SA4U is a static analyzer for detecting unit conversion errors in UAV source code.
There are currently 2 directories:
platforms/contains Dockerfiles for building an environment to analyze supported UAV systems. Currently, we support ArduPilot. We intend to eventually support PX4. Each system has its own subdirectory, e.g.platforms/ArduPilot.src/contains the source code for SA4U.
The analysis process generates a lot of data. You may run out of memory. Increase your swap size if this occurs. SA4U is designed to use memory in a way that swapping should not slow down the analysis too much.
- Clone this repository:
> git clone https://github.com/obicons/sa4u
- Change directories into sa4u (
cd sa4u). Initialize all dependencies:
> git submodule update --init --recursive
- Build a platform to analyze. Have a coffee & browse HN. ArduPilot has many dependencies, so this will take a while.
> docker image build -t sa4u-ardupilot ./platforms/ArduPilot
- Change the permissions of the source code repository so that the Docker container's user can read/write:
> chmod -R a+rw ./
- Start an analysis container:
> docker container run -ti -v $(pwd):/home/ardupilot/sa4u sa4u-ardupilot bash
- In the analysis container, build SA4U:
> cd /home/ardupilot/sa4u/src/
> make
7: Run the analysis:
> ./sa4u \
--compilation-database ../../ardupilot/build/sitl/ \
--mavlink-definitions ../platforms/ArduPilot/common.xml \
--prior-types ../platforms/ArduPilot/sample.json