Decouple filepaths from rcS/MTD

Kconfig

@@ -185,6 +185,18 @@ menu "Serial ports"
         string "EXT2 tty port"
 endmenu
 
+menu "File paths"
+
+    config BOARD_LOG_DIR
+        string "Logging directory"
+        depends on MODULES_LOGGER
+        default "/fs/microsd"
+
+    config BOARD_PARAM_FILE
+        string "Parameter file"
+        default "/fs/mtd_params"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

ROMFS/CMakeLists.txt

@@ -120,6 +120,7 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -131,6 +132,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,25 +21,14 @@ set R /
 #
 ver all
 
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all

ROMFS/px4fmu_common/init.d/rcS

@@ -114,14 +114,8 @@ then
 	. $FRC
 else
 
-	#
-	# 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 param file location from kconfig
+	. ${R}etc/init.d/rc.filepaths
 
 	#
 	# Load parameters.

Tools/filepaths/generate_config.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+""" Script to generate Serial rc.filepaths for the ROMFS startup script """
+
+import argparse
+import os
+import sys
+
+try:
+    from jinja2 import Environment, FileSystemLoader
+except ImportError as e:
+    print("Failed to import jinja2: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user jinja2")
+    print("")
+    sys.exit(1)
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--constrained-flash', action='store_true',
+                    help='Reduce verbosity in ROMFS scripts to reduce flash size')
+parser.add_argument('--rc-dir', type=str, action='store',
+                    help='ROMFS output directory', default=None)
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file', default=None)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+verbose = args.verbose
+constrained_flash = args.constrained_flash
+rc_filepaths_output_dir = args.rc_dir
+rc_filepaths_template = 'rc.filepaths.jinja'
+
+
+jinja_env = Environment(loader=FileSystemLoader(
+    os.path.dirname(os.path.realpath(__file__))))
+
+# generate the ROMFS script using a jinja template
+if rc_filepaths_output_dir is not None:
+    rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths")
+
+    if verbose: print("Generating {:}".format(rc_filepath_output_file))
+    template = jinja_env.get_template(rc_filepaths_template)
+    with open(rc_filepath_output_file, 'w') as fid:
+        fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file))
+else:
+    raise Exception("--rc-dir needs to be specified")

Tools/filepaths/rc.filepaths.jinja

@@ -0,0 +1,6 @@
+{# jinja template to generate the serial autostart script. #}
+
+# serial autostart script generated with generate_serial_config.py
+
+
+set PARAM_FILE {{ params_file }}

boards/nxp/mr-canhubk3/default.px4board

@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_PARAM_FILE="/mnt/qspi/params"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y

boards/nxp/ucans32k146/default.px4board

@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_PARAM_FILE="/dev/eeeprom0"
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y

src/modules/logger/logger.h

@@ -158,8 +158,8 @@ class Logger : public ModuleBase<Logger>, public ModuleParams
 	static constexpr int		MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */
 	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
 	static constexpr const char	*LOG_ROOT[(int)LogType::Count] = {
-		PX4_STORAGEDIR "/log",
-		PX4_STORAGEDIR "/mission_log"
+		CONFIG_BOARD_LOG_DIR "/log",
+		CONFIG_BOARD_LOG_DIR "/mission_log"
 	};
 
 	struct LogFileName {