Simulation Debugging
As the simulation is running on the host machine, all the desktop development tools are available.
CLANG Address Sanitizer (Mac OS, Linux)
The Clang address sanitizer can help to find alignment (bus) errors and other memory faults like segmentation faults. The command below sets the right compile options.
Valgrind
or
To use valgrind during the SITL simulation:
Start combinations
SITL can be launched with and without debugger attached and with either jMAVSim or Gazebo as simulation backend. This results in the start options below:
where the last parameter is the <viewer_model_debugger> triplet (using three underscores implies the default 'iris' model). This will start the debugger and launch the SITL application. In order to break into the debugger shell and halt the execution, hit CTRL-C
:
In order to not have the DriverFrameworks scheduling interfere with the debugging session SIGCONT
should be masked in LLDB and GDB:
Or in the case of GDB:
After that the lldb or gdb shells behave like normal sessions, please refer to the LLDB / GDB documentation.
The last parameter, the <viewer_model_debugger> triplet, is actually passed to make in the build directory, so
is equivalent with
A full list of the available make targets in the build directory can be obtained with:
but for your convenience, a list with just the <viewer_model_debugger> triplets is printed with the command
Compiler optimization
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_*
.
For example,
would suppress optimization of the targets: platforms__posix__px4_layer, modules__systemlib, modules__uORB, examples__px4_simple_app, modules__uORB__uORB_tests and px4.
The targets that can be matched with these regular expressions can be printed with the command:
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