alireza787b
commented
11 months ago I managed to identify and solve the problem myself. It appears that there have been changes in the handling of airframe names in PX4, particularly from version 1.15 RC onwards. In older versions, one would typically define a 'plane' airframe and then use 'none_plane' for additional configurations. However, in the latest version, each simulator definition needs to be specified separately.
To address this, I had to define a 'none_plane' airframe. I noticed that there were some updates and missing steps in the documentation, specifically in modifying the src/modules/simulation/simulator_mavlink/CMakeLists.txt file. Here is the necessary addition:
# none_plane (legacy compatibility launch helper)
add_custom_target(none_plane
COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=22001 $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
px4
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/22001_none_plane
COMMENT "launching px4 none_plane (SYS_AUTOSTART=22001)"
)Additionally, it's important to include 'none_plane' in the cmakelists in the init.d-posix/airframes/ directory as well.
For reference, my airframe definition is as follows:
#!/bin/sh
#
# @name Generic Standard Plane SITL for custom Simulator
#
# @type Standard Plane
# @class Plane
# @author alireza787b
#
. ${R}etc/init.d/rc.fw_defaults
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default CBRK_IO_SAFETY 22027
# - without Airspeed Sensor
param set-default CBRK_AIRSPD_CHK 1612128
If there isn't a more permanent solution available, I am willing to add the 'none_plane' and its definitions myself and create a pull request for it.
sfuhrer
Describe the bug
Encountering a build error when trying to add a custom SITL airframe in PX4. Despite following standard procedures for creating and integrating a new airframe script (22001_none_plane), the build system returns an "unknown target" error.
To Reproduce
Created a script 22001_none_plane in ROMFS/px4fmu_common/init.d-posix/airframes, duplicating the standard plane script from init.d. Added 22001_none_plane to CMakeLists.txt in init.d-posix/airframes. Ran make distclean and make clean. Executed the build command: make px4_sitl none_plane. Received the error: ninja: error: unknown target 'none_plane'.
Expected behavior
The build system should recognize the custom airframe and compile it without errors, as per the standard process for adding new SITL airframes. just like make px4_sitl none_iris
Screenshot / Media
No response
Flight Log
there is no log
Software Version
Flight controller
Not applicable (Software In The Loop simulation on WSL - Windows Subsystem for Linux).
Vehicle type
Fixed Wing
How are the different components wired up (including port information)
working in WSL2 in windows 11
Additional context
Followed guidelines and examples for creating custom SITL airframes in PX4. Searched for sitl_target.cmake in platforms/posix/cmake as per documentation but couldn't find it in the latest version. This process worked for others in the community, suggesting a potential bug or a change in the build system in the latest PX4 version. Running PX4 on WSL might have specific considerations; all file format checks (line endings, permissions) have been verified. right now make px4_sitl none_iris works and I have connected it to my costum simulator. now I want to have a fixed wing instead of iris airframe.