2013-01-02 02:28:09 -04:00
|
|
|
# PX4 build is via external build system
|
|
|
|
|
|
2015-06-09 00:03:40 -03:00
|
|
|
ifneq ($(PX4_ROOT),)
|
|
|
|
|
$(error PX4_ROOT found in config.mk - Please see http://dev.ardupilot.com/wiki/git-submodules/)
|
2015-05-25 01:51:12 -03:00
|
|
|
endif
|
2013-01-02 02:28:09 -04:00
|
|
|
|
2015-06-09 00:03:40 -03:00
|
|
|
ifneq ($(NUTTX_SRC),)
|
|
|
|
|
$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.com/wiki/git-submodules/)
|
2013-05-22 09:57:24 -03:00
|
|
|
endif
|
2013-08-30 00:32:23 -03:00
|
|
|
|
2015-06-09 00:03:40 -03:00
|
|
|
ifneq ($(UAVCAN_DIR),)
|
|
|
|
|
$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.com/wiki/git-submodules/)
|
2014-11-18 06:42:36 -04:00
|
|
|
endif
|
|
|
|
|
|
2015-06-19 04:57:13 -03:00
|
|
|
# these can be overridden in developer.mk
|
|
|
|
|
PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
|
2015-06-19 05:08:49 -03:00
|
|
|
PX4NUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
|
2015-06-19 04:57:13 -03:00
|
|
|
UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
|
2013-08-30 00:32:23 -03:00
|
|
|
|
2015-06-19 04:57:13 -03:00
|
|
|
PX4_ROOT := $(shell cd $(PX4FIRMWARE_DIRECTORY) && pwd)
|
|
|
|
|
NUTTX_ROOT := $(shell cd $(PX4NUTTX_DIRECTORY) && pwd)
|
2015-06-09 00:34:09 -03:00
|
|
|
NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
|
2015-06-19 04:57:13 -03:00
|
|
|
UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
|
2013-08-30 00:32:23 -03:00
|
|
|
|
2015-06-09 01:07:44 -03:00
|
|
|
# warn if user has old PX4Firmware or PX4NuttX trees
|
|
|
|
|
ifneq ($(wildcard $(SKETCHBOOK)/../PX4Firmware),)
|
|
|
|
|
$(warning *** You have an old PX4Firmware tree - see http://dev.ardupilot.com/wiki/git-submodules/)
|
|
|
|
|
endif
|
|
|
|
|
ifneq ($(wildcard $(SKETCHBOOK)/../PX4NuttX),)
|
|
|
|
|
$(warning *** You have an old PX4NuttX tree - see http://dev.ardupilot.com/wiki/git-submodules/)
|
|
|
|
|
endif
|
|
|
|
|
ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
|
|
|
|
|
$(warning *** You have an old uavcan tree - see http://dev.ardupilot.com/wiki/git-submodules/)
|
|
|
|
|
endif
|
|
|
|
|
|
2014-01-14 00:35:41 -04:00
|
|
|
NUTTX_GIT_VERSION := $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
|
|
|
|
|
PX4_GIT_VERSION := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
|
|
|
|
|
|
|
|
|
|
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
|
|
|
|
|
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
|
2014-11-18 06:42:36 -04:00
|
|
|
EXTRAFLAGS += -DUAVCAN=1
|
2014-01-14 00:35:41 -04:00
|
|
|
|
2013-07-24 01:59:08 -03:00
|
|
|
# we have different config files for V1 and V2
|
|
|
|
|
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
|
|
|
|
|
PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
|
2015-11-24 18:50:50 -04:00
|
|
|
PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
|
2013-07-24 01:59:08 -03:00
|
|
|
|
2015-06-29 02:34:43 -03:00
|
|
|
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
2013-07-24 01:59:08 -03:00
|
|
|
|
2015-04-24 02:02:33 -03:00
|
|
|
WARNFLAGS = -Werror -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function
|
2015-10-18 22:11:56 -03:00
|
|
|
OPTFLAGS = -fsingle-precision-constant
|
2013-12-10 18:59:41 -04:00
|
|
|
|
2014-07-08 19:12:10 -03:00
|
|
|
# avoid PX4 submodules
|
|
|
|
|
export GIT_SUBMODULES_ARE_EVIL = 1
|
|
|
|
|
|
2015-02-13 06:33:52 -04:00
|
|
|
PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
|
|
|
|
|
export PYTHONPATH
|
|
|
|
|
|
2015-11-26 17:47:56 -04:00
|
|
|
PX4_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
|
|
|
|
|
PX4_MAKE_ARCHIVES = $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
|
2013-01-20 17:22:02 -04:00
|
|
|
|
2015-01-22 22:05:55 -04:00
|
|
|
HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
|
|
|
|
|
|
|
|
|
|
ifneq ($(wildcard $(PX4_ROOT)),)
|
|
|
|
|
HASHADDER_FLAGS += --px4 "$(PX4_ROOT)"
|
|
|
|
|
endif
|
|
|
|
|
ifneq ($(wildcard $(NUTTX_SRC)/..),)
|
|
|
|
|
HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
|
|
|
|
|
endif
|
|
|
|
|
HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
|
|
|
|
|
|
2013-08-26 23:20:45 -03:00
|
|
|
.PHONY: module_mk
|
|
|
|
|
module_mk:
|
2015-05-13 00:36:20 -03:00
|
|
|
$(v) echo "Building $(SKETCHBOOK)/module.mk"
|
2013-05-04 05:47:08 -03:00
|
|
|
$(RULEHDR)
|
2013-12-10 18:59:41 -04:00
|
|
|
$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
|
|
|
|
|
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
|
2015-05-13 00:36:20 -03:00
|
|
|
$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
|
2013-12-10 18:59:41 -04:00
|
|
|
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
|
2015-10-19 18:28:05 -03:00
|
|
|
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
|
2013-12-10 18:59:41 -04:00
|
|
|
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
|
|
|
|
|
$(v) rm -f $(SKETCHBOOK)/module.mk.new
|
2013-05-04 05:47:08 -03:00
|
|
|
|
2015-06-08 20:18:51 -03:00
|
|
|
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
|
2013-07-24 01:59:08 -03:00
|
|
|
$(RULEHDR)
|
2013-08-12 21:10:42 -03:00
|
|
|
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
|
2015-05-31 01:50:43 -03:00
|
|
|
$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
2013-07-30 22:43:24 -03:00
|
|
|
$(v) $(PX4_MAKE) px4fmu-v1_APM
|
2013-07-24 01:59:08 -03:00
|
|
|
$(v) /bin/rm -f $(SKETCH)-v1.px4
|
2015-11-08 22:25:49 -04:00
|
|
|
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
|
2013-07-30 22:43:24 -03:00
|
|
|
$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
|
2015-01-22 22:05:55 -04:00
|
|
|
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
|
2013-07-24 01:59:08 -03:00
|
|
|
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
|
|
|
|
|
|
2015-06-08 20:18:51 -03:00
|
|
|
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
|
2013-05-04 05:47:08 -03:00
|
|
|
$(RULEHDR)
|
2013-08-12 21:10:42 -03:00
|
|
|
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
|
2015-05-31 01:50:43 -03:00
|
|
|
$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
2013-08-12 21:10:42 -03:00
|
|
|
$(PX4_MAKE) px4fmu-v2_APM
|
2013-07-24 01:59:08 -03:00
|
|
|
$(v) /bin/rm -f $(SKETCH)-v2.px4
|
2015-11-08 22:25:49 -04:00
|
|
|
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
|
2013-07-30 22:43:24 -03:00
|
|
|
$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
|
2015-01-22 22:05:55 -04:00
|
|
|
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
|
2013-07-24 01:59:08 -03:00
|
|
|
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
|
|
|
|
|
|
2015-11-24 18:50:50 -04:00
|
|
|
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
|
|
|
|
|
$(RULEHDR)
|
|
|
|
|
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V4_CONFIG_FILE)
|
|
|
|
|
$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
|
|
|
|
$(PX4_MAKE) px4fmu-v4_APM
|
|
|
|
|
$(v) /bin/rm -f $(SKETCH)-v4.px4
|
|
|
|
|
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4_APM.build/firmware.elf
|
|
|
|
|
$(v) cp $(PX4_ROOT)/Images/px4fmu-v4_APM.px4 $(SKETCH)-v4.px4
|
|
|
|
|
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
|
|
|
|
|
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
|
|
|
|
|
|
|
|
|
|
px4: px4-v1 px4-v2 px4-v4
|
2013-05-04 05:47:08 -03:00
|
|
|
|
2015-06-08 20:18:51 -03:00
|
|
|
px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
|
2015-11-26 17:59:18 -04:00
|
|
|
$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
|
2015-11-26 17:28:17 -04:00
|
|
|
$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
|
2013-05-04 05:47:08 -03:00
|
|
|
|
2014-01-22 01:35:12 -04:00
|
|
|
px4-cleandep: clean
|
|
|
|
|
$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
|
2015-10-20 01:09:28 -03:00
|
|
|
$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
|
2015-05-26 00:46:02 -03:00
|
|
|
$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
|
2014-01-22 01:35:12 -04:00
|
|
|
|
2015-12-09 15:27:53 -04:00
|
|
|
px4-v2-upload-solo: px4-v2
|
|
|
|
|
scp $(SKETCH)-v2.px4 root@10.1.1.10:/tmp/
|
|
|
|
|
ssh root@10.1.1.10 PYTHONUNBUFFERED=1 loadPixhawk.py /tmp/ArduCopter-v2.px4
|
|
|
|
|
ssh root@10.1.1.10 rm /tmp/ArduCopter-v2.px4;
|
|
|
|
|
|
2013-08-06 02:37:41 -03:00
|
|
|
px4-v1-upload: px4-v1
|
2013-05-04 05:47:08 -03:00
|
|
|
$(RULEHDR)
|
2013-07-31 05:58:04 -03:00
|
|
|
$(v) $(PX4_MAKE) px4fmu-v1_APM upload
|
2013-07-24 01:59:08 -03:00
|
|
|
|
2013-08-06 02:37:41 -03:00
|
|
|
px4-v2-upload: px4-v2
|
2013-07-31 05:58:04 -03:00
|
|
|
$(RULEHDR)
|
|
|
|
|
$(v) $(PX4_MAKE) px4fmu-v2_APM upload
|
2013-07-24 01:59:08 -03:00
|
|
|
|
2015-11-24 18:50:50 -04:00
|
|
|
px4-v4-upload: px4-v4
|
|
|
|
|
$(RULEHDR)
|
|
|
|
|
$(v) $(PX4_MAKE) px4fmu-v4_APM upload
|
|
|
|
|
|
2013-07-31 05:58:04 -03:00
|
|
|
px4-upload: px4-v1-upload
|
2013-05-04 02:10:20 -03:00
|
|
|
|
2013-05-04 05:47:08 -03:00
|
|
|
px4-archives-clean:
|
2013-05-04 19:10:54 -03:00
|
|
|
$(v) /bin/rm -rf $(PX4_ROOT)/Archives
|
2013-01-02 02:28:09 -04:00
|
|
|
|
2013-07-24 03:31:13 -03:00
|
|
|
px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
|
2015-11-26 17:47:56 -04:00
|
|
|
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default
|
2013-07-20 18:41:19 -03:00
|
|
|
$(v) /bin/rm -f px4io-v1.bin
|
2013-07-31 05:58:04 -03:00
|
|
|
$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
|
2013-12-27 19:09:40 -04:00
|
|
|
$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
|
2013-07-31 05:58:04 -03:00
|
|
|
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
|
|
|
|
|
$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
|
|
|
|
$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
2013-09-04 00:15:51 -03:00
|
|
|
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
|
|
|
|
|
$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
|
|
|
|
$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
2013-07-20 18:41:19 -03:00
|
|
|
$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin"
|
2013-05-04 02:10:20 -03:00
|
|
|
|
2013-07-25 22:12:14 -03:00
|
|
|
|
2013-07-24 03:31:13 -03:00
|
|
|
px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
|
2015-11-26 17:47:56 -04:00
|
|
|
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default
|
2013-12-29 23:51:40 -04:00
|
|
|
$(v) /bin/rm -f px4io-v2.bin
|
2013-07-24 03:31:13 -03:00
|
|
|
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin
|
2013-07-31 05:58:04 -03:00
|
|
|
$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
|
2013-12-27 19:09:40 -04:00
|
|
|
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
|
2013-07-31 05:58:04 -03:00
|
|
|
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
|
|
|
|
|
$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
|
|
|
|
$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
2013-09-04 00:15:51 -03:00
|
|
|
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
|
|
|
|
|
$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
|
|
|
|
$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
2013-07-24 03:31:13 -03:00
|
|
|
$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin"
|
|
|
|
|
|
|
|
|
|
px4-io: px4-io-v1 px4-io-v2
|
|
|
|
|
|
2015-09-13 19:54:42 -03:00
|
|
|
# These targets can't run in parallel because they all need to generate a tool
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# to generate the config.h inside them. This could trigger races if done in
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# parallel, trying to generate the tool and replacing it while the header is already
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# being generated
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#
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# We could serialize inside PX4Firmware, but it's easier to serialize here
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# while maintaining the rest of the build parallelized
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.NOTPARALLEL: \
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$(PX4_ROOT)/Archives/px4fmu-v1.export \
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$(PX4_ROOT)/Archives/px4fmu-v2.export \
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2015-11-24 18:50:50 -04:00
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$(PX4_ROOT)/Archives/px4fmu-v4.export \
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2015-09-13 19:54:42 -03:00
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$(PX4_ROOT)/Archives/px4io-v1.export \
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$(PX4_ROOT)/Archives/px4io-v2.export
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2013-01-02 02:28:09 -04:00
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2013-08-12 22:23:50 -03:00
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$(PX4_ROOT)/Archives/px4fmu-v1.export:
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2015-06-19 04:44:18 -03:00
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
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2013-07-24 01:59:08 -03:00
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2013-08-12 22:23:50 -03:00
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$(PX4_ROOT)/Archives/px4fmu-v2.export:
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2015-06-19 04:44:18 -03:00
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
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2013-01-02 02:28:09 -04:00
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2015-11-24 18:50:50 -04:00
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$(PX4_ROOT)/Archives/px4fmu-v4.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
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2013-08-12 22:23:50 -03:00
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$(PX4_ROOT)/Archives/px4io-v1.export:
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2015-06-19 04:44:18 -03:00
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
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2013-08-12 22:23:50 -03:00
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$(PX4_ROOT)/Archives/px4io-v2.export:
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2015-06-19 04:44:18 -03:00
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
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2013-07-24 01:59:08 -03:00
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2013-07-25 22:12:14 -03:00
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px4-archives:
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2015-11-24 18:50:50 -04:00
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v4"
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