dridri · christianrauch · May 4, 2025 · May 4, 2025 · May 4, 2025 · May 4, 2025
diff --git a/CMakeModules/FindFFmpeg.cmake b/CMakeModules/FindFFmpeg.cmake
@@ -1,7 +1,7 @@
 include(FindPackageHandleStandardArgs)
 
-set( FFMPEG_LIB "${CMAKE_FIND_ROOT_PATH}/arm-linux-gnueabihf/lib" )
-set( FFMPEG_INC "${CMAKE_FIND_ROOT_PATH}/arm-linux-gnueabihf/include" )
+set( FFMPEG_LIB "${CMAKE_FIND_ROOT_PATH}/aarch64-linux-gnu/lib" )
+set( FFMPEG_INC "${CMAKE_FIND_ROOT_PATH}/aarch64-linux-gnu/include" )
 
 
 foreach (_component ${FFmpeg_FIND_COMPONENTS})
@@ -23,7 +23,7 @@ foreach (_component ${FFmpeg_FIND_COMPONENTS})
 			lib
 		HINTS
 			${FFmpeg_${_component}_INCLUDE_DIR}/../lib
-			${FFmpeg_${_component}_INCLUDE_DIR}/../lib/arm-linux-gnueabihf
+			${FFmpeg_${_component}_INCLUDE_DIR}/../lib/aarch64-linux-gnu
 	)
 	if ( FFmpeg_${_component}_LIBRARIES )
 		set( FFMPEG_${_component}_FOUND 1 )

diff --git a/CMakeModules/FindGPS.cmake b/CMakeModules/FindGPS.cmake
@@ -1,7 +1,7 @@
 include(FindPackageHandleStandardArgs)
 
-set( LIBGPS_LIB "${CMAKE_FIND_ROOT_PATH}/arm-linux-gnueabihf/lib" )
-set( LIBGPS_INC "${CMAKE_FIND_ROOT_PATH}/arm-linux-gnueabihf/include" )
+set( LIBGPS_LIB "${CMAKE_FIND_ROOT_PATH}/aarch64-linux-gnu/lib" )
+set( LIBGPS_INC "${CMAKE_FIND_ROOT_PATH}/aarch64-linux-gnu/include" )
 
 
 find_library( GPS_LIBRARIES

diff --git a/README.md b/README.md
@@ -102,7 +102,7 @@ This carrier board has the following features :
    * Video composite output (can be directly connected to any FPV drone VTX)
 
 ## Building `controller_pc`
-For cmake to run properly, the below dependecies should be installed first. Below commands are working for: ***Distro***: Ubuntu 22.04.2 LTS (Jammy Jellyfish), ***Kernel***: 5.15.0-69-lowlatency x86_64, ***bits***: 64, ***Desktop***: Xfce 4.16.0 
+For cmake to run properly, the below dependecies should be installed first. Below commands are working for: ***Distro***: Ubuntu 22.04.2 LTS (Jammy Jellyfish), ***Kernel***: 5.15.0-69-lowlatency x86_64, ***bits***: 64, ***Desktop***: Xfce 4.16.0
 1. **Install dependencies**
 
   * `sudo apt-get install nasm qtmultimedia5-dev qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools libnl-3-dev libnl-genl-3-dev libnl-route-3-dev libiw-dev libfftw3-dev`
@@ -159,15 +159,14 @@ Currently only Raspberry Pi boards are supported, the 4'th variants are the reco
 
 1. **Install dependencies**
   * `sudo apt update`
-  * `sudo apt install git pkg-config cmake make g++ libc6-dev libraspberrypi-dev libiw-dev libdrm-dev libgbm-dev libcamera-dev libgles2-mesa-dev libgps-dev libasound2-dev libcrypt-dev zlib1g-dev libpng-dev libshine-dev libavformat-dev libavutil-dev libavcodec-dev libpigpio-dev lua5.3 libfftw3-dev`
+  * `sudo apt install git pkg-config cmake make g++ libc6-dev libraspberrypi-dev libiw-dev libdrm-dev libgbm-dev libcamera-dev libgles2-mesa-dev libgps-dev libasound2-dev libcrypt-dev zlib1g-dev libpng-dev libshine-dev libavformat-dev libavutil-dev libavcodec-dev libpigpio-dev lua5.4 liblua5.4-dev libfftw3-dev libpcap-dev`
 
 2. **Build**
   * `git clone https://github.com/dridri/bcflight`
   * `cd bcflight/flight`
   * `cmake -Dboard=rpi -Ddebug=1 -S . -B build`
-  * `cd build`
-  * `make -j$(nproc)`
-
+  * `cmake --build build -j`
+
 This will produce two files : `flight_unstripped` which contains all debugging symbols, and `flight` which is a lightweight regular executable.
   * `flight_unstripped` can be run via gdb, or Valgrind using [flight/valgrind.sh](./flight/valgrind.sh)
   * `flight` is intended to be used on final product
diff --git a/Toolchain-rpi.cmake b/Toolchain-rpi.cmake
@@ -1,19 +1,19 @@
 SET( CMAKE_SYSTEM_NAME Linux )
 SET( CMAKE_SYSTEM_VERSION 1 )
 
-SET( CROSS arm-linux-gnueabihf- )
-SET( CMAKE_C_COMPILER arm-linux-gnueabihf-gcc )
-SET( CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++ )
-SET( CMAKE_ASM_COMPILER arm-linux-gnueabihf-as )
+SET( CROSS aarch64-linux-gnu- )
+SET( CMAKE_C_COMPILER aarch64-linux-gnu-gcc )
+SET( CMAKE_CXX_COMPILER aarch64-linux-gnu-g++ )
+SET( CMAKE_ASM_COMPILER aarch64-linux-gnu-as )
 
 execute_process(
-	COMMAND bash -c "dirname $(dirname $(whereis arm-linux-gnueabihf-gcc | cut -d':' -f2 | tr -d ' '))"
+	COMMAND bash -c "dirname $(dirname $(which aarch64-linux-gnu-gcc | cut -d':' -f2 | tr -d ' '))"
 	OUTPUT_VARIABLE ROOT_PATH
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 )
 
 SET( CMAKE_FIND_ROOT_PATH ${ROOT_PATH} )
-set( CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${ROOT_PATH}/arm-linux-gnueabihf/lib/arm-linux-gnueabihf")
+set( CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${ROOT_PATH}/aarch64-linux-gnu/lib/aarch64-linux-gnu")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 SET( FREETYPE_INCLUDE_DIRS "${CMAKE_FIND_ROOT_PATH}/include/freetype2" )

diff --git a/controller_pc/CMakeLists.txt b/controller_pc/CMakeLists.txt
@@ -63,7 +63,7 @@ if( CMAKE_SIZEOF_VOID_P EQUAL 4 )
 	set( LUA_32 "-m32" )
 endif()
 # add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_32} )
-add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_HOST_CC_OPTIONS} )
+# add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_HOST_CC_OPTIONS} )
 add_custom_target( libopenh264_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_openh264.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} )
 
 qt5_wrap_ui( controller_pc_UI
@@ -91,10 +91,10 @@ add_executable( controller_pc
 				)
 
 add_dependencies( controller_pc libopenh264_static )
-add_dependencies( controller_pc libluajit_static )
+# add_dependencies( controller_pc libluajit_static )
 add_dependencies( controller_pc controller )
 add_dependencies( controller_pc libdebug )
 
-target_link_libraries( controller_pc -L./ controller libdebug -lluajit_static -ldecoder_static -lopenh264_static ${SHINE_LIBRARIES} ${MP4V2_LIBRARIES} ${QSCINTILLA_LIBRARY} Qt5::Widgets Qt5::OpenGL Qt5::PrintSupport Qt5::Multimedia ${OPENGL_LIBRARIES} -lpthread ${OTHER_LIBS} )
+# target_link_libraries( controller_pc -L./ controller libdebug -lluajit_static -ldecoder_static -lopenh264_static ${SHINE_LIBRARIES} ${MP4V2_LIBRARIES} ${QSCINTILLA_LIBRARY} Qt5::Widgets Qt5::OpenGL Qt5::PrintSupport Qt5::Multimedia ${OPENGL_LIBRARIES} -lpthread ${OTHER_LIBS} )
 
 install( TARGETS controller_pc RUNTIME DESTINATION bin )
diff --git a/controller_rc/CMakeLists.txt b/controller_rc/CMakeLists.txt
@@ -63,7 +63,7 @@ include_directories( ${CMAKE_SOURCE_DIR}/../external/LuaJIT-2.0.4/src )
 add_subdirectory( ${CMAKE_SOURCE_DIR}/../libcontroller libcontroller )
 add_subdirectory( ${CMAKE_SOURCE_DIR}/../libdebug libdebug )
 
-add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip "-m32" )
+# add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip "-m32" )
 add_custom_target( ui_headers COMMAND
 	${UIC} ${CMAKE_SOURCE_DIR}/ui/main.ui > ${CMAKE_BINARY_DIR}/ui_main.h
 	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/window.ui > ${CMAKE_BINARY_DIR}/ui_window.h
@@ -91,10 +91,10 @@ add_executable( controller_rc
 				)
 
 add_dependencies( controller_rc controller )
-add_dependencies( controller_rc libluajit_static )
+# add_dependencies( controller_rc libluajit_static )
 add_dependencies( controller_rc ui_headers )
 
 
-target_link_libraries( controller_rc -L./ controller libdebug libluajit_static.a -lrt -ldl ${RAWWIFI_LIBS} -lz pthread ${BOARD_LIBS} )
+# target_link_libraries( controller_rc -L./ controller libdebug libluajit_static.a -lrt -ldl ${RAWWIFI_LIBS} -lz pthread ${BOARD_LIBS} )
 
 install( TARGETS controller_rc RUNTIME DESTINATION bin )
diff --git a/controller_rc/boards/rpi/board.cmake b/controller_rc/boards/rpi/board.cmake
@@ -3,8 +3,8 @@ execute_process( COMMAND uname -p OUTPUT_VARIABLE BUILD_ARCH )
 set( TARGET_CPU_BITS 32 )
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_DEFAULT_SOURCE -DSTANDALONE -D__STDC_CONSTANT_MACROS -D__STDC_LIMIT_MACROS -DTARGET_POSIX -D_LINUX -fPIC -DPIC -D_REENTRANT -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -U_FORTIFY_SOURCE")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfloat-abi=hard -Wl,--unresolved-symbols=ignore-in-shared-libs -I/opt/vc/include/ -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
-set(CMAKE_LD_FLAGS "${CMAKE_LD_FLAGS} -mfloat-abi=hard -Wl,--unresolved-symbols=ignore-in-shared-libs -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -I/opt/vc/include/ -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
+set(CMAKE_LD_FLAGS "${CMAKE_LD_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
 set(CMAKE_LINKER_FLAGS "${CMAKE_LD_FLAGS}")
 include_directories( /opt/vc/include )
 set( BOARD_LIBS -lpigpio -lrt -lpthread -ldl -lz -liw )

diff --git a/external/build_luajit.sh b/external/build_luajit.sh
diff --git a/flight/BlackBox.cpp b/flight/BlackBox.cpp
@@ -187,7 +187,7 @@ void BlackBox::Enqueue( const char* data[], const char* values[], int n )
 
 	mQueueMutex.lock();
 	for ( int i = 0; i < n; i++ ) {
-		sprintf( str, "%llu,%s,%s", time, data[i], values[i] );
+		sprintf( str, "%" PRIu64 ",%s,%s", time, data[i], values[i] );
 		mQueue.emplace_back( string(str) );
 	}
 	mQueueMutex.unlock();

diff --git a/flight/CMakeLists.txt b/flight/CMakeLists.txt
@@ -22,6 +22,10 @@ option(debug "debug")
 option(socket "socket")
 option(rawwifi "rawwifi")
 
+add_compile_options(-Wall -Werror)
+add_compile_options(-Wno-error=return-type)
+add_compile_options(-Wno-error=deprecated-declarations)
+
 include( config.cmake )
 if ( ${BUILD_links} MATCHES 0 OR ${BUILD_links} MATCHES OFF )
 	file(GLOB children RELATIVE ${CMAKE_SOURCE_DIR}/links ${CMAKE_SOURCE_DIR}/links/*)
@@ -271,10 +275,10 @@ if ( "${CMAKE_SYSTEM_NAME}" MATCHES "Linux" )
 	else()
 		set( LUA_HOST_CC_OPTIONS "" )
 	endif()
-	add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_HOST_CC_OPTIONS} "${CMAKE_C_FLAGS} -Wno-misleading-indentation" )
-	add_dependencies( flight_unstripped libluajit_static )
+	# add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_HOST_CC_OPTIONS} "${CMAKE_C_FLAGS} -Wno-misleading-indentation" )
+	# add_dependencies( flight_unstripped libluajit_static )
 	include_directories( ${CMAKE_SOURCE_DIR}/../external/LuaJIT-2.0.4/src )
-	set( LIBS ${LIBS} luajit_static )
+	# set( LIBS ${LIBS} luajit_static )
 elseif( "${CMAKE_SYSTEM_NAME}" MATCHES "Generic" )
 	# add_definitions( -DLUA_32BITS )
 	# set( LUA_CFLAGS "${CMAKE_C_FLAGS} -DLUA_32BITS" )
@@ -289,7 +293,7 @@ endif()
 add_subdirectory( ${CMAKE_SOURCE_DIR}/../libluacore ${CMAKE_CURRENT_BINARY_DIR}/libluacore )
 include_directories( ${CMAKE_SOURCE_DIR}/../libluacore/src )
 add_definitions( -DLUA_CLASS= -DLUA_EXPORT= )
-add_dependencies( luacore libluajit_static )
+# add_dependencies( luacore libluajit_static )
 
 add_dependencies( flight_unstripped libdebug )
 # add_dependencies( flight_unstripped flight_register )

diff --git a/flight/Config.cpp b/flight/Config.cpp
@@ -1,17 +1,17 @@
 /*
  * BCFlight
  * Copyright (C) 2016 Adrien Aubry (drich)
- * 
+ *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
- * 
+ *
  * This program is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
- * 
+ *
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 **/
@@ -90,7 +90,7 @@ string Config::ReadFile()
 		file.read( buf, length );
 		buf[length] = 0;
 		ret = buf;
-		delete buf;
+		delete [] buf;
 		file.close();
 	}
 

diff --git a/flight/boards/rpi/board.cmake b/flight/boards/rpi/board.cmake
@@ -1,10 +1,10 @@
 execute_process( COMMAND uname -p OUTPUT_VARIABLE BUILD_ARCH )
 
 if ( ${BUILD_ARCH} MATCHES "x86*" )
-# 	message( "Cross compilation detected, setting compiler prefix to arm-linux-gnueabihf-" )
-# 	set( CMAKE_C_COMPILER "arm-linux-gnueabihf-gcc" )
-# 	set( CMAKE_CXX_COMPILER "arm-linux-gnueabihf-g++" )
-# 	set( CMAKE_AR "arm-linux-gnueabihf-ar" )
+# 	message( "Cross compilation detected, setting compiler prefix to aarch64-linux-gnu-" )
+# 	set( CMAKE_C_COMPILER "aarch64-linux-gnu-gcc" )
+# 	set( CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++" )
+# 	set( CMAKE_AR "aarch64-linux-gnu-ar" )
 endif()
 
 set( TARGET_LINUX 1 )
@@ -25,8 +25,8 @@ add_definitions( -DHAVE_PTHREAD_SETNAME_NP )
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D_DEFAULT_SOURCE -DSTANDALONE -D__STDC_CONSTANT_MACROS -D__STDC_LIMIT_MACROS -DTARGET_POSIX -D_LINUX -fPIC -DPIC -D_REENTRANT -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -U_FORTIFY_SOURCE")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DHAVE_LIBOPENMAX=2 -DOMX -DOMX_SKIP64BIT -ftree-vectorize -pipe -DUSE_EXTERNAL_OMX -DHAVE_LIBBCM_HOST -DUSE_EXTERNAL_LIBBCM_HOST -DUSE_VCHIQ_ARM -Wno-psabi" )
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -I/opt/vc/include/ -I/opt/vc/include/interface/vmcs_host -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/khronos/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux -L/opt/vc/lib/")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_C_FLAGS} -mfloat-abi=hard -Wl,--unresolved-symbols=ignore-in-shared-libs -I/opt/vc/include/ -I/opt/vc/include/interface/vmcs_host -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/khronos/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
-set(CMAKE_LD_FLAGS "${CMAKE_LD_FLAGS} -mfloat-abi=hard -Wl,--unresolved-symbols=ignore-in-shared-libs -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_C_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -I/opt/vc/include/ -I/opt/vc/include/interface/vmcs_host -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/vmcs_host/khronos -I/opt/vc/include/interface/khronos/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
+set(CMAKE_LD_FLAGS "${CMAKE_LD_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L/opt/vc/lib/ -Wl,-rpath=/opt/vc/lib")
 set(CMAKE_LINKER_FLAGS "${CMAKE_LD_FLAGS}")
 set( BOARD_LIBS ${BOARD_LIBS} -lpigpio -lbcm_host -lvcos -lvchiq_arm -lrt -lpthread -ldl -lz -ldrm ) #  -lpigpio
 # set( BOARD_LIBS ${BOARD_LIBS} -lavformat -lavcodec -lavutil )
@@ -40,10 +40,12 @@ get_filename_component( CROSS_ROOT ${CMAKE_C_COMPILER} DIRECTORY )
 include_directories( ${CROSS_ROOT}/../include )
 include_directories( ${CROSS_ROOT}/../include/libdrm )
 include_directories( ${CROSS_ROOT}/../include/libcamera )
-include_directories( ${CROSS_ROOT}/../arm-linux-gnueabihf/include )
-include_directories( ${CROSS_ROOT}/../arm-linux-gnueabihf/include/libdrm )
-include_directories( ${CROSS_ROOT}/../arm-linux-gnueabihf/include/libcamera )
+include_directories( ${CROSS_ROOT}/../aarch64-linux-gnu/include )
+include_directories( ${CROSS_ROOT}/../aarch64-linux-gnu/include/libdrm )
+include_directories( ${CROSS_ROOT}/../aarch64-linux-gnu/include/libcamera )
 include_directories( /opt/vc/include )
+find_package(Lua REQUIRED)
+include_directories( ${LUA_INCLUDE_DIR} )
 
 #if ( "${rawwifi}" MATCHES 1 )
 	set( BOARD_LIBS ${BOARD_LIBS} -liw -lcamera -lcamera-base -lgps )
@@ -62,7 +64,7 @@ endif()
 
 function( board_strip )
 	add_custom_target( flight ALL
-						COMMAND arm-linux-gnueabihf-strip -s -o flight flight_unstripped
+						COMMAND aarch64-linux-gnu-strip -s -o flight flight_unstripped
 						DEPENDS flight_unstripped
 						COMMENT "Stripping executable"
 						VERBATIM