Example model overflows board's flash memory, which is the same reported to be used in the example

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Fil_Bk
Fil_Bk 2024-4-2
编辑： Fil_Bk 2024-5-16
Hi all,
I am trying to run HITL simulation as in the example ( https://it.mathworks.com/help/uav/px4/ref/px4-hitl-simulation-visualization-vtol.html ) .
I'm using a Cube orange board; the example uses a Cubeorange+, both boards have the same flash memory(2MB). Despite this, the region "flash" keeps being overflowed while trying to build and deploy the model.
No modifications were made in the control model from the example.
Here i post the build summary:
Error:Generating ELF failed for command /opt/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-g++ -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Os -DNDEBUG --specs=nosys.specs -nostartfiles -nodefaultlibs -nostdlib -nostdinc++ -fno-exceptions -fno-rtti -Wl,--script=/home/fil_bk/mypx4/PX4-Autopilot/boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld -Wl,-Map=cubepilot_cubeorange_default.map -Wl,--warn-common -Wl,--gc-sections -Wl,--start-group NuttX/nuttx/boards/libboards.a NuttX/nuttx/drivers/libdrivers.a NuttX/nuttx/fs/libfs.a NuttX/nuttx/sched/libsched.a NuttX/nuttx/crypto/libcrypto.a NuttX/nuttx/binfmt/libbinfmt.a NuttX/nuttx/libs/libxx/libxx.a NuttX/apps/libapps.a NuttX/nuttx/arch/arm/src/libarch.a NuttX/nuttx/mm/libmm.a NuttX/nuttx/libs/libc/libc.a -Wl,--end-group -lm -lgcc -Wl,--print-memory-usage src/drivers/adc/ads1115/libdrivers__ads1115.a src/drivers/adc/board_adc/libdrivers__board_adc.a src/drivers/barometer/ms5611/libdrivers__barometer__ms5611.a src/drivers/batt_smbus/libdrivers__batt_smbus.a src/drivers/camera_capture/libdrivers__camera_capture.a src/drivers/camera_trigger/libdrivers__camera_trigger.a src/drivers/differential_pressure/ms4525do/libdrivers__differential_pressure__ms4525do.a src/drivers/differential_pressure/ms5525dso/libdrivers__differential_pressure__ms5525dso.a src/drivers/differential_pressure/sdp3x/libdrivers__differential_pressure__sdp3x.a src/drivers/distance_sensor/cm8jl65/libdrivers__cm8jl65.a src/drivers/distance_sensor/gy_us42/libdrivers__distance_sensor__gy_us42.a src/drivers/distance_sensor/leddar_one/libdrivers__distance_sensor__leddar_one.a src/drivers/distance_sensor/lightware_laser_i2c/libdrivers__distance_sensor__lightware_laser_i2c.a src/drivers/distance_sensor/lightware_laser_serial/libdrivers__distance_sensor__lightware_laser_serial.a src/drivers/distance_sensor/ll40ls/libdrivers__ll40ls.a src/drivers/distance_sensor/ll40ls_pwm/libdrivers__ll40ls_pwm.a src/drivers/distance_sensor/mappydot/libdrivers__mappydot.a src/drivers/distance_sensor/mb12xx/libdrivers__mb12xx.a src/drivers/distance_sensor/pga460/libdrivers__pga460.a src/drivers/distance_sensor/srf02/libdrivers__distance_sensor__srf02.a src/drivers/distance_sensor/teraranger/libdrivers__distance_sensor__teraranger.a src/drivers/distance_sensor/tf02pro/libdrivers__distance_sensor__tf02pro.a src/drivers/distance_sensor/tfmini/libdrivers__tfmini.a src/drivers/distance_sensor/ulanding_radar/libdrivers__distance_sensor__ulanding_radar.a src/drivers/distance_sensor/vl53l0x/libdrivers__distance_sensor__vl53l0x.a src/drivers/distance_sensor/vl53l1x/libdrivers__distance_sensor__vl53l1x.a src/drivers/dshot/libdrivers__dshot.a src/drivers/gps/libdrivers__gps.a src/drivers/imu/analog_devices/adis16448/libdrivers__imu__analog_devices__adis16448.a src/drivers/imu/invensense/icm20602/libdrivers__imu__invensense__icm20602.a src/drivers/imu/invensense/icm20649/libdrivers__imu__invensense__icm20649.a src/drivers/imu/invensense/icm20948/libdrivers__imu__invensense__icm20948.a src/drivers/imu/invensense/icm20948/libdrivers__imu__invensense__icm20948_i2c_passthrough.a src/drivers/irlock/libdrivers__irlock.a src/drivers/lights/rgbled/libdrivers__rgbled.a src/drivers/lights/rgbled_is31fl3195/libdrivers__rgbled_is31fl3195.a src/drivers/lights/rgbled_lp5562/libdrivers__rgbled_lp5562.a src/drivers/lights/rgbled_ncp5623c/libdrivers__rgbled_ncp5623c.a src/drivers/magnetometer/akm/ak09916/libdrivers__magnetometer__akm__ak09916.a src/drivers/magnetometer/akm/ak8963/libdrivers__magnetometer__akm__ak8963.a src/drivers/magnetometer/bosch/bmm150/libdrivers__magnetometer__bosch__bmm150.a src/drivers/magnetometer/hmc5883/libdrivers__hmc5883.a src/drivers/magnetometer/isentek/ist8308/libdrivers__magnetometer__isentek__ist8308.a src/drivers/magnetometer/isentek/ist8310/libdrivers__magnetometer__isentek__ist8310.a src/drivers/magnetometer/lis2mdl/libdrivers__lis2mdl.a src/drivers/magnetometer/lis3mdl/libdrivers__magnetometer__lis3mdl.a src/drivers/magnetometer/lsm303agr/libdrivers__magnetometer__lsm303agr.a src/drivers/magnetometer/qmc5883l/libdrivers__magnetometer__qmc5883l.a src/drivers/magnetometer/rm3100/libdrivers__rm3100.a src/drivers/magnetometer/vtrantech/vcm1193l/libdrivers__magnetometer__vcm1193l.a src/drivers/optical_flow/paa3905/libdrivers__optical_flow__paa3905.a src/drivers/optical_flow/paw3902/libdrivers__optical_flow__paw3902.a src/drivers/optical_flow/pmw3901/libdrivers__optical_flow__pmw3901.a src/drivers/optical_flow/px4flow/libdrivers__px4flow.a src/drivers/optical_flow/thoneflow/libdrivers__thoneflow.a src/drivers/pca9685_pwm_out/libdrivers__pca9685_pwm_out.a src/drivers/power_monitor/ina226/libdrivers__ina226.a src/drivers/pwm_input/libdrivers__pwm_input.a src/drivers/pwm_out/libdrivers__pwm_out.a src/drivers/px4io/libdrivers__px4io.a src/drivers/smart_battery/batmon/libdrivers__batmon.a src/drivers/telemetry/bst/libdrivers__bst.a src/drivers/telemetry/frsky_telemetry/libdrivers__frsky_telemetry.a src/drivers/telemetry/hott/hott_sensors/libdrivers__hott__hott_sensors.a src/drivers/telemetry/hott/hott_telemetry/libdrivers__hott__hott_telemetry.a src/drivers/tone_alarm/libdrivers__tone_alarm.a src/drivers/transponder/sagetech_mxs/libdrivers__transponder__sagetech_mxs.a src/drivers/uavcan/libdrivers__uavcan.a src/modules/airspeed_selector/libmodules__airspeed_selector.a src/modules/battery_status/libmodules__battery_status.a src/modules/camera_feedback/libmodules__camera_feedback.a src/modules/commander/libmodules__commander.a src/modules/control_allocator/libmodules__control_allocator.a src/modules/dataman/libmodules__dataman.a src/modules/ekf2/libmodules__ekf2.a src/modules/esc_battery/libmodules__esc_battery.a src/modules/events/libmodules__events.a src/modules/flight_mode_manager/libmodules__flight_mode_manager.a src/modules/fw_att_control/libmodules__fw_att_control.a src/modules/fw_autotune_attitude_control/libfw_autotune_attitude_control.a src/modules/fw_pos_control/libmodules__fw_pos_control.a src/modules/fw_rate_control/libmodules__fw_rate_control.a src/modules/gimbal/libdrivers__gimbal.a src/modules/gyro_calibration/libmodules__gyro_calibration.a src/modules/gyro_fft/libmodules__gyro_fft.a src/modules/land_detector/libmodules__land_detector.a src/modules/landing_target_estimator/libmodules__landing_target_estimator.a src/modules/load_mon/libmodules__load_mon.a src/modules/logger/libmodules__logger.a src/modules/mag_bias_estimator/libmodules__mag_bias_estimator.a src/modules/manual_control/libmodule__manual_control.a src/modules/mavlink/libmodules__mavlink.a src/modules/mc_att_control/libmodules__mc_att_control.a src/modules/mc_autotune_attitude_control/libmc_autotune_attitude_control.a src/modules/mc_hover_thrust_estimator/libmodules__mc_hover_thrust_estimator.a src/modules/mc_pos_control/libmodules__mc_pos_control.a src/modules/mc_rate_control/libmodules__mc_rate_control.a src/modules/navigator/libmodules__navigator.a src/modules/px4_simulink_app/libmodules__px4_simulink_app.a src/modules/rc_update/libmodules__rc_update.a src/modules/sensors/libmodules__sensors.a src/modules/temperature_compensation/libmodules__temperature_compensation.a src/modules/uxrce_dds_client/libmodules__uxrce_dds_client.a src/modules/vtol_att_control/libmodules__vtol_att_control.a src/systemcmds/actuator_test/libsystemcmds__actuator_test.a src/systemcmds/bl_update/libsystemcmds__bl_update.a src/systemcmds/bsondump/libsystemcmds__bsondump.a src/systemcmds/dmesg/libsystemcmds__dmesg.a src/systemcmds/gpio/libsystemcmds__gpio.a src/systemcmds/hardfault_log/libsystemcmds__hardfault_log.a src/systemcmds/i2cdetect/libsystemcmds__i2cdetect.a src/systemcmds/led_control/libsystemcmds__led_control.a src/systemcmds/mft/libsystemcmds__mft.a src/systemcmds/mtd/libsystemcmds__mtd.a src/systemcmds/nshterm/libsystemcmds__nshterm.a src/systemcmds/param/libsystemcmds__param.a src/systemcmds/perf/libsystemcmds__perf.a src/systemcmds/reboot/libsystemcmds__reboot.a src/systemcmds/system_time/libsystemcmds__system_time.a src/systemcmds/top/libsystemcmds__top.a src/systemcmds/topic_listener/libsystemcmds__topic_listener.a src/systemcmds/tune_control/libsystemcmds__tune_control.a src/systemcmds/uorb/libsystemcmds__uorb.a src/systemcmds/usb_connected/libsystemcmds__usb_connected.a src/systemcmds/ver/libsystemcmds__ver.a src/systemcmds/work_queue/libsystemcmds__work_queue.a ROMFS/libromfs.a platforms/nuttx/src/px4/stm/stm32h7/adc/libarch_adc.a platforms/nuttx/src/px4/stm/stm32h7/dshot/libarch_dshot.a platforms/nuttx/src/px4/stm/stm32h7/px4io_serial/libarch_px4io_serial.a src/lib/drivers/smbus/libdrivers__smbus.a src/lib/drivers/smbus_sbs/libdrivers__smbus_sbs.a src/drivers/telemetry/hott/libdrivers__hott.a platforms/nuttx/src/px4/stm/stm32h7/tone_alarm/libarch_tone_alarm.a src/lib/drivers/rangefinder/libdrivers_rangefinder.a src/lib/mixer_module/libmixer_module.a src/lib/led/libled.a src/lib/button/libbutton_publisher.a src/drivers/uavcan/libuavcan_drivers/libuavcan_stm32h7_driver.a src/drivers/uavcan/libuavcan/libuavcan/libuavcan.a src/lib/wind_estimator/libwind_estimator.a src/modules/commander/failure_detector/libfailure_detector.a src/modules/commander/Arming/ArmAuthorization/libArmAuthorization.a src/modules/commander/Arming/ArmStateMachine/libArmStateMachine.a src/modules/commander/HealthAndArmingChecks/libhealth_and_arming_checks.a src/modules/commander/ModeUtil/libmode_util.a src/modules/commander/failsafe/libfailsafe.a src/modules/control_allocator/ActuatorEffectiveness/libActuatorEffectiveness.a src/modules/control_allocator/ControlAllocation/libControlAllocation.a src/lib/world_magnetic_model/libworld_magnetic_model.a src/modules/ekf2/Utility/libEKF2Utility.a src/lib/battery/libbattery.a src/modules/flight_mode_manager/tasks/Descend/libFlightTaskDescend.a src/modules/flight_mode_manager/tasks/Failsafe/libFlightTaskFailsafe.a src/modules/flight_mode_manager/tasks/ManualAcceleration/libFlightTaskManualAcceleration.a src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/libFlightTaskManualPositionSmoothVel.a src/modules/flight_mode_manager/tasks/ManualPosition/libFlightTaskManualPosition.a src/lib/collision_prevention/libCollisionPrevention.a src/modules/flight_mode_manager/tasks/Transition/libFlightTaskTransition.a src/modules/flight_mode_manager/tasks/AutoFollowTarget/libFlightTaskAutoFollowTarget.a src/modules/flight_mode_manager/tasks/Auto/libFlightTaskAuto.a src/lib/weather_vane/libWeatherVane.a src/lib/avoidance/libavoidance.a src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/libfollow_target_estimator.a src/modules/flight_mode_manager/tasks/Orbit/libFlightTaskOrbit.a src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/libFlightTaskManualAltitudeSmoothVel.a src/modules/flight_mode_manager/tasks/ManualAltitude/libFlightTaskManualAltitude.a src/modules/flight_mode_manager/tasks/Utility/libFlightTaskUtility.a src/modules/flight_mode_manager/tasks/FlightTask/libFlightTask.a src/lib/bezier/libbezier.a src/modules/fw_pos_control/launchdetection/liblaunchdetection.a src/lib/npfg/libnpfg.a src/modules/fw_pos_control/runway_takeoff/librunway_takeoff.a src/lib/tecs/libtecs.a src/lib/drivers/accelerometer/libdrivers_accelerometer.a src/lib/drivers/gyroscope/libdrivers_gyroscope.a src/lib/drivers/magnetometer/libdrivers_magnetometer.a src/modules/mc_att_control/AttitudeControl/libAttitudeControl.a src/lib/system_identification/libSystemIdentification.a src/modules/mc_hover_thrust_estimator/libzero_order_hover_thrust_ekf.a src/lib/slew_rate/libSlewRate.a src/modules/mc_pos_control/PositionControl/libPositionControl.a src/modules/mc_pos_control/Takeoff/libTakeoff.a src/lib/controllib/libcontrollib.a src/lib/rate_control/libRateControl.a src/modules/navigator/MissionFeasibility/libmission_feasibility_checker.a src/modules/navigator/libmodules__navigator.a src/modules/navigator/MissionFeasibility/libmission_feasibility_checker.a src/lib/adsb/libadsb.a src/lib/motion_planning/libmotion_planning.a src/modules/navigator/GeofenceBreachAvoidance/libgeofence_breach_avoidance.a src/modules/dataman/libmodules__dataman.a src/lib/hysteresis/libhysteresis.a src/lib/airspeed/libairspeed.a src/modules/sensors/vehicle_imu/libvehicle_imu.a src/modules/sensors/vehicle_acceleration/libvehicle_acceleration.a src/modules/sensors/vehicle_air_data/libvehicle_air_data.a src/modules/sensors/vehicle_angular_velocity/libvehicle_angular_velocity.a src/modules/sensors/vehicle_gps_position/libvehicle_gps_position.a src/lib/geo/libgeo.a src/modules/sensors/vehicle_magnetometer/libvehicle_magnetometer.a src/lib/sensor_calibration/libsensor_calibration.a src/lib/conversion/libconversion.a src/modules/sensors/data_validator/libdata_validator.a src/modules/sensors/vehicle_optical_flow/libvehicle_optical_flow.a src/lib/mathlib/libmathlib.a src/lib/timesync/libtimesync.a src/modules/uxrce_dds_client/lib/libmicroxrcedds_client.a src/modules/uxrce_dds_client/lib/libmicrocdr.a src/lib/tunes/libtunes.a src/lib/circuit_breaker/libcircuit_breaker.a src/lib/version/libversion.a src/lib/systemlib/libsystemlib.a src/lib/parameters/libparameters.a src/lib/perf/libperf.a src/lib/tinybson/libtinybson.a src/lib/parameters/flashparams/libflashparams.a NuttX/nuttx/arch/arm/src/libarch.a boards/cubepilot/cubeorange/src/libdrivers_board.a platforms/nuttx/src/px4/stm/stm32h7/board_reset/libarch_board_reset.a platforms/nuttx/src/px4/common/libpx4_layer.a src/lib/drivers/device/libdrivers__device.a platforms/nuttx/src/px4/stm/stm32h7/io_pins/libarch_io_pins.a platforms/nuttx/src/px4/stm/stm32h7/spi/libarch_spi.a src/lib/drivers/led/libdrivers__led.a NuttX/nuttx/arch/arm/src/libarch.a boards/cubepilot/cubeorange/src/libdrivers_board.a platforms/nuttx/src/px4/stm/stm32h7/board_reset/libarch_board_reset.a platforms/nuttx/src/px4/common/libpx4_layer.a src/lib/drivers/device/libdrivers__device.a platforms/nuttx/src/px4/stm/stm32h7/io_pins/libarch_io_pins.a platforms/nuttx/src/px4/stm/stm32h7/spi/libarch_spi.a src/lib/drivers/led/libdrivers__led.a platforms/nuttx/src/px4/stm/stm32h7/hrt/libarch_hrt.a platforms/common/libpx4_platform.a platforms/common/px4_work_queue/libpx4_work_queue.a platforms/nuttx/src/px4/stm/stm32h7/board_critmon/libarch_board_critmon.a platforms/nuttx/src/px4/stm/stm32h7/version/libarch_version.a platforms/common/uORB/libuORB.a NuttX/nuttx/mm/libmm.a src/lib/cdev/libcdev.a NuttX/nuttx/fs/libfs.a NuttX/nuttx/libs/libxx/libxx.a NuttX/nuttx/drivers/libdrivers.a NuttX/nuttx/libs/libc/libc.a NuttX/nuttx/drivers/libdrivers.a NuttX/nuttx/libs/libc/libc.a NuttX/nuttx/sched/libsched.a -lgcc msg/libuorb_msgs.a -lm -o cubepilot_cubeorange_default.elf with error
Memory region Used Size Region Size %age Used
ITCM_RAM: 0 GB 64 KB 0.00%
FLASH: 2018144 B 1920 KB102.65%
DTCM1_RAM: 0 GB 64 KB 0.00%
DTCM2_RAM: 0 GB 64 KB 0.00%
AXI_SRAM: 54656 B 512 KB 10.42%
SRAM1: 0 GB 128 KB 0.00%
SRAM2: 0 GB 128 KB 0.00%
SRAM3: 0 GB 32 KB 0.00%
SRAM4: 0 GB 64 KB 0.00%
BKPRAM: 0 GB 4 KB 0.00%
/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/ld: cubepilot_cubeorange_default.elf section `.text' will not fit in region `FLASH'
/opt/gcc-arm-none-eabi-9-2020-q2-update/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/ld: region `FLASH' overflowed by 52064 bytes
collect2: error: ld returned 1 exit status
What can i possibly be getting wrong?
I suspect this is linked to the modules added in PX4v1.14 from previous versions which the example was(probably) made with. Errors in HITL are also reported in gazebo environment eventually for this reason ( https://discuss.px4.io/t/sih-is-disabled-with-the-cube-orange-plus-is-it-a-good-idea-to-enable-it/36593 ).
Thanks.

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回答（1 个）

Ankur Bose
Ankur Bose 2024-5-14
Can you try using the cubepilot_cubeorange_multicopter build configuration in hardware setup screens instead of the default one?
  1 个评论
Fil_Bk
Fil_Bk 2024-5-16
编辑：Fil_Bk 2024-5-16
I was able to solve the problem by disactivataing some modules in the default.px4board ;
Unfortunatelly some modules which are necessary for hitl simulation as hil_actuators are by default disactivated on the cubeorange configurations in recent releases of px4 in rder to save memory, according to some posts in the PX4 community.
I was able to start the simulation by adding back:CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
Currently i'm still not able to run correctly the example.
Since i can't access( am i missing something?) any documentation explaining on which topic the module simulink app is pubblishing or reading it's pretty hard to understand what's going on.

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