From f056391fea64d548aa473c8b9069173f100f31ce Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 20 Nov 2018 21:25:41 +1100
Subject: [PATCH] build: remove remaining make build

---
 mk/apm.mk             |  52 ------
 mk/board_F4Light.mk   | 376 ------------------------------------------
 mk/board_linux.mk     |   8 -
 mk/board_native.mk    | 146 ----------------
 mk/board_px4.mk       |   3 -
 mk/board_vrbrain.mk   |   3 -
 mk/build_rules.mk     |  36 ----
 mk/configure.mk       |   2 -
 mk/environ.mk         | 163 ------------------
 mk/find_tools.mk      |  68 --------
 mk/help.mk            |  32 ----
 mk/mavgen.mk          |  12 --
 mk/modules.mk         |  28 ----
 mk/px4_targets.mk     | 254 ----------------------------
 mk/sketch_sources.mk  | 105 ------------
 mk/targets.mk         |  86 ----------
 mk/uavcangen.mk       |  21 ---
 mk/upload_firmware.mk |  11 --
 mk/vrbrain_targets.mk | 319 -----------------------------------
 19 files changed, 1725 deletions(-)
 delete mode 100644 mk/apm.mk
 delete mode 100644 mk/board_F4Light.mk
 delete mode 100644 mk/board_linux.mk
 delete mode 100644 mk/board_native.mk
 delete mode 100644 mk/board_px4.mk
 delete mode 100644 mk/board_vrbrain.mk
 delete mode 100644 mk/build_rules.mk
 delete mode 100644 mk/configure.mk
 delete mode 100644 mk/environ.mk
 delete mode 100644 mk/find_tools.mk
 delete mode 100644 mk/help.mk
 delete mode 100644 mk/mavgen.mk
 delete mode 100644 mk/modules.mk
 delete mode 100644 mk/px4_targets.mk
 delete mode 100644 mk/sketch_sources.mk
 delete mode 100644 mk/targets.mk
 delete mode 100644 mk/uavcangen.mk
 delete mode 100644 mk/upload_firmware.mk
 delete mode 100644 mk/vrbrain_targets.mk

diff --git a/mk/apm.mk b/mk/apm.mk
deleted file mode 100644
index 2614c79493..0000000000
--- a/mk/apm.mk
+++ /dev/null
@@ -1,52 +0,0 @@
-# find the mk/ directory, which is where this makefile fragment
-# lives. (patsubst strips the trailing slash.)
-SYSTYPE			:=	$(shell uname)
-
-ifneq ($(findstring CYGWIN, $(SYSTYPE)),) 
-  MK_DIR := $(shell cygpath -m ../mk)
-else
-  MK_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
-endif
-
-include $(MK_DIR)/environ.mk
-
-# short-circuit build for the configure target
-ifeq ($(MAKECMDGOALS),configure)
-include $(MK_DIR)/configure.mk
-
-else
-
-# short-circuit build for the help target
-include $(MK_DIR)/help.mk
-
-# common makefile components
-include $(MK_DIR)/targets.mk
-include $(MK_DIR)/sketch_sources.mk
-include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
-
-ifneq ($(MAKECMDGOALS),clean)
-
-# board specific includes
-ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
-include $(MK_DIR)/board_native.mk
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
-include $(MK_DIR)/board_linux.mk
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
-include $(MK_DIR)/board_px4.mk
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
-include $(MK_DIR)/board_vrbrain.mk
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
-include $(MK_DIR)/board_F4Light.mk
-endif
-
-endif
-
-endif
diff --git a/mk/board_F4Light.mk b/mk/board_F4Light.mk
deleted file mode 100644
index ce52c90771..0000000000
--- a/mk/board_F4Light.mk
+++ /dev/null
@@ -1,376 +0,0 @@
-TOOLCHAIN = ARM
-
-ARM_CXX     :=  arm-none-eabi-g++
-ARM_CC      :=  arm-none-eabi-gcc
-ARM_AS      :=  arm-none-eabi-gcc
-ARM_AR      :=  arm-none-eabi-ar
-#ARM_LD      :=  arm-none-eabi-g++
-ARM_LD      :=  arm-none-eabi-ld
-ARM_GDB     :=  arm-none-eabi-gdb
-ARM_OBJCOPY :=  arm-none-eabi-objcopy
-
-SIZE     := arm-none-eabi-size
-DISAS    := arm-none-eabi-objdump
-
-#TOOLCHAIN = arm-none-eabi
-include $(MK_DIR)/find_tools.mk
-
-.DEFAULT_GOAL := all
-
-##
-## Target-specific configuration.  This determines some compiler and
-## linker options/flags.
-##
-
-
-PATH:=$(PATH):/usr/local/bin
-
-# these default to a Maple Flash build.
-BOARD            ?= f4light_Revolution
-MEMORY_TARGET    ?= flash
-
-##
-## Useful paths, constants, etc.
-##
-
-STFLASH := /usr/local/stlink/st-flash
-STUTIL  := /usr/local/stlink/st-util
-
-
-
-BL_ADDRESS    := 0x08000000
-FLASH_ADDRESS := 0x08010000
-
-UPLOADER := dfu-util
-#leaflabs bootloader
-USBID := 1EAF:0003
-
-BLDROOT := $(SRCROOT)/..
-
-#BUILD_PATH       := $(BLDROOT)/build
-BUILD_PATH       := $(BUILDROOT)
-
-LIBRARIES_PATH   := $(BLDROOT)/libraries
-HAL_PATH         := $(LIBRARIES_PATH)/AP_HAL_F4Light
-WIRISH_PATH      := $(HAL_PATH)/wirish
-BOARDS_PATH      := $(HAL_PATH)/boards
-HARDWARE_PATH    := $(HAL_PATH)/hardware
-HAL_HW_PATH      := $(HAL_PATH)/hardware/hal
-STM32_PATH       := $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0
-STM32USB_PATH    := $(HARDWARE_PATH)/STM32_USB_Driver
-cpu_flags        := -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
-
-
-FIRMWARE_PATH    := $(BLDROOT)/$(SKETCH)
-
-# List of input files to the sketch.cpp file in the order they should be appended to create it
-LIBRARY_INCLUDES := 
-
-SUPPORT_PATH     := $(BLDROOT)/libraries/AP_HAL_F4Light/support
-TOOLS_PATH       := $(BLDROOT)/libraries/AP_HAL_F4Light/support/tools
-# Support files for linker
-LDDIR            := $(BOARDS_PATH)/$(BOARD)/ld
-
-
-BOOTLOADERS      := $(BLDROOT)/Tools/bootloaders
-APJTOOL          := $(BLDROOT)/Tools/ardupilotwaf/px_mkfw.py
-
-
-# $(BOARD)- and $(MEMORY_TARGET)-specific configuration
-include $(BOARDS_PATH)/$(BOARD)/target-config.mk
-
-
-##
-## Compilation flags
-##
-
-EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0  -DHAVE_BYTESWAP_H=0
-EXTRAFLAGS += $(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE  -DSKETCH_MAIN=ArduPilot_main
-GITFLAGS   := -DGIT_VERSION="\"$(GIT_VERSION) $(shell date --rfc-3339=date)\""
-
-
-#-Werror
-WARNFLAGS       =   -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi -Wno-unused-parameter -Wno-error=cast-align -Wno-error=unused-but-set-variable
-WARNFLAGS      +=   -Wwrite-strings -Wformat=2 -Wshadow -Wfloat-equal -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-pragmas 
-WARNFLAGS      +=   -Wextra -Wlogical-op  -Wno-unknown-pragmas -Wno-redundant-decls -Wno-packed -Wno-error=double-promotion -Wno-error=type-limits
-WARNFLAGS      +=   -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=unused-parameter -Wno-missing-field-initializers
-WARNFLAGS      +=   -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Werror=format-security -Werror=array-bounds
-WARNFLAGS      +=   -Wno-error=unused-label -Wno-trigraphs
-
-OPTFLAGS        = -Os
-OPTFLAGS       += -fsingle-precision-constant -g3 -fno-strict-aliasing  -fomit-frame-pointer -frename-registers
-#-fno-strength-reduce
-OPTFLAGS       += -fno-builtin-printf -fno-aggressive-loop-optimizations -fpredictive-commoning
-#OPTFLAGS       += -fassociative-math -freciprocal-math -ffast-math - cause EKF errors
-OPTFLAGS       += -fno-signed-zeros -fno-trapping-math 
-OPTFLAGS       += -finline-functions-called-once -fearly-inlining -finline-small-functions
-OPTFLAGS       += -fmerge-all-constants 
-
-WARNFLAGSCXX    =   -Wno-reorder
-DEPFLAGS        =   -MD -MT $@
-
-GLOBAL_FLAGS    := -D$(VECT_BASE_ADDR)
-GLOBAL_FLAGS    += -DBOARD_$(BOARD)
-
-GLOBAL_FLAGS    += -DMCU_$(MCU)
-GLOBAL_FLAGS    += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
-GLOBAL_FLAGS    += -DSTM32F4XX
-GLOBAL_FLAGS    += -DUSE_STDPERIPH_DRIVER
-GLOBAL_FLAGS    += -DARM_MATH_CM4
-GLOBAL_FLAGS    += -DUSE_OTG_FS_CORE
-GLOBAL_FLAGS    += -DUSE_USB_OTG_FS
-GLOBAL_FLAGS    += -DUSE_EMBEDDED_PHY
-GLOBAL_FLAGS    += -D__FPU_PRESENT
-GLOBAL_FLAGS    += -D__FPU_USED=1
-GLOBAL_FLAGS    += -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
-GLOBAL_FLAGS    += $(WARNFLAGS) $(DEPFLAGS)  $(EXTRAFLAGS) $(OPTS)
-#
-GLOBAL_FLAGS    += -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
-GLOBAL_FLAGS    += -ffunction-sections
-GLOBAL_FLAGS    += -fdata-sections
-
-
-#Produce debugging information in the operating system's native format
-GLOBAL_FLAGS   += -ggdb
-#GLOBAL_FLAGS += -v -save-temps # for GCC bugreport
-
-# GLOBAL_CFLAGS -----------------------------------------------------------------------------------
-GLOBAL_CFLAGS   := $(cpu_flags)
-#GLOBAL_CFLAGS   += -nostdlib           #Do not use the standard system startup files or libraries when linking
-GLOBAL_CFLAGS   += -Wall               #This enables all the warnings about constructions that some users consider questionable, and that are easy to avoid (or modify to prevent the warning), even in conjunction with macros
-GLOBAL_CFLAGS   += $(GLOBAL_FLAGS) $(OPTFLAGS)
-GLOBAL_CFLAGS   += -include $(BOARDS_PATH)/$(BOARD)/board.h 
-
-
-# GLOBAL_CXXFLAGS ---------------------------------------------------------------------------------
-GLOBAL_CXXFLAGS := -fno-rtti       #Disable generation of information about every class with virtual functions for use by the C++ runtime type identification features
-GLOBAL_CXXFLAGS += -fno-exceptions -fno-threadsafe-statics # not true C++
-GLOBAL_CXXFLAGS += -fconserve-space -fno-enforce-eh-specs  -fno-use-cxa-atexit
-GLOBAL_CXXFLAGS += -std=gnu++11
-
-# Downgrade some diagnostics about nonconformant code from errors to warnings. Thus, using "-fpermissive" will allow some nonconforming code to compile.
-GLOBAL_CXXFLAGS += $(GLOBAL_CFLAGS)
-#  -fpermissive
-
-# missing definitions
-GLOBAL_CXXFLAGS += -c -include $(WIRISH_PATH)/defs.h
-
-# GLOBAL_ASFLAGS ----------------------------------------------------------------------------------
-GLOBAL_ASFLAGS  := $(cpu_flags)
-GLOBAL_ASFLAGS  += -x assembler-with-cpp
-GLOBAL_ASFLAGS  += $(GLOBAL_FLAGS) $(OPTFLAGS)
-
-# GLOBAL_LDFLAGS ----------------------------------------------------------------------------------
-LDFLAGS         := $(cpu_flags)
-LDFLAGS         += -static
-LDFLAGS         += -lm -lgcc
-LDFLAGS         += -Wall
-LDFLAGS         += -Wl,--gc-sections
-LDFLAGS         += -Wl,--cref
-#LDFLAGS         += -Wl,--print-gc-sections
-LDFLAGS         += -Wl,-Map -Wl,$(BUILD_PATH)/$(BOARD).map
-LDFLAGS         += -T$(LDDIR)/$(LDSCRIPT)
-LDFLAGS         += -L$(LDDIR) 
-LDFLAGS         += -Wl,--warn-common
-# -Wl,--verbose
-#let's linker optimize whole program itself
-LDFLAGS         += -Wl,--relax
-#LDFLAGS         += -fwhole-program
-##
-# -fwhole-program
-#--plugin=/usr/local/arm-none-eabi/lib/gcc/arm-none-eabi/5.2.1/liblto_plugin.so
-# -flto -fuse-linker-plugin
-
-# used to collect files from HAL folders tree
-TGT_BIN := 
-
-COREINCLUDES = -I$(HAL_HW_PATH) -I$(STM32_PATH) -I$(WIRISH_PATH) -I$(BOARDS_PATH)/$(BOARD) -I$(STM32USB_PATH) \
- -I$(HARDWARE_PATH) \
- -I$(STM32_PATH)/Libraries/STM32F4xx_StdPeriph_Driver/inc \
- -I$(STM32_PATH)/Libraries/CMSIS/Include \
- -I$(STM32_PATH)/Libraries/CMSIS/Device/ST/STM32F4xx/Include \
- -I$(BUILDROOT)/libraries/GCS_MAVLink/ \
- -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v2.0
-
-
-TGT_ASFLAGS = $(COREINCLUDES)
-
-##
-## Build rules and useful templates
-##
-
-include $(MK_DIR)/find_tools.mk
-
-# all subfolder's rules
-include $(WIRISH_PATH)/rules.mk
-include $(HARDWARE_PATH)/hal/rules.mk
-include $(HARDWARE_PATH)/4way/rules.mk
-include $(HARDWARE_PATH)/sd/rules.mk
-include $(HARDWARE_PATH)/STM32_USB_Driver/rules.mk
-include $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0/rules.mk
-
-include $(MK_DIR)/build_rules.mk
-
-
-LIBGCC := $(shell $(CC) $(GLOBAL_FLAGS) -print-libgcc-file-name)
-
-
-CFLAGS   = $(GLOBAL_CFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES)
-CXXFLAGS = $(GLOBAL_CXXFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES) $(GITFLAGS)
-ASFLAGS  = $(GLOBAL_ASFLAGS) $(TGT_ASFLAGS) 
-
-
-##
-## Set all submodules here
-##
-
-
-SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) 
-
-SLIB_INCLUDES  =       -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) 
-
-################################################################################
-# Built products
-#
-
-
-# Library object files
-LIBOBJS			:=	$(SKETCHLIBOBJS)
-
-# The ELF file
-SKETCHELF		=	$(BUILDROOT)/$(SKETCH).elf
-BUILDELF                =       $(notdir $(SKETCHELF))
-
-# HEX file
-SKETCHHEX		=	$(BUILDROOT)/$(SKETCH).hex
-
-# BIN file
-SKETCHBIN		=	$(BUILDROOT)/$(SKETCH).bin
-
-# EEP file
-SKETCHEEP		=	$(BUILDROOT)/$(SKETCH).eep
-
-# Map file
-SKETCHMAP		=	$(BUILDROOT)/$(SKETCH).map
-
-# All of the objects that may be built
-ALLOBJS			=	$(SKETCHOBJS) $(LIBOBJS)
-
-# All of the dependency files that may be generated
-ALLDEPS			=	$(ALLOBJS:%.o=%.d)
-
-
-
-CAT := cat
-
-FIND := /usr/bin/find
-
-################################################################################
-# Targets
-#
-
-all: $(SKETCHELF) $(SKETCHEEP) $(BUILD_PATH)/$(BOARD).bin
-
-print-%:
-	echo "$*=$($*)"
-
-.PHONY: upload
-
-#upload via maple bootloader
-f4light-maple-upload: $(SKETCHBIN)
-	$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 &&  $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
-	
-#upload via BOOT0 hardware bootloader
-f4light-upload: $(SKETCHBIN)
-	$(UPLOADER) -a 0 --dfuse-address $(FLASH_ADDRESS)  -D $(SKETCHBIN) -R
-
-
-
-# sorry byt I use ST_LINK and SWD, not JTAG - @NG
-
-#f4light-debug:
-#	$(AVARICE) --mkII --capture --jtag usb :4242 & \
-#	gnome-terminal -x $(GDB) $(SKETCHELF) & \
-#	echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
-
-## this allows you to flash your image via JTAG for when you
-## have completely broken your USB
-#f4light-jtag-program:
-#	$(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
-
-f4light-debug:
-	$(STUTIL) -m -p 4242
-
-## this allows you to flash your image via SWD for when you have completely broken your USB
-f4light-program:
-	$(STFLASH)  --reset write $(SKETCHBIN) $(FLASH_ADDRESS)
-
-################################################################################
-# Rules
-#
-
-
-# fetch dependency info from a previous build if any of it exists
--include $(ALLDEPS)
-
-
-f4light-clean: clean
-	$(v) $(FIND) $(HAL_PATH) -type f -name "*.d"  -delete
-	$(v) $(FIND) $(HAL_PATH) -type f -name "*.o"  -delete
-	$(v) $(FIND) $(HAL_PATH) -type f -name "*.i"  -delete
-	$(v) $(FIND) $(HAL_PATH) -type f -name "*.ii" -delete
-	$(v) $(FIND) $(HAL_PATH) -type f -name "*.d"  -delete
-
-
-# Link the final object. this line sets compilation order
-$(SKETCHELF): $(LIBOBJS) $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS)
-
-	
-	$(RULEHDR)
-#	$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
-	$(SILENT_LD) $(CXX) $(LDFLAGS) -o $@ $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(LIBGCC)  -Wl,-Map,$(BUILD_PATH)/$(BOARD).map
-#	$(v) $(LD) $(LDFLAGS) -Map $(BUILD_PATH)/$(BOARD).map -o $(TGT_BIN) --start-group $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
-#  
-	$(v)cp $(SKETCHELF) .
-	@echo "Firmware is in $(BUILDELF)"
-
-# Create the eep file
-$(SKETCHEEP):	$(SKETCHELF)
-	$(RULEHDR)
-	$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
-
-$(BUILD_PATH)/main.o: $(WIRISH_PATH)/main.cxx
-	$(SILENT_CXX) $(CXX) $(CXXFLAGS) $(LIBRARY_INCLUDES) -o $@ -c $<
-
-$(BUILD_PATH)/$(BOARD).bin: $(SKETCHELF)
-	$(SILENT_OBJCOPY) $(OBJCOPY) -v -Obinary $(SKETCHELF) --gap-fill 0xFF $@ 1>/dev/null
-	$(OBJCOPY) -v -Oihex $(SKETCHELF) $(BUILD_PATH)/$(BOARD).hex 1>/dev/null
-	$(SILENT_DISAS) $(DISAS) -S $(SKETCHELF) > $(BUILD_PATH)/$(BOARD).disas
-	@echo " "
-	$(TOOLS_PATH)/dfu-convert --ihex $(BUILD_PATH)/$(BOARD).hex $(BUILD_PATH)/$(BOARD).dfu 
-	# python $(APJTOOL) --image $(BUILD_PATH)/$(BOARD).bin --prototype $(BUILDROOT)/apj.prototype > $(BUILD_PATH)/$(BOARD).apj
-	python $(APJTOOL)   --image $(BUILD_PATH)/$(BOARD).bin --board_id  $(BOARD_TYPE) --board_revision $(BOARD_REV) > $(BUILD_PATH)/$(BOARD).apj
-	dd if=/dev/zero ibs=1k count=64 | tr "\000" "\377" >$(BUILDROOT)/rom.bin
-	dd if=$(BOOTLOADERS)/$(BOOTLOADER).bin of=$(BUILDROOT)/rom.bin conv=notrunc
-	(printf '%02x %02x' "$(BOARD_TYPE)" "$(BOARD_REV)" ) | xxd -r -p - $(BUILDROOT)/board_id.bin
-	dd if=$(BUILDROOT)/board_id.bin of=$(BUILDROOT)/rom.bin obs=1 seek=16368 conv=notrunc
-	(cat $(BUILDROOT)/rom.bin; cat $(BUILD_PATH)/$(BOARD).bin) > $(BUILD_PATH)/$(BOARD)_bl.bin
-	$(TOOLS_PATH)/dfu-convert -b $(BL_ADDRESS):$(BUILDROOT)/rom.bin -b $(FLASH_ADDRESS):$(BUILD_PATH)/$(BOARD).bin $(BUILD_PATH)/$(BOARD)_bl.dfu 
-	$(v)cp $(BUILD_PATH)/$(BOARD).hex .
-	$(v)cp $(BUILD_PATH)/$(BOARD).bin .
-	$(v)cp $(BUILD_PATH)/$(BOARD).dfu .
-	$(v)cp $(BUILD_PATH)/$(BOARD).apj .
-	$(v)cp $(BUILD_PATH)/$(BOARD)_bl.bin .
-	$(v)cp $(BUILD_PATH)/$(BOARD)_bl.dfu .
-	@echo "Object file sizes:"
-	@find $(BUILD_PATH)             -iname "*.o" | xargs $(SIZE) -t >  $(BUILD_PATH)/$(BOARD).sizes
-	cd $(HAL_PATH); find  . -follow -iname "*.o" | xargs $(SIZE) -t >> $(BUILD_PATH)/$(BOARD).sizes
-	@cat $(BUILD_PATH)/$(BOARD).sizes
-	@echo " "
-	@echo "Final Size:"
-	@$(SIZE) $<
-	@echo $(MEMORY_TARGET) > $(BUILD_PATH)/build-type
-
-#
-# Build sketch objects
-#
diff --git a/mk/board_linux.mk b/mk/board_linux.mk
deleted file mode 100644
index 44ce53c898..0000000000
--- a/mk/board_linux.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-TOOLCHAIN = NATIVE
-
-include $(MK_DIR)/find_tools.mk
-
-# Linux build is just the same as SITL for now
-LIBS = -lm -pthread -lrt
-include $(MK_DIR)/board_native.mk
-include $(MK_DIR)/upload_firmware.mk
diff --git a/mk/board_native.mk b/mk/board_native.mk
deleted file mode 100644
index 86fe6e8a63..0000000000
--- a/mk/board_native.mk
+++ /dev/null
@@ -1,146 +0,0 @@
-TOOLCHAIN = NATIVE
-
-include $(MK_DIR)/find_tools.mk
-
-UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
-UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
-
-# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
-EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
-
-EXTRAFLAGS += -DHAVE_ENDIAN_H -DHAVE_BYTESWAP_H
-
-# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
-# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-EXTRAFLAGS += -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr
-
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
-
-#
-# Tool options
-#
-DEFINES         =   -DF_CPU=$(F_CPU)
-DEFINES        +=   -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
-DEFINES        +=   $(EXTRAFLAGS)
-DEFINES        +=   -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE)
-WARNFLAGS       =   -Wall -Wextra -Wformat -Wshadow -Wpointer-arith -Wcast-align \
-                    -Wlogical-op -Wwrite-strings -Wformat=2 -Wno-unused-parameter -Wno-unknown-pragmas -Wno-trigraphs
-WARNFLAGSCXX    = \
-        -Wno-missing-field-initializers \
-        -Wno-reorder \
-        -Werror=format-security \
-        -Werror=array-bounds \
-        -Werror=unused-but-set-variable \
-        -Werror=uninitialized \
-        -Werror=init-self \
-        -Wfatal-errors \
-        -Wundef \
-        -Wno-unknown-warning-option \
-        -Wno-trigraphs
-DEPFLAGS        =   -MD -MP -MT $@
-
-CXXOPTS         =   -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
-COPTS           =   -ffunction-sections -fdata-sections -fsigned-char
-
-ASOPTS          =   -x assembler-with-cpp 
-
-# features: TODO detect dependecy and make them optional
-HAVE_LTTNG_UST=
-
-ifeq ($(HAVE_LTTNG_UST),1)
-DEFINES        += -DHAVE_LTTNG_UST=1
-LIBS           += -llttng-ust -ldl
-endif
-
-# disable as this breaks distcc
-#ifneq ($(SYSTYPE),Darwin)
-#LISTOPTS        =   -adhlns=$(@:.o=.lst)
-#endif
-
-CPUFLAGS     = -D_GNU_SOURCE
-CPULDFLAGS   = -g
-OPTFLAGS     ?= -O3 -g
-
-CXXFLAGS        =   -g $(CPUFLAGS) $(DEFINES) $(OPTFLAGS)
-CXXFLAGS       +=   -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
-CFLAGS          =   -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
-CFLAGS         +=   $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
-ASFLAGS         =   -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(DEPFLAGS)
-ASFLAGS        +=   $(ASOPTS)
-LDFLAGS         =   -g $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS)
-
-ifneq ($(SYSTYPE),Darwin)
-LDFLAGS        +=   -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
-endif
-
-LIBS ?= -lm -pthread
-
-ifneq ($(SYSTYPE),Darwin)
-LIBS += -lrt
-endif
-ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
-LIBS += -lwinmm
-endif
-
-ifeq ($(VERBOSE),)
-v = @
-else
-v =
-endif
-
-# Library object files
-LIBOBJS			:=	$(SKETCHLIBOBJS)
-
-
-################################################################################
-# Built products
-#
-
-# The ELF file
-SKETCHELF		=	$(BUILDROOT)/$(SKETCH).elf
-BUILDELF                =       $(notdir $(SKETCHELF))
-
-# HEX file
-SKETCHHEX		=	$(BUILDROOT)/$(SKETCH).hex
-
-# EEP file
-SKETCHEEP		=	$(BUILDROOT)/$(SKETCH).eep
-
-# Map file
-SKETCHMAP		=	$(BUILDROOT)/$(SKETCH).map
-
-# All of the objects that may be built
-ALLOBJS			=	$(SKETCHOBJS) $(LIBOBJS)
-
-# All of the dependency files that may be generated
-ALLDEPS			=	$(ALLOBJS:%.o=%.d)
-
-################################################################################
-# Targets
-#
-
-all: $(SKETCHELF)
-
-print-%:
-	echo "$*=$($*)"
-
-################################################################################
-# Rules
-#
-
-# fetch dependency info from a previous build if any of it exists
--include $(ALLDEPS)
-
-# Link the final object
-$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
-	@echo "Building $(SKETCHELF)"
-	$(RULEHDR)
-	$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
-	$(v)cp $(SKETCHELF) .
-	@echo "Firmware is in $(BUILDELF)"
-
-SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
-SLIB_INCLUDES	=	-I$(dir $<)/utility $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
-
-include $(MK_DIR)/build_rules.mk
diff --git a/mk/board_px4.mk b/mk/board_px4.mk
deleted file mode 100644
index 4a38c0fc17..0000000000
--- a/mk/board_px4.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-TOOLCHAIN = NATIVE
-include $(MK_DIR)/find_tools.mk
-include $(MK_DIR)/px4_targets.mk
diff --git a/mk/board_vrbrain.mk b/mk/board_vrbrain.mk
deleted file mode 100644
index 31890d4f15..0000000000
--- a/mk/board_vrbrain.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-TOOLCHAIN = NATIVE
-include $(MK_DIR)/find_tools.mk
-include $(MK_DIR)/vrbrain_targets.mk
diff --git a/mk/build_rules.mk b/mk/build_rules.mk
deleted file mode 100644
index ec24899d1f..0000000000
--- a/mk/build_rules.mk
+++ /dev/null
@@ -1,36 +0,0 @@
-
-#
-# Build sketch objects
-#
-
-$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
-	$(RULEHDR)
-	$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
-
-$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
-	$(RULEHDR)
-	$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
-
-$(BUILDROOT)/%.o: $(SRCROOT)/%.c $(UAVCAN_HEADERS)
-	$(RULEHDR)
-	$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
-
-$(BUILDROOT)/%.o: $(SRCROOT)/%.S
-	$(RULEHDR)
-	$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
-
-#
-# Build library objects from sources in the sketchbook
-#
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
-	$(RULEHDR)
-	$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
-	$(RULEHDR)
-	$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
-	$(RULEHDR)
-	$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
diff --git a/mk/configure.mk b/mk/configure.mk
deleted file mode 100644
index 1c265d0481..0000000000
--- a/mk/configure.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-configure:
-	@echo "make configure is no longer required"
diff --git a/mk/environ.mk b/mk/environ.mk
deleted file mode 100644
index 68b0e5d362..0000000000
--- a/mk/environ.mk
+++ /dev/null
@@ -1,163 +0,0 @@
-# find key paths and system type
-
-# Save the system type for later use.
-#
-SYSTYPE			:=	$(shell uname)
-
-GIT_VERSION ?= $(shell git rev-parse HEAD | cut -c1-8)
-EXTRAFLAGS += -DGIT_VERSION="\"$(GIT_VERSION)\""
-
-# Add missing parts from libc and libstdc++ for all boards
-EXTRAFLAGS += -I$(SKETCHBOOK)/libraries/AP_Common/missing
-
-# force LANG to C so awk works sanely on MacOS
-export LANG=C
-
-#
-# Locate the sketch sources based on the initial Makefile's path
-#
-SRCROOT			:=	$(realpath $(dir $(firstword $(MAKEFILE_LIST))))
-ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
-  # Workaround a $(realpath ) bug on cygwin
-  ifeq ($(SRCROOT),)
-    SRCROOT	:=	$(shell cygpath -m ${CURDIR})
-    $(warning your realpath function is not working)
-    $(warning > setting SRCROOT to $(SRCROOT))
-  endif
-endif
-
-#
-# We need to know the location of the sketchbook.  If it hasn't been overridden,
-# try the parent of the current directory.  If there is no libraries directory
-# there, assume that we are in a library's examples directory and try backing up
-# further.
-#
-ifeq ($(SKETCHBOOK),)
-  SKETCHBOOK		:=	$(shell cd $(SRCROOT)/.. && pwd)
-  ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
-    $(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
-  endif
-else
-  ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
-    $(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
-  endif
-endif
-ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
-    # Convert cygwin path into a windows normal path
-    SKETCHBOOK	:= $(shell cygpath ${SKETCHBOOK})
-endif
-
-ifneq ($(wildcard $(SKETCHBOOK)/config.mk),)
-$(info Reading $(SKETCHBOOK)/config.mk)
-include $(SKETCHBOOK)/config.mk
-endif
-
-ifneq ($(wildcard $(SKETCHBOOK)/developer.mk),)
-$(info Reading $(SKETCHBOOK)/developer.mk)
-include $(SKETCHBOOK)/developer.mk
-endif
-
-#
-# Work out the sketch name from the name of the source directory.
-#
-SKETCH			:=	$(lastword $(subst /, ,$(SRCROOT)))
-# Workaround a $(lastword ) bug on cygwin
-ifeq ($(SKETCH),)
-  WORDLIST		:=	$(subst /, ,$(SRCROOT))
-  SKETCH		:=	$(word $(words $(WORDLIST)),$(WORDLIST))
-endif
-
-#
-# Work out where we are going to be building things
-#
-TMPDIR			?=	/tmp
-
-ifneq ($(findstring px4, $(MAKECMDGOALS)),)
-# when building px4 we need all sources to be inside the sketchbook directory
-# as the NuttX build system relies on it
-BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
-endif
-
-ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
-# when building vrbrain we need all sources to be inside the sketchbook directory
-# as the NuttX build system relies on it
-BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
-endif
-
-ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
-# when building vrbrain we need all sources to be inside the sketchbook directory
-# as the NuttX build system relies on it
-BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
-endif
-
-ifneq ($(findstring vrcore, $(MAKECMDGOALS)),)
-# when building vrcore we need all sources to be inside the sketchbook directory
-# as the NuttX build system relies on it
-BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
-endif
-
-ifeq ($(BUILDROOT),)
-BUILDROOT		:=	$(abspath $(TMPDIR)/$(SKETCH).build)
-endif
-
-ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
-  # Workaround a $(abspath ) bug on cygwin
-  ifeq ($(BUILDROOT),)
-    BUILDROOT	:=	C:$(TMPDIR)/$(SKETCH).build
-    $(warning your abspath function is not working)
-    $(warning > setting BUILDROOT to $(BUILDROOT))
-  else
-    BUILDROOT	:=	$(shell cygpath ${BUILDROOT})
-  endif
-endif
-
-ifneq ($(findstring mavlink1, $(MAKECMDGOALS)),)
-EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=1
-MAVLINK_SUBDIR=v1.0
-MAVLINK_WIRE_PROTOCOL=1.0
-else
-EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=2
-MAVLINK_SUBDIR=v2.0
-MAVLINK_WIRE_PROTOCOL=2.0
-endif
-
-ifneq ($(APPDIR),)
-# this is a recusive PX4 build
-HAL_BOARD = HAL_BOARD_PX4
-endif
-
-# handle target based overrides for board type
-ifneq ($(findstring px4, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_PX4
-endif
-
-ifneq ($(findstring sitl, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_SITL
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
-
-ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_VRBRAIN
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
-
-ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_VRBRAIN
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
-
-ifneq ($(findstring vrcore, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_VRBRAIN
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
-
-ifneq ($(findstring f4light, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_F4LIGHT
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
-
-# default to SITL
-ifeq ($(HAL_BOARD),)
-HAL_BOARD = HAL_BOARD_SITL
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
-endif
diff --git a/mk/find_tools.mk b/mk/find_tools.mk
deleted file mode 100644
index f08b1c77c9..0000000000
--- a/mk/find_tools.mk
+++ /dev/null
@@ -1,68 +0,0 @@
-################################################################################
-# Tools
-#
-
-#
-# Decide where we are going to look for tools
-#
-ifeq ($(SYSTYPE),Darwin)
-  # use the tools that come with Arduino
-  # use BWK awk
-  AWK =  awk
-  FIND_TOOL    =  $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
-endif
-ifeq ($(SYSTYPE),Linux)
-  # expect that tools are on the path
-  TOOLPATH :=  $(subst :, ,$(PATH))
-  FIND_TOOL    =  $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
-endif
-ifeq ($(findstring CYGWIN, $(SYSTYPE)),CYGWIN)
-  TOOLPATH :=  $(subst :, ,$(PATH))
-  FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
-endif
-ifeq ($(findstring MINGW, $(SYSTYPE)),MINGW)
-  # expect that tools are on the path
-  TOOLPATH :=  $(subst :, ,$(PATH))
-  FIND_TOOL    =  $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
-endif
-
-NATIVE_CXX     :=  g++
-NATIVE_CC      :=  gcc
-NATIVE_AS      :=  gcc
-NATIVE_AR      :=  ar
-NATIVE_LD      :=  g++
-NATIVE_GDB     :=  gdb
-NATIVE_OBJCOPY :=  objcopy
-
-AVARICE      :=  $(call FIND_TOOL,avarice)
-
-# enable ccache if installed
-CCACHE :=  $(call FIND_TOOL,ccache)
-export CCACHE
-
-# toolchain used for sitl-arm
-RPI_CXX     :=  arm-linux-gnueabihf-g++
-RPI_CC      :=  arm-linux-gnueabihf-gcc
-RPI_AS      :=  arm-linux-gnueabihf-gcc
-RPI_AR      :=  arm-linux-gnueabihf-ar
-RPI_LD      :=  arm-linux-gnueabihf-g++
-RPI_GDB     :=  arm-linux-gnueabihf-gdb
-RPI_OBJCOPY :=  arm-linux-gnueabihf-obj
-
-CXX = $(CCACHE) $($(TOOLCHAIN)_CXX)
-CC = $(CCACHE) $($(TOOLCHAIN)_CC)
-AS = $($(TOOLCHAIN)_AS)
-AR = $($(TOOLCHAIN)_AR)
-LD = $($(TOOLCHAIN)_LD)
-GDB = $($(TOOLCHAIN)_GDB)
-OBJCOPY = $($(TOOLCHAIN)_OBJCOPY)
-
-ifeq ($(CXX),)
-$(error ERROR: cannot find the compiler tools for $(TOOLCHAIN) anywhere on the path $(TOOLPATH))
-endif
-
-# Find awk
-AWK			?=	gawk
-ifeq ($(shell which $(AWK)),)
-$(error ERROR: cannot find $(AWK) - you may need to install GNU awk)
-endif
diff --git a/mk/help.mk b/mk/help.mk
deleted file mode 100644
index a7b3b59ac8..0000000000
--- a/mk/help.mk
+++ /dev/null
@@ -1,32 +0,0 @@
-help:
-	@echo ""
-	@echo " ArduPilot Building"
-	@echo " =================="
-	@echo ""
-	@echo " The following web page has detailed information on building the code"
-	@echo "     http://dev.ardupilot.org/wiki/building-the-code/"
-	@echo ""
-	@echo " Linux boards should use waf build system"
-	@echo ""
-	@echo " Before building a target you need to be in the target vehicle type directory"
-	@echo " e.g. ArduPlane, ArduCopter, APMrover2, AntennaTracker"
-	@echo ""
-	@echo " Most targets support a \"-upload\" extension to upload the firmware"
-	@echo " to a connected board.  e.g. \"make px4-v2-upload\""
-	@echo ""
-	@echo " Some targets support a \"-debug\" extension to enable a debug build"
-	@echo " (with debug symbols, and without optimisation)"
-	@echo ""
-	@echo " Note that the px4 builds are NOT parallel safe, NO -j flag"
-	@echo ""
-	@echo ""
-	@echo " Targets"
-	@echo " -------"
-	@echo ""
-	@echo "  px4-v1 - the PX4v1 board"
-	@echo "  px4-v2 - the Pixhawk"
-	@echo "  px4-v3 - the Pixhawk with 2M flash"
-	@echo "  px4-v4 - the XRacer"
-	@echo "  vrbrain - the VRBrain boards"
-	@echo "  sitl - the SITL Software In The Loop simulation"
-	@echo "  f4light - the OpenPilot Revolution, Revolution Mini, AirbotF4 and similar boards"
diff --git a/mk/mavgen.mk b/mk/mavgen.mk
deleted file mode 100644
index 610ec9a18b..0000000000
--- a/mk/mavgen.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-
-# mavlink header generation
-MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
-MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
-MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega/mavlink.h $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/,*.h) $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega,*.h)
-MAVLINK_OUTPUT_DIR := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)
-
-$(MAVLINK_HEADERS): $(MESSAGE_DEFINITIONS)/ardupilotmega.xml $(MESSAGE_DEFINITIONS)/common.xml
-	echo "Generating MAVLink headers..."
-	#goto mavlink module directory and run the most recent generator script
-	echo "Generating C code using mavgen.py located at" $(SKETCHBOOK)/modules/mavlink/
-	PYTHONPATH=$(MAVLINK_DIR) python $(MAVLINK_DIR)/pymavlink/tools/mavgen.py --lang=C --wire-protocol=$(MAVLINK_WIRE_PROTOCOL) --output=$(MAVLINK_OUTPUT_DIR) $(MESSAGE_DEFINITIONS)/ardupilotmega.xml; if [ $$? -le 0 -o $$? -gt 128 ]; then echo "mavgen: success"; exit 0; else echo "mavgen: failed"; exit 1; fi
diff --git a/mk/modules.mk b/mk/modules.mk
deleted file mode 100644
index 280841dc15..0000000000
--- a/mk/modules.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-
-# git submodule support
-
-define echowarning
-@echo "WARNING: $1" >&2
-endef
-
-define echoallwarnings
-	$(call echowarning)
-	$(call echowarning)
-	$(call echowarning,make build system is deprecated for Linux boards)
-	$(call echowarning,new features are not going to be added anymore)
-	$(call echowarning,See README-WAF.md: https://github.com/ArduPilot/ardupilot/blob/master/README-WAF.md)
-	$(call echowarning)
-	$(call echowarning,The make build system will soon be removed)
-	$(call echowarning)
-	$(call echowarning)
-endef
-
-CHECK_MODULES:
-	$(if $(BUILDSYS_DEPRECATED),$(call echoallwarnings))
-	$(v)$(MK_DIR)/check_modules.sh
-
-.PHONY: CHECK_MODULES
-all: CHECK_MODULES
-
-module-update:
-	git submodule update
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
deleted file mode 100644
index 9819eeb255..0000000000
--- a/mk/px4_targets.mk
+++ /dev/null
@@ -1,254 +0,0 @@
-# PX4 build is via external build system
-
-ifneq ($(PX4_ROOT),)
-$(error PX4_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
-
-ifneq ($(NUTTX_SRC),)
-$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
-
-#ifneq ($(UAVCAN_DIR),)
-#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-#endif
-
-# these can be overridden in developer.mk
-PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
-PX4NUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
-UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
-
-PX4_ROOT := $(shell cd $(PX4FIRMWARE_DIRECTORY) && pwd)
-NUTTX_ROOT := $(shell cd $(PX4NUTTX_DIRECTORY) && pwd)
-NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
-UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
-
-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="\"$(PX4_GIT_VERSION)\""
-EXTRAFLAGS += -DUAVCAN=1
-EXTRAFLAGS += -D__STDC_FORMAT_MACROS
-
-# Add missing parts from libc and libstdc++
-EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
-EXTRAFLAGS += -DHAVE_ENDIAN_H=0
-EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
-EXTRAFLAGS += -DHAVE_OCLOEXEC=0
-
-EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
-
-# 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
-PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
-PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
-PX4_V4PRO_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4pro_APM.mk
-
-# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
-# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
-
-WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -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 -Wno-trigraphs
-OPTFLAGS = -fsingle-precision-constant
-
-# avoid PX4 submodules
-export GIT_SUBMODULES_ARE_EVIL = 1
-
-PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
-export PYTHONPATH
-
-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=$(CCACHE) archives MAXOPTIMIZATION="-Os"
-
-HASHADDER_FLAGS += --ardupilot "$(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)"
-
-.PHONY: module_mk
-module_mk:
-	$(v) echo "Building $(SKETCHBOOK)/module.mk"
-	$(RULEHDR)
-	$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
-	$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
-	$(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
-
-px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
-	$(v) echo Building px4-v1
-	$(RULEHDR)
-	$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
-	$(v) $(PX4_MAKE) px4fmu-v1_APM
-	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
-	$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
-	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
-
-px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
-	$(v) echo Building px4-v2
-	$(RULEHDR)
-	$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
-	$(PX4_MAKE) px4fmu-v2_APM
-	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
-	$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
-	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
-
-px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
-	$(v) echo Building px4-v3
-	$(RULEHDR)
-	$(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
-	$(PX4_MAKE) px4fmu-v3_APM
-	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v3_APM.build/firmware.elf
-	$(v) cp $(PX4_ROOT)/Images/px4fmu-v3_APM.px4 $(SKETCH)-v3.px4
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4"
-	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4"
-
-px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
-	$(v) echo Building px4-v4
-	$(RULEHDR)
-	$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
-	$(PX4_MAKE) px4fmu-v4_APM
-	$(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) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
-	$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv4_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
-	$(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-v4pro: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4pro.export $(SKETCHCPP) module_mk px4-io-v2
-	$(v) echo Building px4-v4pro
-	$(RULEHDR)
-	$(v) cp $(PX4_V4PRO_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
-	$(PX4_MAKE) px4fmu-v4pro_APM
-	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4pro_APM.build/firmware.elf
-	$(v) cp $(PX4_ROOT)/Images/px4fmu-v4pro_APM.px4 $(SKETCH)-v4pro.px4
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4pro.px4" "$(SKETCH)-v4pro.px4"
-	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4pro.px4"
-
-# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
-# when these were allowed to happen in parallel
-px4:
-	$(MAKE) px4-v1
-	$(MAKE) px4-v2
-	$(MAKE) px4-v3
-	$(MAKE) px4-v4
-	$(MAKE) px4-v4pro
-
-px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
-	$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
-	$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
-	$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
-	$(v) /bin/rm -f $(SRCROOT)/*.o
-
-px4-cleandep: clean
-	$(v) mkdir -p $(PX4_ROOT)/Build
-	$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
-	$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
-	$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
-	$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
-
-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;
-
-px4-v1-upload: px4-v1
-	$(RULEHDR)
-	$(v) $(PX4_MAKE) px4fmu-v1_APM upload
-
-px4-v2-upload: px4-v2
-	$(RULEHDR)
-	$(v) $(PX4_MAKE) px4fmu-v2_APM upload
-
-px4-v3-upload: px4-v3
-	$(RULEHDR)
-	$(v) $(PX4_MAKE) px4fmu-v3_APM upload
-
-px4-v4-upload: px4-v4
-	$(RULEHDR)
-	$(v) $(PX4_MAKE) px4fmu-v4_APM upload
-
-px4-v4pro-upload: px4-v4pro
-	$(RULEHDR)
-	$(v) $(PX4_MAKE) px4fmu-v4pro_APM upload	
-
-px4-upload: px4-v1-upload
-
-px4-archives-clean:
-	$(v) /bin/rm -rf $(PX4_ROOT)/Archives
-
-px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
-	$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default EXTRADEFINES="-DARDUPILOT_BUILD"
-	$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
-	$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
-	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
-	$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
-	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
-	$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
-	$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin"
-
-
-px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
-	$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default EXTRADEFINES="-DARDUPILOT_BUILD"
-	$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
-	$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
-	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
-	$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
-	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
-	$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
-	$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin"
-
-px4-io: px4-io-v1 px4-io-v2
-
-# These targets can't run in parallel because they all need to generate a tool
-# to generate the config.h inside them. This could trigger races if done in
-# parallel, trying to generate the tool and replacing it while the header is already
-# being generated
-#
-# We could serialize inside PX4Firmware, but it's easier to serialize here
-# while maintaining the rest of the build parallelized
-
-.NOTPARALLEL: \
-	$(PX4_ROOT)/Archives/px4fmu-v1.export \
-	$(PX4_ROOT)/Archives/px4fmu-v2.export \
-	$(PX4_ROOT)/Archives/px4fmu-v3.export \
-	$(PX4_ROOT)/Archives/px4fmu-v4.export \
-	$(PX4_ROOT)/Archives/px4fmu-v4pro.export \
-	$(PX4_ROOT)/Archives/px4io-v1.export \
-	$(PX4_ROOT)/Archives/px4io-v2.export
-
-$(PX4_ROOT)/Archives/px4fmu-v1.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
-
-$(PX4_ROOT)/Archives/px4fmu-v2.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
-
-$(PX4_ROOT)/Archives/px4fmu-v3.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v3"
-
-$(PX4_ROOT)/Archives/px4fmu-v4.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
-
-$(PX4_ROOT)/Archives/px4fmu-v4pro.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4pro"
-
-$(PX4_ROOT)/Archives/px4io-v1.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
-
-$(PX4_ROOT)/Archives/px4io-v2.export:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
-
-px4-archives:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4 px4fmu-v4pro"
diff --git a/mk/sketch_sources.mk b/mk/sketch_sources.mk
deleted file mode 100644
index c212202bbf..0000000000
--- a/mk/sketch_sources.mk
+++ /dev/null
@@ -1,105 +0,0 @@
-################################################################################
-# Sketch
-#
-
-SRCSUFFIXES = *.cpp
-
-MAKE_INC=$(wildcard $(SRCROOT)/make.inc)
-ifeq (,$(MAKE_INC))
-$(error You must have a make.inc file to list library dependencies)
-endif
-
-GLOBAL_MAKE_INC=$(wildcard $(SKETCHBOOK)/mk/make.inc)
-ifeq (,$(GLOBAL_MAKE_INC))
-$(error You must have a make.inc in mk/ directory)
-endif
-
-# Sketch source files
-SKETCHSRCS     := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
-SKETCHCPP      := $(SRCROOT)/$(SKETCH).cpp
-
-# Sketch object files
-SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS))
-SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
-
-# get list of libraries from make.inc
-include $(MAKE_INC)
-include $(GLOBAL_MAKE_INC)
-LIBTOKENS := $(LIBRARIES)
-
-
-# HAL and board specific libraries are included here.
-LIBTOKENS += \
-	AP_HAL \
-	AP_HAL_Empty
-
-ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
-LIBTOKENS += \
-	AP_HAL_APM
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
-LIBTOKENS += \
-	AP_HAL_APM
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
-LIBTOKENS += \
-	AP_HAL_SITL \
-	SITL
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
-LIBTOKENS += \
-	AP_HAL_Linux
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
-LIBTOKENS += \
-	AP_HAL_PX4
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
-LIBTOKENS += \
-	AP_HAL_VRBRAIN
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
-LIBTOKENS += \
-	AP_HAL_F4Light
-endif
-
-#
-# Find sketchbook libraries referenced by the sketch.
-#
-# Include paths for sketch libraries 
-#
-SKETCHLIBS		:=	$(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
-SKETCHLIBNAMES		:=	$(notdir $(SKETCHLIBS))
-SKETCHLIBSRCDIRS	:=	$(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
-SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
-SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
-SKETCHLIBINCLUDES	:=	-I$(SKETCHBOOK)/libraries/ -I$(BUILDROOT)/libraries/ -I$(BUILDROOT)/libraries/GCS_MAVLink/
-SKETCHLIBSRCSRELATIVE	:=	$(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
-
-ifeq ($(VERBOSE),)
-v = @
-else
-v =
-endif
-
-FORCE:
-
-$(BUILDROOT)/make.flags: FORCE
-	@mkdir -p $(BUILDROOT)
-	@echo "// BUILDROOT=$(BUILDROOT) HAL_BOARD=$(HAL_BOARD) HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) TOOLCHAIN=$(TOOLCHAIN) EXTRAFLAGS=$(EXTRAFLAGS)" > $(BUILDROOT)/make.flags.new
-	@cmp $(BUILDROOT)/make.flags $(BUILDROOT)/make.flags.new > /dev/null 2>&1 || rm -f $(SRCROOT)/*.o
-	@cmp $(BUILDROOT)/make.flags $(BUILDROOT)/make.flags.new > /dev/null 2>&1 || mv $(BUILDROOT)/make.flags.new $(BUILDROOT)/make.flags
-	@rm -f $(BUILDROOT)/make.flags.new
-	@cat $(BUILDROOT)/make.flags
-
-# common header for rules, prints what is being built
-define RULEHDR
-	@echo %% $(subst $(BUILDROOT)/,,$@)
-	@mkdir -p $(dir $@)
-endef
diff --git a/mk/targets.mk b/mk/targets.mk
deleted file mode 100644
index 64798ac567..0000000000
--- a/mk/targets.mk
+++ /dev/null
@@ -1,86 +0,0 @@
-default: help
-
-# convenient targets for our supported boards
-sitl: HAL_BOARD = HAL_BOARD_SITL
-sitl: TOOLCHAIN = NATIVE
-sitl: all
-
-sitl-arm: HAL_BOARD = HAL_BOARD_SITL
-sitl-arm: TOOLCHAIN = RPI
-sitl-arm: all
-
-apm1 apm1-1280 apm2 apm2beta:
-	$(error $@ is deprecated on master branch; use master-AVR)
-
-flymaple flymaple-hil:
-	$(error $@ is deprecated on master branch; use master-AVR)
-
-f4light: HAL_BOARD = HAL_BOARD_F4LIGHT
-f4light: TOOLCHAIN = ARM
-f4light: all
-
-# cope with HIL targets
-%-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
-%-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
-
-# cope with OBC targets
-%-obc: EXTRAFLAGS += "-DOBC_FAILSAFE=ENABLED "
-
-# support debug build
-%-debug: OPTFLAGS = -g -O0
-
-# support address sanitiser
-%-asan: OPTFLAGS = -g -O0 -fsanitize=address -fno-omit-frame-pointer
-%-asan: LDFLAGS += -fsanitize=address
-
-# cope with copter and hil targets
-FRAMES = heli
-BOARDS = apm1 apm2 apm2beta apm1-1280 px4-v1 px4-v2 px4-v3 px4-v4 px4-v4pro sitl flymaple
-BOARDS += vrbrain
-BOARDS += vrbrain-v51 vrbrain-v52 vrbrain-v52E vrbrain-v54
-BOARDS += vrcore-v10
-BOARDS += vrubrain-v51 vrubrain-v52
-
-define frame_template
-$(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "
-$(1)-$(2) : $(1)
-$(1)-$(2)-hil : $(1)-$(2)
-$(1)-$(2)-debug : $(1)-$(2)
-$(1)-$(2)-mavlink1 : $(1)-$(2)
-$(1)-$(2)-debug-mavlink1 : $(1)-$(2)
-$(1)-$(2)-hilsensors : $(1)-$(2)
-$(1)-$(2)-upload : $(1)-$(2)
-$(1)-$(2)-upload : $(1)-upload
-endef
-
-define board_template
-$(1)-hil : $(1)
-$(1)-debug : $(1)
-$(1)-mavlink1 : $(1)
-$(1)-debug-mavlink1 : $(1)-debug
-$(1)-asan : $(1)
-$(1)-hilsensors : $(1)
-endef
-
-USED_BOARDS := $(foreach board,$(BOARDS), $(findstring $(board), $(MAKECMDGOALS)))
-USED_FRAMES := $(foreach frame,$(FRAMES), $(findstring $(frame), $(MAKECMDGOALS)))
-
-# generate targets of the form BOARD-FRAME and BOARD-FRAME-HIL
-$(foreach board,$(USED_BOARDS),$(eval $(call board_template,$(board))))
-$(foreach board,$(USED_BOARDS),$(foreach frame,$(USED_FRAMES),$(eval $(call frame_template,$(board),$(frame)))))
-
-sitl-mount: EXTRAFLAGS += "-DMOUNT=ENABLED"
-sitl-mount: sitl
-
-.PHONY: etags
-etags:
-	cd .. && etags -f ArduCopter/TAGS --lang=c++ $$(git ls-files ArduCopter libraries)
-	cd .. && etags -f ArduPlane/TAGS --lang=c++ $$(git ls-files ArduPlane libraries)
-	cd .. && etags -f APMrover2/TAGS --lang=c++ $$(git ls-files APMrover2 libraries)
-
-clean:
-	@rm -fr $(BUILDROOT)
-
-include $(MK_DIR)/modules.mk
-include $(MK_DIR)/uavcangen.mk
-include $(MK_DIR)/mavgen.mk
diff --git a/mk/uavcangen.mk b/mk/uavcangen.mk
deleted file mode 100644
index 9237eedd09..0000000000
--- a/mk/uavcangen.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
-
-ifeq ($(UAVCAN_DIRECTORY),)
-UAVCAN_DIRECTORY := $(SKETCHBOOK)/modules/uavcan
-endif
-
-UAVCAN_GEN     := $(UAVCAN_DIRECTORY)/libuavcan/include/#$(BUILDROOT)/modules/uavcan/
-UAVCAN_GEN_INC := $(UAVCAN_GEN)dsdlc_generated/
-UAVCAN_HEADERS := $(UAVCAN_GEN_INC)/uavcan/Timestamp.hpp $(wildcard $(UAVCAN_GEN_INC),*.hpp)
-UAVCAN_DSDL_MESSAGE_DEFINITIONS := $(wildcard $(UAVCAN_DIRECTORY)/dsdl/uavcan/,*.uavcan) # $(UAVCAN_DIRECTORY)/dsdl/uavcan/Timestamp.uavcan 
-
-UAVCANgen: $(UAVCAN_HEADERS)
-
-$(UAVCAN_HEADERS): $(UAVCAN_DSDL_MESSAGE_DEFINITIONS)
-	@echo "Generating UAVCAN headers..."
-
-#	PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py build
-#	PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/ python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py install
-
-	PYTHONPATH=$(UAVCAN_DIRECTORY)/libuavcan/ python $(UAVCAN_DIRECTORY)/libuavcan/dsdl_compiler/libuavcan_dsdlc "$(UAVCAN_DIRECTORY)/dsdl/uavcan" -O"$(UAVCAN_GEN_INC)"
diff --git a/mk/upload_firmware.mk b/mk/upload_firmware.mk
deleted file mode 100644
index dd2409621c..0000000000
--- a/mk/upload_firmware.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-ifneq ($(BOARD_LINUX_HOST),)
-upload: $(SKETCHELF).timestamp-upload
-
-$(SKETCHELF).timestamp-upload: $(SKETCHELF)
-	scp $(SKETCHELF) $(BOARD_LINUX_HOST):
-	touch $@
-else
-upload:
-	@echo Check your config.mk: BOARD_LINUX_HOST should be defined to upload firmware
-	exit 1
-endif
diff --git a/mk/vrbrain_targets.mk b/mk/vrbrain_targets.mk
deleted file mode 100644
index 76d256c4aa..0000000000
--- a/mk/vrbrain_targets.mk
+++ /dev/null
@@ -1,319 +0,0 @@
-# VRBRAIN build is via external build system
-
-ifneq ($(VRBRAIN_ROOT),)
-$(error VRBRAIN_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
-
-ifneq ($(NUTTX_SRC),)
-$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
-
-#ifneq ($(UAVCAN_DIR),)
-#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-#endif
-
-# these can be overridden in developer.mk
-VRBRAINFIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
-VRBRAINNUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
-UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
-
-VRBRAIN_ROOT := $(shell cd $(VRBRAINFIRMWARE_DIRECTORY) && pwd)
-NUTTX_ROOT := $(shell cd $(VRBRAINNUTTX_DIRECTORY) && pwd)
-NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
-UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
-
-NUTTX_GIT_VERSION ?= $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
-PX4_GIT_VERSION   ?= $(shell cd $(VRBRAIN_ROOT) && git rev-parse HEAD | cut -c1-8)
-
-EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
-EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
-EXTRAFLAGS += -DUAVCAN=1
-EXTRAFLAGS += -D__STDC_FORMAT_MACROS
-
-# Add missing parts from libc and libstdc++
-EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
-EXTRAFLAGS += -DHAVE_ENDIAN_H=0
-EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
-EXTRAFLAGS += -DHAVE_OCLOEXEC=0
-
-EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
-EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
-
-VRBRAIN_MK_DIR=$(MK_DIR)/VRBRAIN
-
-# we have different config files for vrbrain-v51, vrbrain-v52, vrbrain-v54, vrcore-v10, vrubrain-v51, vrubrain-v52
-VRBRAIN_V51_CONFIG_FILE=config_vrbrain-v51_APM.mk
-VRBRAIN_V52_CONFIG_FILE=config_vrbrain-v52_APM.mk
-VRBRAIN_V52E_CONFIG_FILE=config_vrbrain-v52E_APM.mk
-VRBRAIN_V54_CONFIG_FILE=config_vrbrain-v54_APM.mk
-VRCORE_V10_CONFIG_FILE=config_vrcore-v10_APM.mk
-VRUBRAIN_V51_CONFIG_FILE=config_vrubrain-v51_APM.mk
-VRUBRAIN_V52_CONFIG_FILE=config_vrubrain-v52_APM.mk
-
-# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
-# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
-
-WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -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 -Wno-trigraphs
-OPTFLAGS = -fsingle-precision-constant
-
-# avoid VRBRAIN submodules
-export GIT_SUBMODULES_ARE_EVIL = 1
-
-PYTHONPATH=$(VRBRAIN_ROOT)/Tools/genmsg/src:$(VRBRAIN_ROOT)/Tools/gencpp/src
-export PYTHONPATH
-
-VRBRAIN_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) VRBRAIN_ROOT=$(VRBRAIN_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
-VRBRAIN_MAKE_ARCHIVES = $(MAKE) -C $(VRBRAIN_ROOT) -f $(VRBRAIN_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
-
-HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
-
-ifneq ($(wildcard $(VRBRAIN_ROOT)),)
-HASHADDER_FLAGS += --px4 "$(VRBRAIN_ROOT)"
-endif
-ifneq ($(wildcard $(NUTTX_SRC)/..),)
-HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
-endif
-HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
-
-.PHONY: module_mk
-module_mk:
-	$(v) echo "Building $(SKETCHBOOK)/module.mk"
-	$(RULEHDR)
-	$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
-	$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "SRCS = $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp)) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
-	$(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
-
-vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrbrain-v51
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrbrain-v51.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v51_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.px4 $(SKETCH)-vrbrain-v51.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v51.vrx" "$(SKETCH)-vrbrain-v51.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx"
-
-vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrbrain-v52
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrbrain-v52_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrbrain-v52.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52_APM.px4 $(SKETCH)-vrbrain-v52.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52.vrx" "$(SKETCH)-vrbrain-v52.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52.vrx"
-
-vrbrain-v52E: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrbrain-v52E
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52E_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrbrain-v52E_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrbrain-v52E.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52E_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52E_APM.px4 $(SKETCH)-vrbrain-v52E.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52E.vrx" "$(SKETCH)-vrbrain-v52E.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52E.vrx"
-
-vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v54.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrbrain-v54
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V54_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrbrain-v54_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrbrain-v54.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v54_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v54_APM.px4 $(SKETCH)-vrbrain-v54.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v54.vrx" "$(SKETCH)-vrbrain-v54.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v54.vrx"
-
-vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrcore-v10.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrcore-v10
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRCORE_V10_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrcore-v10_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrcore-v10.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrcore-v10_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrcore-v10_APM.px4 $(SKETCH)-vrcore-v10.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrcore-v10.vrx" "$(SKETCH)-vrcore-v10.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrcore-v10.vrx"
-
-vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrubrain-v51
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrubrain-v51.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v51_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.px4 $(SKETCH)-vrubrain-v51.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v51.vrx" "$(SKETCH)-vrubrain-v51.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx"
-
-vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v52.export $(SKETCHCPP) module_mk
-	$(v) echo Building vrubrain-v52
-	$(RULEHDR)
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
-	$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
-	$(v) $(VRBRAIN_MAKE) vrubrain-v52_APM
-	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
-	$(v) rm -f $(SKETCH)-vrubrain-v52.vrx
-	$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v52_APM.build/firmware.elf
-	$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v52_APM.px4 $(SKETCH)-vrubrain-v52.vrx
-	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v52.vrx" "$(SKETCH)-vrubrain-v52.vrx"
-	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v52.vrx"
-	
-# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
-# when these were allowed to happen in parallel
-vrbrainStd:
-	$(MAKE) vrbrain-v51
-	$(MAKE) vrbrain-v52
-	$(MAKE) vrbrain-v52E
-	$(MAKE) vrbrain-v54
-	$(MAKE) vrcore-v10
-	$(MAKE) vrubrain-v51
-vrbrainStdP: 
-vrbrainPro: 
-vrbrainProP: 
-
-vrbrain: vrbrainStd vrbrainStdP vrbrainPro vrbrainProP
-
-vrbrain-clean: clean CHECK_MODULES vrbrain-archives-clean vrbrain-cleandep
-	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build $(VRBRAIN_ROOT)/Images/*.px4 $(VRBRAIN_ROOT)/Images/*.bin
-	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/src/modules/uORB/topics $(VRBRAIN_ROOT)/src/platforms/nuttx/px4_messages
-	$(v) /bin/rm -f $(SRCROOT)/*.o
-
-vrbrain-cleandep: clean
-	$(v) mkdir -p $(VRBRAIN_ROOT)/Build
-	$(v) find $(VRBRAIN_ROOT)/Build -type f -name '*.d' | xargs rm -f
-	$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
-	$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-	
-
-
-vrbrain-archives-clean:
-	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-# These targets can't run in parallel because they all need to generate a tool
-# to generate the config.h inside them. This could trigger races if done in
-# parallel, trying to generate the tool and replacing it while the header is already
-# being generated
-#
-# We could serialize inside PX4Firmware, but it's easier to serialize here
-# while maintaining the rest of the build parallelized
-
-.NOTPARALLEL: \
-	$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export \
-	$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export \
-	$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export \
-	$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export \
-	$(VRBRAIN_ROOT)/Archives/vrcore-v10.export \
-	$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export \
-	$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export
-
-$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v51"
-
-$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52"
-
-$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52E"
-
-$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v54"
-
-$(VRBRAIN_ROOT)/Archives/vrcore-v10.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrcore-v10"
-
-$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v51"
-
-$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export:
-	$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v52"
-
-vrbrain-archives:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="vrbrain-v51 vrbrain-v52 vrbrain-v52E vrbrain-v54 vrcore-v10 vrubrain-v51 vrubrain-v52"
-
-vrbrain-info: module_mk
-	@echo "BUILDROOT                    $(BUILDROOT)"
-	@echo "VRBRAINFIRMWARE_DIRECTORY    $(VRBRAINFIRMWARE_DIRECTORY)"
-	@echo "VRBRAINNUTTX_DIRECTORY       $(VRBRAINNUTTX_DIRECTORY)"
-	@echo "NUTTX_ROOT                   $(NUTTX_ROOT)"
-	@echo "VRBRAIN_ROOT                 $(VRBRAIN_ROOT)"
-	@echo "NUTTX_SRC                    $(NUTTX_SRC)"
-	@echo "SKETCHLIBS                   $(SKETCHLIBS)"
-	@echo "SKETCHLIBNAMES               $(SKETCHLIBNAMES)"
-	@echo "SKETCHLIBSRCDIRS             $(SKETCHLIBSRCDIRS)"
-	@echo "SKETCHLIBSRCS                $(SKETCHLIBSRCS)"
-	@echo "SKETCHLIBOBJS                $(SKETCHLIBOBJS)"
-	@echo "SKETCHLIBINCLUDES            $(SKETCHLIBINCLUDES)"
-	@echo "SKETCHLIBSRCSRELATIVE        $(SKETCHLIBSRCSRELATIVE)"
-	@echo "SRCS                         $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp))"
-	@echo "SRCS                         $(wildcard $(SRCROOT)/*.cpp)"
-	@echo "HASHADDER_FLAGS              $(HASHADDER_FLAGS)"
\ No newline at end of file