From c81d32a0b2c3e8617588349bcd9c73fdea01d6b7 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Thu, 26 Jan 2017 14:25:49 -0800
Subject: [PATCH] build: px4: pass bootloader name directly

Don't derive the bootloader name from the version. Other boards using
the PX4 layer may not necessarily have "px4fmu" name, let alone the
version.
---
 Tools/ardupilotwaf/boards.py | 8 ++++++++
 Tools/ardupilotwaf/px4.py    | 9 +--------
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index b1861838fd..403532bb5f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -419,12 +419,15 @@ class px4(Board):
 
     def __init__(self):
         self.version = None
+        self.bootloader_name = None
         self.use_px4io = True
         self.ROMFS_EXCLUDE = []
 
     def configure(self, cfg):
         if not self.version:
             cfg.fatal('configure: px4: version required')
+        if not self.bootloader_name:
+            cfg.fatal('configure: px4: bootloader name is required')
 
         super(px4, self).configure(cfg)
         cfg.load('px4')
@@ -458,6 +461,7 @@ class px4(Board):
         env.ROMFS_EXCLUDE = self.ROMFS_EXCLUDE
 
         env.PX4_VERSION = self.version
+        env.PX4_BOOTLOADER_NAME = self.bootloader_name
         env.PX4_USE_PX4IO = True if self.use_px4io else False
 
         env.AP_PROGRAM_AS_STLIB = True
@@ -476,6 +480,7 @@ class px4_v1(px4):
     def __init__(self):
         super(px4_v1, self).__init__()
         self.version = '1'
+        self.bootloader_name = 'px4fmu_bl.bin'
         self.romfs_exclude(['oreoled.bin'])
 
 class px4_v2(px4):
@@ -483,6 +488,7 @@ class px4_v2(px4):
     def __init__(self):
         super(px4_v2, self).__init__()
         self.version = '2'
+        self.bootloader_name = 'px4fmuv2_bl.bin'
         self.romfs_exclude(['oreoled.bin'])
 
 class px4_v3(px4):
@@ -490,11 +496,13 @@ class px4_v3(px4):
     def __init__(self):
         super(px4_v3, self).__init__()
         self.version = '3'
+        self.bootloader_name = 'px4fmuv2_bl.bin'
 
 class px4_v4(px4):
     name = 'px4-v4'
     def __init__(self):
         super(px4_v4, self).__init__()
         self.version = '4'
+        self.bootloader_name = 'px4fmuv4_bl.bin'
         self.use_px4io = False
         self.romfs_exclude(['oreoled.bin', 'px4io.bin'])
diff --git a/Tools/ardupilotwaf/px4.py b/Tools/ardupilotwaf/px4.py
index e1ebe98273..0471165a19 100644
--- a/Tools/ardupilotwaf/px4.py
+++ b/Tools/ardupilotwaf/px4.py
@@ -237,19 +237,12 @@ def configure(cfg):
         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' % version
 
     # TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after
     # stop using the make-based build system
     env.PX4_ROMFS_SRC = 'mk/PX4/ROMFS'
     env.PX4_ROMFS_BLD = 'px4-extra-files/ROMFS'
-    env.PX4_BOOTLOADER = 'mk/PX4/bootloader/%s' % bootloader_name
+    env.PX4_BOOTLOADER = 'mk/PX4/bootloader/%s' % env.PX4_BOOTLOADER_NAME
 
     env.PX4_ADD_GIT_HASHES = srcpath('Tools/scripts/add_git_hashes.py')
     env.PX4_APM_ROOT = srcpath('')