Performance & testing targets

* Added minimal configs for performance testing

* Rename recovery to performance

* added mfg_cfg

* fix params & don't inherit from default

* rename performance -> performance-test

---------

Co-authored-by: Igor-Misic <[email protected]>

ROMFS/performance-test/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/performance-test/init.d/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	rcS
+)

ROMFS/performance-test/init.d/rcS

@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""

Tools/ci/generate_board_targets_json.py

@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
     group = None
 
     if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("performance-test.px4board") or \
         px4board_file.endswith("bootloader.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board

Tools/kconfig/allyesconfig.py

@@ -74,6 +74,7 @@
     'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
     'SYSTEMCMDS_DMESG', # Not supported in SITL
     'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
     'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 

boards/px4/fmu-v5x/performance-test.px4board

@@ -0,0 +1,31 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v6x/performance-test.px4board

@@ -0,0 +1,31 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

cmake/kconfig.cmake

@@ -35,7 +35,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	# Depend on BOARD_DEFCONFIG so that we reconfigure on config change
 	set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
 
-	if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
+	if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "performance-test" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
 		# Generate boardconfig from saved defconfig
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}

src/systemcmds/mft_cfg/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__mft_cfg
+	MAIN mft_cfg
+	COMPILE_FLAGS
+	SRCS
+		mft_cfg.cpp
+	)

src/systemcmds/mft_cfg/Kconfig

@@ -0,0 +1,5 @@
+menuconfig SYSTEMCMDS_MFT_CFG
+	bool "mft_cfg"
+	default n
+	---help---
+		Enable support for mft_cfg