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waf: fixes for FMUv3

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This commit is contained in:
Andrew Tridgell 2016-12-10 18:00:40 +11:00
parent 67b97b21db
commit 95b848f2b6
1 changed files with 12 additions and 4 deletions
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16
Tools/ardupilotwaf/px4.py
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@ -105,11 +105,15 @@ def px4_firmware(self):
if self.env.PX4_USE_PX4IO and not _cp_px4io:
px4io_task = self.create_cmake_build_task('px4', 'fw_io')
if version == '3':
px4io_version = '2'
else:
px4io_version = version
px4io = px4io_task.cmake.bldnode.make_node(
'src/modules/px4iofirmware/px4io-v%s.bin' % version,
'src/modules/px4iofirmware/px4io-v%s.bin' % px4io_version,
)
px4io_elf = px4.bldnode.make_node(
'src/modules/px4iofirmware/px4io-v%s' % version
'src/modules/px4iofirmware/px4io-v%s' % px4io_version
)
px4io_task.set_outputs([px4io, px4io_elf])
@ -228,12 +232,14 @@ def configure(cfg):
def bldpath(path):
return bldnode.make_node(path).abspath()
version = env.get_flat('PX4_VERSION')
if env.PX4_VERSION == '1':
bootloader_name = 'px4fmu_bl.bin'
elif env.PX4_VERSION in ['2','3']:
bootloader_name = 'px4fmuv2_bl.bin'
else:
bootloader_name = 'px4fmuv%s_bl.bin' % env.get_flat('PX4_VERSION')
bootloader_name = 'px4fmuv%s_bl.bin' % version
# TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after
# stop using the make-based build system
@ -250,8 +256,10 @@ def configure(cfg):
if env.PX4_USE_PX4IO:
env.PX4IO_ELF_DEST = 'px4-extra-files/px4io'
nuttx_config='nuttx_px4fmu-v%s_apm' % version
env.PX4_CMAKE_VARS = dict(
CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'),
CONFIG=nuttx_config,
CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),
UAVCAN_LIBUAVCAN_PATH=env.PX4_UAVCAN_ROOT,
NUTTX_SRC=env.PX4_NUTTX_ROOT,