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scripts: Fixed extract_features.py not extracting some features properly #27796

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Aug 9, 2024
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scripts: Fixed extract_features.py not extracting some features properly #27796

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scripts: Fixed extract_features.py not extracting ExternalAHRS or INS…
joshanne Aug 9, 2024
9e0ed3e
scripts: Add build options for InertialLabs
joshanne Aug 9, 2024
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3 changes: 2 additions & 1 deletion Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ def __init__(self,
Feature('AHRS', 'MicroStrain5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'MicroStrain7', 'AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED', 'Enable MICROSTRAIN 7-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"), # noqa
# Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED', 'Enable InertialLabs External AHRS', 0, "AHRS_EXT"), # noqa disabled because INERTIAL_LABS is the enable flag
Feature('AHRS', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
Feature('AHRS', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External Navigation for EKF3', 0, 'EKF3'),
Expand Down Expand Up @@ -169,7 +170,7 @@ def __init__(self,
Feature('Compass', 'QMC5883L', 'AP_COMPASS_QMC5883L_ENABLED', 'Enable QMC5883L compasses', 1, None),
Feature('Compass', 'RM3100', 'AP_COMPASS_RM3100_ENABLED', 'Enable RM3100 compasses', 1, None),
Feature('Compass', 'DRONECAN_COMPASS', 'AP_COMPASS_DRONECAN_ENABLED', 'Enable DroneCAN compasses', 0, "DroneCAN"),
Feature('Compass', 'DRONECAN_COMPASS_HIRES', 'AP_COMPASS_DRONECAN_HIRES_ENABLED', 'Enable DroneCAN HiRes compasses for survey logging', 0, "DroneCAN"), # noqa
Feature('Compass', 'DRONECAN_COMPASS_HIRES', 'AP_COMPASS_DRONECAN_HIRES_ENABLED', 'Enable DroneCAN HiRes compasses for survey logging', 0, "DroneCAN,DRONECAN_COMPASS"), # noqa
Feature('Compass', 'FixedYawCal', 'AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'Enable Fixed-Yaw Compass Calibration', 1, None), # noqa
Feature('Compass', 'CompassLearn', 'COMPASS_LEARN_ENABLED', 'Enable In-Flight Compass Learning', 1, "FixedYawCal"),

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9 changes: 5 additions & 4 deletions Tools/scripts/extract_features.py
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Expand Up @@ -73,14 +73,15 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
('HAL_NAVEKF3_AVAILABLE', 'NavEKF3::NavEKF3',),
('HAL_NAVEKF2_AVAILABLE', 'NavEKF2::NavEKF2',),
('HAL_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_{type}::healthy\b',),
('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor::TCal::Learn::save_calibration',),
('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_(?P<type>.*)::healthy\b',),
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This was not correctly detecting presence of ExternalAHRS_VectorNav

('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor_TCal::Learn::save_calibration',),
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This was not detecting presence of Inertial Sensor TCal

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Whoops.

('HAL_VISUALODOM_ENABLED', 'AP_VisualOdom::init',),

('AP_RANGEFINDER_ENABLED', 'RangeFinder::RangeFinder',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::update\b',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::get_reading\b',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::model_dist_max_cm\b',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::handle_frame\b',),
('AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED', r'AP_RangeFinder_LightWareSerial::get_reading\b',),
('AP_RANGEFINDER_LWI2C_ENABLED', r'AP_RangeFinder_LightWareI2C::update\b',),
('AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED', r'AP_RangeFinder_MaxsonarSerialLV::get_reading\b',),
Expand Down Expand Up @@ -142,7 +143,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):

('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',),
('AP_FENCE_ENABLED', r'AC_Fence::check\b',),
('HAL_RALLY_ENABLED', r'AP_Rally::get_rally_max\b',),
('HAL_RALLY_ENABLED', 'AP_Rally::find_nearest_rally_point',),
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I noticed Rally was not being detected by default? get_rally_max is not showing when running arm-none-eabi-nm --demangle --print-size - so I've moved this to a function that is visible and used.

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Compiler was probably inlining; you could try recompiling with a different optimisation level to see if that's true. But it can't possibly be being elided given where it is used!

('AP_AVOIDANCE_ENABLED', 'AC_Avoid::AC_Avoid',),
('AP_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
('AC_PAYLOAD_PLACE_ENABLED', 'PayloadPlace::start_descent'),
Expand Down Expand Up @@ -257,7 +258,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
('HAL_BUTTON_ENABLED', 'AP_Button::update'),
('HAL_LOGGING_ENABLED', 'AP_Logger::init'),
('AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'AP_Compass::mag_cal_fixed_yaw'),
('AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'Compass::mag_cal_fixed_yaw'),
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This was not detecting properly. The class is Compass, not AP_Compass - perhaps Compass should be moved to AP_Compass at some point?

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Yes, it should. I made that change for OpticalFlow, I think.

('COMPASS_LEARN_ENABLED', 'CompassLearn::update'),
('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotation::init'),
('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
Expand Down
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