.bin +[645/645] apj_gen build/d100h/bin/arducopter.bin +Waf: Leaving directory `/home/z/code/zr-v4/build/d100h' + +BUILD SUMMARY +Build directory: /home/z/code/zr-v4/build/d100h +Target Text Data BSS Total +---------------------------------------------- +bin/arducopter 1268484 3956 389492 1661932 + +Build commands will be stored in build/d100h/compile_commands.json +'copter' finished successfully (7.940s)