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Replace hardcoded PX4 firmware lookup with manifest-based discovery #13966

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Replace hardcoded PX4 firmware lookup with manifest-based discovery #13966

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ae714f7
Replace hardcoded PX4 board map with manifest-based firmware discovery
mrpollo Feb 10, 2026
2b7f9f4
Add user-selectable PX4 firmware build list in upgrade dialog
mrpollo Feb 10, 2026
fa10ba3
Migrate firmware URLs from S3 bucket to CloudFront CDN
mrpollo Feb 10, 2026
dbe1b9f
Add SHA-256 verification for decompressed firmware images
mrpollo Feb 11, 2026
2dcd60a
Redesign PX4 advanced mode with version and build dropdowns
mrpollo Feb 11, 2026
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132 changes: 75 additions & 57 deletions src/Vehicle/VehicleSetup/FirmwareImage.cc
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Original file line number Diff line number Diff line change
@@ -1,22 +1,21 @@
#include "FirmwareImage.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "CompInfoParam.h"
#include "Bootloader.h"
#include "QGCLoggingCategory.h"

#include <QtCore/QCryptographicHash>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <QtCore/QTextStream>
#include <QtCore/QFileInfo>
#include <QtCore/QJsonDocument>
#include <QtCore/QJsonObject>
#include <QtCore/QFileInfo>
#include <QtCore/QDir>
#include <QtCore/QTextStream>

FirmwareImage::FirmwareImage(QObject* parent) :
QObject(parent),
_imageSize(0)
{
#include "Bootloader.h"
#include "CompInfoParam.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"

FirmwareImage::FirmwareImage(QObject* parent) : QObject(parent), _imageSize(0)
{
}

bool FirmwareImage::load(const QString& imageFilename, uint32_t boardId)
Expand Down Expand Up @@ -95,7 +94,8 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)

QFile ihxFile(ihxFilename);
if (!ihxFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
emit statusMessage(QString("Unable to open firmware file %1, error: %2").arg(ihxFilename, ihxFile.errorString()));
emit statusMessage(
QString("Unable to open firmware file %1, error: %2").arg(ihxFilename, ihxFile.errorString()));
return false;
}

Expand All @@ -107,16 +107,14 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
return false;
}

uint8_t blockByteCount;
uint16_t address;
uint8_t recordType;
QByteArray bytes;
uint8_t crc;
uint8_t blockByteCount;
uint16_t address;
uint8_t recordType;
QByteArray bytes;
uint8_t crc;

if (!_readByteFromStream(stream, blockByteCount) ||
!_readWordFromStream(stream, address) ||
!_readByteFromStream(stream, recordType) ||
!_readBytesFromStream(stream, blockByteCount, bytes) ||
if (!_readByteFromStream(stream, blockByteCount) || !_readWordFromStream(stream, address) ||
!_readByteFromStream(stream, recordType) || !_readBytesFromStream(stream, blockByteCount, bytes) ||
!_readByteFromStream(stream, crc)) {
emit statusMessage(tr("Incorrectly formatted line in .ihx file, line too short"));
return false;
Expand All @@ -143,15 +141,19 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
if (appendToLastBlock) {
_ihxBlocks[_ihxBlocks.length() - 1].bytes += bytes;
// Too noisy even for verbose
//qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - append - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
// qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - append - address:%1 size:%2
// block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
} else {
IntelHexBlock_t block;

block.address = address;
block.bytes = bytes;

_ihxBlocks += block;
qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3")
.arg(address)
.arg(blockByteCount)
.arg(ihxBlockCount());
}

_imageSize += blockByteCount;
Expand All @@ -170,17 +172,19 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
return true;
}

bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId) {
bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId)
{
bool result = false;
if (boardId == firmwareId ) {
if (boardId == firmwareId) {
result = true;
}
switch(boardId) {
case Bootloader::boardIDPX4FMUV3:
if (firmwareId == 9) result = true;
break;
default:
break;
switch (boardId) {
case Bootloader::boardIDPX4FMUV3:
if (firmwareId == 9)
result = true;
break;
default:
break;
}
return result;
}
Expand Down Expand Up @@ -220,16 +224,20 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
// Make sure the keys are the correct type
QStringList keys;
QList<QJsonValue::Type> types;
keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey << _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double;
keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey
<< _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String
<< QJsonValue::Double << QJsonValue::String << QJsonValue::Double;
if (!JsonHelper::validateKeyTypes(px4Json, keys, types, errorString)) {
emit statusMessage(tr("Firmware file has invalid key: %1").arg(errorString));
return false;
}

uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
if (!isCompatible(_boardId, firmwareBoardId)) {
emit statusMessage(tr("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
emit statusMessage(tr("Downloaded firmware board id does not match hardware board id: %1 != %2")
.arg(firmwareBoardId)
.arg(_boardId));
return false;
}

Expand All @@ -251,57 +259,64 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
qint64 bytesWritten = parameterFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.length()) {
emit statusMessage(tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
emit statusMessage(
tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
parameterFile.close();
QFile::remove(parameterFilename);
} else {
parameterFile.close();
}
} else {
emit statusMessage(tr("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename, parameterFile.errorString()));
emit statusMessage(tr("Unable to open parameter meta data file %1 for writing, error: %2")
.arg(parameterFilename, parameterFile.errorString()));
}

// Cache this file with the system
CompInfoParam::_cachePX4MetaDataFile(parameterFilename);
}

// Decompress the airframe xml and save to file
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonAirframeXmlSizeKey, // key which holds byte size
_jsonAirframeXmlKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonAirframeXmlSizeKey, // key which holds byte size
_jsonAirframeXmlKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
if (success) {
QString airframeFilename = QGCApplication::cachedAirframeMetaDataFile();
//qDebug() << airframeFilename;
// qDebug() << airframeFilename;
QFile airframeFile(QGCApplication::cachedAirframeMetaDataFile());

if (airframeFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
qint64 bytesWritten = airframeFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.length()) {
// FIXME: What about these warnings?
emit statusMessage(tr("Write failed for airframe meta data file, error: %1").arg(airframeFile.errorString()));
emit statusMessage(
tr("Write failed for airframe meta data file, error: %1").arg(airframeFile.errorString()));
airframeFile.close();
QFile::remove(airframeFilename);
} else {
airframeFile.close();
}
} else {
emit statusMessage(tr("Unable to open airframe meta data file %1 for writing, error: %2").arg(airframeFilename, airframeFile.errorString()));
emit statusMessage(tr("Unable to open airframe meta data file %1 for writing, error: %2")
.arg(airframeFilename, airframeFile.errorString()));
}
}

// Decompress the image and save to file
_imageSize = px4Json.value(QString("image_size")).toInt();
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonImageSizeKey, // key which holds byte size
_jsonImageKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonImageSizeKey, // key which holds byte size
_jsonImageKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
if (!success) {
return false;
}

// Compute SHA-256 of the decompressed image before padding
_imageSha256 = QString::fromLatin1(QCryptographicHash::hash(decompressedBytes, QCryptographicHash::Sha256).toHex());

// Pad image to 4-byte boundary
while ((decompressedBytes.length() % 4) != 0) {
decompressedBytes.append(static_cast<char>(static_cast<unsigned char>(0xFF)));
Expand All @@ -313,7 +328,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)

QFile decompressFile(decompressFilename);
if (!decompressFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
emit statusMessage(tr("Unable to open decompressed file %1 for writing, error: %2").arg(decompressFilename, decompressFile.errorString()));
emit statusMessage(tr("Unable to open decompressed file %1 for writing, error: %2")
.arg(decompressFilename, decompressFile.errorString()));
return false;
}

Expand All @@ -330,11 +346,11 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
}

/// Decompress a set of bytes stored in a Json document.
bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object
const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document
const QString& sizeKey, ///< key which holds byte size
const QString& bytesKey, ///< key which holds compress bytes
QByteArray& decompressedBytes) ///< Returned decompressed bytes
bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object
const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document
const QString& sizeKey, ///< key which holds byte size
const QString& bytesKey, ///< key which holds compress bytes
QByteArray& decompressedBytes) ///< Returned decompressed bytes
{
// Validate decompressed size key
if (!jsonObject.contains(sizeKey)) {
Expand Down Expand Up @@ -380,7 +396,9 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J
return false;
}
if (decompressedBytes.length() != decompressedSize) {
emit statusMessage(tr("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.length()));
emit statusMessage(tr("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)")
.arg(decompressedSize)
.arg(decompressedBytes.length()));
return false;
}

Expand Down
70 changes: 42 additions & 28 deletions src/Vehicle/VehicleSetup/FirmwareImage.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
#pragma once

#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QByteArray>
#include <QtCore/QList>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QTextStream>

/// Support for Intel Hex firmware file
Expand All @@ -12,7 +12,7 @@ class FirmwareImage : public QObject
Q_OBJECT

public:
FirmwareImage(QObject *parent = 0);
FirmwareImage(QObject* parent = 0);

/// Loads the specified image file. Supported formats: .px4, .bin, .ihx.
/// Emits errorMesssage and statusMessage signals while loading.
Expand All @@ -22,13 +22,28 @@ class FirmwareImage : public QObject
bool load(const QString& imageFilename, uint32_t boardId);

/// Returns the number of bytes in the image.
uint32_t imageSize(void) const { return _imageSize; }
uint32_t imageSize(void) const
{
return _imageSize;
}

/// @return true: image format is .bin
bool imageIsBinFormat(void) const { return _binFormat; }
bool imageIsBinFormat(void) const
{
return _binFormat;
}

/// @return Filename for .bin file
QString binFilename(void) const { return _binFilename; }
QString binFilename(void) const
{
return _binFilename;
}

/// @return SHA-256 hex string of the decompressed firmware image (before padding), empty if not a .px4 file
QString imageSha256(void) const
{
return _imageSha256;
}

/// @return Block count from .ihx image
uint16_t ihxBlockCount(void) const;
Expand Down Expand Up @@ -56,29 +71,28 @@ class FirmwareImage : public QObject
bool _readWordFromStream(QTextStream& stream, uint16_t& word);
bool _readBytesFromStream(QTextStream& stream, uint8_t byteCount, QByteArray& bytes);

bool _decompressJsonValue(const QJsonObject& jsonObject,
const QByteArray& jsonDocBytes,
const QString& sizeKey,
const QString& bytesKey,
QByteArray& decompressedBytes);
bool _decompressJsonValue(const QJsonObject& jsonObject, const QByteArray& jsonDocBytes, const QString& sizeKey,
const QString& bytesKey, QByteArray& decompressedBytes);

typedef struct {
uint16_t address;
QByteArray bytes;
typedef struct
{
uint16_t address;
QByteArray bytes;
} IntelHexBlock_t;

bool _binFormat;
uint32_t _boardId;
QString _binFilename;
QList<IntelHexBlock_t> _ihxBlocks;
uint32_t _imageSize;

static constexpr const char* _jsonBoardIdKey = "board_id";
static constexpr const char* _jsonParamXmlSizeKey = "parameter_xml_size";
static constexpr const char* _jsonParamXmlKey = "parameter_xml";
static constexpr const char* _jsonAirframeXmlSizeKey = "airframe_xml_size";
static constexpr const char* _jsonAirframeXmlKey = "airframe_xml";
static constexpr const char* _jsonImageSizeKey = "image_size";
static constexpr const char* _jsonImageKey = "image";
static constexpr const char* _jsonMavAutopilotKey = "mav_autopilot";
bool _binFormat;
uint32_t _boardId;
QString _binFilename;
QString _imageSha256;
QList<IntelHexBlock_t> _ihxBlocks;
uint32_t _imageSize;

static constexpr const char* _jsonBoardIdKey = "board_id";
static constexpr const char* _jsonParamXmlSizeKey = "parameter_xml_size";
static constexpr const char* _jsonParamXmlKey = "parameter_xml";
static constexpr const char* _jsonAirframeXmlSizeKey = "airframe_xml_size";
static constexpr const char* _jsonAirframeXmlKey = "airframe_xml";
static constexpr const char* _jsonImageSizeKey = "image_size";
static constexpr const char* _jsonImageKey = "image";
static constexpr const char* _jsonMavAutopilotKey = "mav_autopilot";
};
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