[SOLVED] Crazyflie 2 Firmware Build Not "CLEAN" As Expected

[phillipz]

Hi guys,

I have cloned the Crazyflie firmware repository (https://github.com/bitcraze/crazyflie-firmware.git) using:

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git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git

and also compiled within the directory for my Crazyflie 2 quadcopter using:

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sudo make PLATFORM=CF2

However, I am finding that the FW build status is "MODIFIED" instead of "CLEAN" - which is what I am expecting. I have not altered any of the code and have been following the instructions located in the readme. I was wondering if anyone could tell me what might be causing this? Here is the output I am seeing:

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  CLEAN_VERSION
  CC    list.o
  CC    tasks.o
  CC    queue.o
  CC    timers.o
  CC    heap_4.o
  CC    port.o
  CC    stm32f4xx_adc.o
  CC    stm32f4xx_dbgmcu.o
  CC    stm32f4xx_dma.o
  CC    stm32f4xx_exti.o
  CC    stm32f4xx_flash.o
  CC    stm32f4xx_gpio.o
  CC    stm32f4xx_i2c.o
  CC    stm32f4xx_iwdg.o
  CC    stm32f4xx_rcc.o
  CC    stm32f4xx_spi.o
  CC    stm32f4xx_tim.o
  CC    stm32f4xx_usart.o
  CC    stm32f4xx_misc.o
  CC    stm32f4xx_syscfg.o
  CC    main.o
  CC    exti.o
  CC    nvic.o
  CC    motors.o
  CC    crtp.o
  CC    ledseq.o
  CC    freeRTOSdebug.o
  CC    buzzer.o
  CC    system.o
  CC    comm.o
  CC    console.o
  CC    pid.o
  CC    crtpservice.o
  CC    param.o
  CC    mem.o
  CC    log.o
  CC    worker.o
  CC    trigger.o
  CC    sitaw.o
  CC    queuemonitor.o
  CC    commander.o
  CC    attitude_pid_controller.o
  CC    sensfusion6.o
  CC    stabilizer.o
  CC    position_estimator_altitude.o
  CC    position_controller_pid.o
  CC    estimator_complementary.o
  CC    controller_pid.o
  CC    sensors_stock.o
  CC    power_distribution_stock.o
  CC    filter.o
  CC    cpuid.o
  CC    cfassert.o
  CC    eprintf.o
  CC    crc.o
  CC    num.o
  CC    debug.o
  VTMPL version.c
  CC    version.o
  CC    FreeRTOS-openocd.o
  AS    startup_stm32f40xx.o
  CC    system_stm32f4xx.o
  CC    cpal_hal.o
  CC    cpal_i2c.o
  CC    cpal_usercallback_template.o
  CC    cpal_i2c_hal_stm32f4xx.o
  CC    usb_core.o
  CC    usb_dcd_int.o
  CC    usb_dcd.o
  CC    usbd_ioreq.o
  CC    usbd_req.o
  CC    usbd_core.o
  CC    platform_cf2.o
  CC    led_f405.o
  CC    mpu6500.o
  CC    i2cdev_f405.o
  CC    ws2812_cf2.o
  CC    lps25h.o
  CC    ak8963.o
  CC    eeprom.o
  CC    maxsonar.o
  CC    piezo.o
  CC    uart_syslink.o
  CC    swd.o
  CC    uart1.o
  CC    uart2.o
  CC    watchdog.o
  CC    cppm.o
  CC    usb_bsp.o
  CC    usblink.o
  CC    usbd_desc.o
  CC    usb.o
  CC    imu_cf2.o
  CC    pm_f405.o
  CC    syslink.o
  CC    radiolink.o
  CC    ow_syslink.o
  CC    proximity.o
  CC    usec_time.o
  CC    libdw1000.o
  CC    libdw1000Spi.o
  CC    platformservice.o
  CC    sound_cf2.o
  CC    extrx.o
  CC    deck.o
  CC    deck_info.o
  CC    deck_drivers.o
  CC    deck_test.o
  CC    deck_constants.o
  CC    deck_digital.o
  CC    deck_analog.o
  CC    deck_spi.o
  CC    bigquad.o
  CC    ledring12.o
  CC    buzzdeck.o
  CC    gtgps.o
  CC    dwm1000.o
  CC    cppmdeck.o
  CC    exptest.o
  CC    configblockeeprom.o
  LD    cf2.elf
  COPY  cf2.hex
  COPY  cf2.bin
  DFUse cf2.dfu
Crazyflie 2.0 build!
Build 102:21b7c665db6e (2016.02-102) MODIFIED
Version extracted from git
Crazyloader build!
   text	   data	    bss	    dec	    hex	filename
  99784	   1664	  35948	 137396	  218b4	cf2.elf
rm version.c

I am running Ubuntu 14.04 and I have installed the ARM toolchain using:

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sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install libnewlib-arm-none-eabi

If anyone has any ideas why the FW build is not "CLEAN" please let me know. Although I have flashed the FW to the quadcopter and it is working, I am still finding that my quadcopter can be relatively unstable and I am wondering whether this is the cause.

Thanks for any help in advance!

[chad]

Just check what file is modified by running:

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git status

from within the 'crazyflie-firmware' directory.

Then you can "revert" that file by running:

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git checkout -- filename

...where filename is the path and name of the file that's been modified according to git status.

After that, run:

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make clean

...well, since you first ran 'make' under sudo, you'll likely need: 'sudo make clean'.

Then run make again:

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make

Also, there's no reason that you need to run 'make' under sudo and, if you're building for the Crazyflie 2, you don't need the 'PLATFORM' argument to 'make' since it builds CF2 by default.

Let us know what you find!

[phillipz]

Hi,

Thanks for the response. I tried following your advice and was able to see the file that had been modified was /vendor/cmock. I tried to discard the changes that were made however after checking the status of the repository again, the file still appears to have been modified:

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phillip@saturn:~/Downloads/crazyflie-firmware$ git status
On branch master
Your branch is up-to-date with 'origin/master'.

Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git checkout -- <file>..." to discard changes in working directory)
  (commit or discard the untracked or modified content in submodules)

	modified:   vendor/cmock (modified content)

no changes added to commit (use "git add" and/or "git commit -a")
phillip@saturn:~/Downloads/crazyflie-firmware$ git checkout -- vendor/cmock/
phillip@saturn:~/Downloads/crazyflie-firmware$ git status
On branch master
Your branch is up-to-date with 'origin/master'.

Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git checkout -- <file>..." to discard changes in working directory)
  (commit or discard the untracked or modified content in submodules)

	modified:   vendor/cmock (modified content)

no changes added to commit (use "git add" and/or "git commit -a")
phillip@saturn:~/Downloads/crazyflie-firmware$ 

If I re-clone the repository and check the status, the same file appears to have been modified. I'm slightly confused, any thoughts?

[chad]

I have the same experience if I use:

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git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git

On the other hand:

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git clone https://github.com/bitcraze/crazyflie-firmware.git
cd crazyflie-firmware/
git submodule update --init

...doesn't result in vendor/cmock being modified. It also knocks ~40MB off the repository size.

In the recursively cloned repository,

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git diff vendor/cmock

displays this:

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diff --git a/vendor/cmock b/vendor/cmock
--- a/vendor/cmock
+++ b/vendor/cmock
@@ -1 +1 @@
-Subproject commit a20b14a575de37f6d604523591776dd35f1ae4a2
+Subproject commit a20b14a575de37f6d604523591776dd35f1ae4a2-dirty

A condition which, I think, is explained here.

You can fix your repository by doing:

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cd crazyflie-firmware
rm -Rf vendor/cmock
git submodule update --init

Or, if you have no changes, trash your repository and clone fresh using:

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git clone https://github.com/bitcraze/crazyflie-firmware.git
cd crazyflie-firmware/
git submodule update --init

[phillipz]

Hi Chad,

Thank you, that seems to have fixed my issue! Apologies if it was a silly question I'm not very experienced with GIT

[chad]

Awesome! Happy to hear it worked for you. No apologies necessary. Trial and error is the best way to learn. I had no idea what the problem was so I had to experiment myself.

Have fun!!