PX4 오토파일럿 사용자 설명서 (v1.14)

# 시뮬레이션 디버깅

호스트 시스템에서 시뮬레이션이 실행 중이므로, 데스크탑 개발 도구를 사용할 수 있습니다.

# CLANG 주소 새니타이저(Mac OS, Linux)

Clang 주소 새니타이저는 정렬(버스) 오류 및 분할 오류와 같은 기타 메모리 오류를 찾는 데 도움이 됩니다. 아래 명령은 올바른 컴파일 옵션을 설정합니다.

make clean # only required on first address sanitizer run after a normal build
PX4_ASAN=1 make px4_sitl jmavsim

# Valgrind

brew install valgrind

또는

sudo apt-get install valgrind

SITL 시뮬레이션 중에 valgrind를 사용하려면:

make px4_sitl_default jmavsim___valgrind

# Launch Gazebo Classic SITL Without Debugger

By default SITL is launched without a debugger attached when using any simulator backend:

make px4_sitl_default gz
make px4_sitl_default gazebo-classic
make px4_sitl_default jmavsim

For Gazebo Classic (only) you can also start the simulator with a debugger attached. Note however, that you must provide the vehicle type in the simulator target, as shown below:

make px4_sitl_default gazebo-classic_iris_gdb
make px4_sitl_default gazebo-classic_iris_lldb

This will start the debugger and launch the SITL application with Gazebo and the Iris simulator. 디버거 셸에서 실행을 중지하려면 CTRL-C를 입력합니다.

Process 16529 stopped
* thread #1: tid = 0x114e6d, 0x00007fff90f4430a libsystem_kernel.dylib`__read_nocancel + 10, name = 'px4', queue = 'com.apple.main-thread', stop reason = signal SIGSTOP
    frame #0: 0x00007fff90f4430a libsystem_kernel.dylib`__read_nocancel + 10
libsystem_kernel.dylib`__read_nocancel:
->  0x7fff90f4430a <+10>: jae    0x7fff90f44314            ; <+20>
    0x7fff90f4430c <+12>: movq   %rax, %rdi
    0x7fff90f4430f <+15>: jmp    0x7fff90f3fc53            ; cerror_nocancel
    0x7fff90f44314 <+20>: retq
(lldb)

DriverFrameworks 스케줄링이 디버깅 세션을 방해하지 않도록 하려면, SIGCONT를 LLDB 및 GDB에서 마스킹합니다.

(lldb) process handle SIGCONT -n false -p false -s false

또는 GDB의 경우:

(gdb) handle SIGCONT noprint nostop

그 후 lldb 또는 gdb 셸은 일반 세션처럼 작동합니다. LLDB/GDB 문서를 참고하십시오.

마지막 매개변수인 <viewer_model_debugger> 트리플렛은 실제로 빌드 디렉토리에서 make에 전달되므로

make px4_sitl_default gazebo-classic_iris_gdb

명령은 다음 명령과 같습니다.

make px4_sitl_default   # Configure with cmake
make -C build/px4_sitl_default classic_iris_gdb

A full list of the available make targets in the build directory can be obtained with:

make help

# Attaching GDB to running SITL

You can also start your simulation, and then attach gdb:

  1. In one terminal screen enter the command to start your simulation:

    make px4_sitl_default gazebo-classic

    As the script runs, note the SITL COMMAND: output text located right above the large "PX4" text. It will list the location of your px4 bin file for later use.

    SITL COMMAND: "<px4 bin file>" "<build dir>"/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10015

  2. Open another terminal and type:

    ps -a

    You will want to note the PID of the process named "PX4"

    (In this example it is 14149)

    atlas:~/px4/main/PX4-Autopilot$ ps -a
    PID TTY          TIME CMD
1796 tty2     00:01:59 Xorg
1836 tty2     00:00:00 gnome-session-b
14027 pts/1    00:00:00 make
14077 pts/1    00:00:00 sh
14078 pts/1    00:00:00 cmake
14079 pts/1    00:00:00 ninja
14090 pts/1    00:00:00 sh
14091 pts/1    00:00:00 bash
14095 pts/1    00:01:23 gzserver
14149 pts/1    00:02:48 px4
14808 pts/2    00:00:00 ps

  3. Then type in the same window

    sudo gdb [px4 bin file path (from step 1) here]

    예를 들어,

    sudo gdb /home/atlas/px4/base/PX4-Autopilot/build/px4_sitl_default/bin/px4

    Now, you can attach to the PX4 instance by entering the PID noted in step 2.

    attach [PID on px4]

    You should now have a GDB interface to debug with.

# 컴파일러 최적화

It is possible to suppress compiler optimization for given executables and/or modules (as added by cmake with add_executable or add_library) when configuring for posix_sitl_*. This can be handy when it is necessary to step through code with a debugger or print variables that would otherwise be optimized out.

To do so, set the environment variable PX4_NO_OPTIMIZATION to be a semi-colon separated list of regular expressions that match the targets that need to be compiled without optimization. This environment variable is ignored when the configuration isn't posix_sitl_*.

예를 들어,

export PX4_NO_OPTIMIZATION='px4;^modules__uORB;^modules__systemlib$'

대상의 최적화를 억제합니다: 플랫폼__posix__px4_layer, modules__systemlib, modules__uORB, 예제__px4_simple_app, modules__uORB__uORB \_tests 및 px4.

The targets that can be matched with these regular expressions can be printed with the command:

make -C build/posix_sitl_* list_cmake_targets

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