Making cmake local to projects.

ArduPlane/CMakeLists.txt

@@ -0,0 +1,73 @@
+set(CMAKE_TOOLCHAIN_FILE cmake/ArduinoToolchain.cmake) # Arduino Toolchain
+
+cmake_minimum_required(VERSION 2.8)
+
+project(ArduPilotMega C CXX)
+
+# set these for release
+set(PROJECT_VERSION_MAJOR "2")
+set(PROJECT_VERSION_MINOR "3")
+set(PROJECT_VERSION_PATCH "3")
+set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+
+# macro path
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../cmake/modules")
+
+# disallow in-source build
+include(MacroEnsureOutOfSourceBuild)
+macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
+Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
+
+# macros
+include(CMakeParseArguments)
+include(APMOption)
+
+# options
+apm_option("APM_PROGRAMMING_PORT" TYPE STRING
+    DESCRIPTION "Programming upload port?"
+    DEFAULT "/dev/ttyUSB0")
+
+apm_option("APM_BOARD" TYPE STRING
+    DESCRIPTION "ArduPilotMega board?" 
+    DEFAULT "mega2560"
+    OPTIONS "mega" "mega2560")
+
+apm_option("APM_PROJECT" TYPE STRING
+    DESCRIPTION "ArduPilotMega project to build?"
+    DEFAULT "ArduPlane"
+    OPTIONS "ArduPlane" "ArduCopter")
+
+include(options.cmake)
+
+# modify flags from default toolchain flags
+set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax")
+
+# build apm project
+set(${APM_PROJECT}_SKETCH ${CMAKE_SOURCE_DIR}/${APM_PROJECT})
+set(${APM_PROJECT}_BOARD ${APM_BOARD})
+set(${APM_PROJECT}_PORT ${APM_PROGRAMMING_PORT})
+generate_arduino_firmware(${APM_PROJECT})
+
+# packaging settings
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.")
+set(CPACK_PACKAGE_VENDOR "DIYDRONES")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com")
+set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
+set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README.txt")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt")
+set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt")
+set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}")
+set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}")
+set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
+set(CPACK_SET_DESTDIR TRUE)
+set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES}
+	/.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$)
+set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+set(CPACK_SOURCE_GENERATOR "ZIP")
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_PACKAGE_NAME "${APM_PROJECT}_${BOARD}_${HIL_MODE}")
+include(CPack)

ArduPlane/options.cmake

@@ -4,12 +4,31 @@
 #option(CLI_SLIDER "Command-line-interface slider support?" OFF)
 #option(APM2 "Build for APM 2.0" OFF)
 
-apm_option("APM_FRAME" TYPE "COMBO"
+# set booleans for project
+foreach(PROJECT_NAME "ArduPlane;ArduCopter")
+    if ("${APM_PROJECT}" STREQUAL "${PROJECT_NAME}")
+        set(IS_${PROJECT_NAME} true) 
+    else()
+        set(IS_${PROJECT_NAME} false) 
+    endif()
+endforeach()
+
+if (IS_ARDUCOPTER)
+endif()
+apm_option("APM_FRAME" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Vehicle type?"
     DEFAULT "PLANE_FRAME"
-    OPTIONS "HELI_FRAME" "HEXA_FRAME" "OCTA_FRAME" "Y6_FRAME")
+    OPTIONS
+        "PLANE FRAME"
+        "HELI_FRAME"
+        "HEXA_FRAME"
+        "OCTA_FRAME"
+        "Y6_FRAME"
+    )
 
-apm_option("GPS_PROTOCOL" TYPE "COMBO"
+apm_option("GPS_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "GPS protocol?"
     DEFAULT "GPS_PROTOCOL_AUTO" 
     OPTIONS 
@@ -23,19 +42,23 @@ apm_option("GPS_PROTOCOL" TYPE "COMBO"
         "GPS_PROTOCOL_SIRF"
         "GPS_PROTOCOL_NMEA")
 
-apm_option("AIRSPEED_SENSOR" TYPE "BOOL"
+apm_option("AIRSPEED_SENSOR" TYPE BOOL
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Enable airspeed sensor?"
     DEFAULT OFF)
 
-apm_option("AIRSPEED_RATIO" TYPE "STRING" ADVANCED
+apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Airspeed ratio?"
     DEFAULT "1.9936")
 
-apm_option("MAGNETOMETER" TYPE "BOOL"
+apm_option("MAGNETOMETER" TYPE BOOL
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Enable airspeed sensor?"
     DEFAULT OFF)
 
-apm_option("MAG_ORIENTATION" TYPE "COMBO" ADVANCED
+apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Magnetometer orientation?" 
     DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
     OPTIONS 
@@ -44,7 +67,8 @@ apm_option("MAG_ORIENTATION" TYPE "COMBO" ADVANCED
         "AP_COMPASS_COMPONENTS_UP_PINS_FORWARD"
         "AP_COMPASS_COMPONENTS_UP_PINS_BACK")
 
-apm_option("HIL_MODE" TYPE "COMBO"
+apm_option("HIL_MODE" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Hardware-in-the-loop- mode?"
     DEFAULT "HIL_MODE_DISABLED"
     OPTIONS 
@@ -52,59 +76,77 @@ apm_option("HIL_MODE" TYPE "COMBO"
         "HIL_MODE_ATTITUDE"
         "HIL_MODE_SENSORS")
 
-apm_option("HIL_PORT" TYPE "COMBO"
+apm_option("HIL_PORT" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Port for Hardware-in-the-loop communication"
     DEFAULT "0"
     OPTIONS "0" "1" "2" "3")
 
-apm_option("HIL_PROTOCOL" TYPE "COMBO"
+apm_option("HIL_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Hardware-in-the-loop protocol?"
     DEFAULT "HIL_PROTOCOL_MAVLINK"
     OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
 
-apm_option("GPS_PROTOCOL" TYPE "COMBO"
+apm_option("GPS_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Ground station protocol?"
     DEFAULT "GCS_PROTOCOL_MAVLINK"
     OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
 
-apm_option("GCS_PORT" TYPE "COMBO" ADVANCED
+apm_option("GCS_PORT" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Ground station port?"
     DESCRIPTION "3"
     OPTIONS "0" "1" "2" "3")
 
-apm_option("MAV_SYSTEM_ID" TYPE "STRING" ADVANCED
+apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "MAVLink System ID?"
     DESCRIPTION "1")
 
-apm_option("SERIAL0_BAUD" TYPE "COMBO" ADVANCED
+apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Serial 0 baudrate?"
     DEFAULT "115200" 
     OPTIONS "57600" "115200") 
 
-apm_option("SERIAL3_BAUD" TYPE "COMBO" ADVANCED
+apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Serial 3 baudrate?"
     DEFAULT "57600" 
     OPTIONS "57600" "115200") 
 
-apm_option("BATTERY_EVENT" TYPE "BOOL" ADVANCED
+apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Enable low voltage/ high discharge warnings?"
     DEFAULT OFF)
 
-apm_option("LOW_VOLTAGE" TYPE "STRING" ADVANCED
+apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Voltage to consider low (volts)?"
     DEFAULT "9.6")
 
-apm_option("VOLT_DIV_RATIO" TYPE "STRING" ADVANCED
+apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Voltage division ratio?"
     DEFAULT "3.56")
 
-apm_option("CUR_AMPS_PER_VOLT" TYPE "STRING" ADVANCED
+apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
     DESCRIPTION "Current amps/volt?"
     DEFAULT "27.32")
 
-apm_option("CUR_AMPS_PER_VOLT" TYPE "STRING" ADVANCED
+apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
-    DESCRIPTION "Current amps/volt?"
+    DEPENDS IS_ARDUPLANE
-    DEFAULT "27.32")
+    DESCRIPTION "Current amps offset?"
+    DEFAULT "0.0")
+
+apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Current amps offset?"
+    DEFAULT "0.0")
+
 
 #set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?")
 #set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?")

CMakeLists.txt

@@ -24,23 +24,21 @@ include(CMakeParseArguments)
 include(APMOption)
 
 # options
-apm_option("APM_PROGRAMMING_PORT" TYPE "STRING"
+apm_option("APM_PROGRAMMING_PORT" TYPE STRING
     DESCRIPTION "Programming upload port?"
     DEFAULT "/dev/ttyUSB0")
 
-apm_option("APM_BOARD" TYPE "COMBO"
+apm_option("APM_BOARD" TYPE STRING
     DESCRIPTION "ArduPilotMega board?" 
     DEFAULT "mega2560"
     OPTIONS "mega" "mega2560")
 
-apm_option("APM_PROJECT" TYPE "COMBO"
+apm_option("APM_PROJECT" TYPE STRING
     DESCRIPTION "ArduPilotMega project to build?"
     DEFAULT "ArduPlane"
     OPTIONS "ArduPlane" "ArduCopter")
 
-if(APM_PROJECT STREQUAL "ArduPlane")
+include(cmake/options-ArduPlane.cmake)
-    include(cmake/options-ArduPlane.cmake)
-endif()
 
 # modify flags from default toolchain flags
 set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")

cmake/modules/APMOption.cmake

@@ -1,27 +1,36 @@
-macro(apm_option NAME)
+function(apm_option NAME)
     cmake_parse_arguments(ARG
         "ADVANCED"
-        "TYPE;DESCRIPTION;DEFAULT" "OPTIONS" ${ARGN})
+        "TYPE;DESCRIPTION;DEFAULT" "OPTIONS;DEPENDS" ${ARGN})
 
-    if ("${ARG_TYPE}" STREQUAL "BOOL")
+    #message(STATUS "parsing argument: ${NAME}")
-        set("${NAME}" "${ARG_DEFAULT}" CACHE BOOL "${ARG_DESCRIPTION}") 
-    elseif ( ("${ARG_TYPE}" STREQUAL "STRING") OR ("${ARG_TYPE}" STREQUAL "COMBO"))
-        set("${NAME}" "${ARG_DEFAULT}" CACHE STRING "${ARG_DESCRIPTION}") 
-    else()
-        message(FATAL_ERROR "unknown type: \""${ARG_TYPE}"\" for add_option(${NAME}...")
-    endif()
 
-    if ("${ARG_TYPE}" STREQUAL "COMBO")
+    # if option dependencies not met, hide the option
-        if ("${ARG_OPTIONS}" STREQUAL "")
+    foreach(DEPEND ${ARG_DEPENDS})
-            message(FATAL_ERROR "must set OPTIONS for add_option(${NAME}...")
+        if (NOT ${${DEPEND}})
-        else()
+            #message(STATUS "\tfailed dep: ${DEPEND}")
-            set_property(CACHE "${NAME}" PROPERTY STRINGS "${ARG_OPTIONS}")
+            set(ARG_TYPE "INTERNAL")
+            set("${NAME}" "${ARG_DEFAULT}" CACHE INTERNAL "${ARG_DESCRIPTION}" FORCE) 
+            return()
         endif()
+    endforeach()
+
+    # set variable
+    set("${NAME}" "${ARG_DEFAULT}" CACHE "${ARG_TYPE}" "${ARG_DESCRIPTION}") 
+
+    # force variable reinit if it was internal (hidden)
+    get_property(VAR_TYPE CACHE ${NAME} PROPERTY TYPE) 
+    if ("${VAR_TYPE}" STREQUAL "INTERNAL")
+        message(STATUS "\tVAR_TYPE: ${VAR_TYPE}")
+        set("${NAME}" "${ARG_DEFAULT}" CACHE "${ARG_TYPE}" "${ARG_DESCRIPTION}" FORCE) 
     endif()
 
-    if (ARG_ADVANCED)
+    # set options for combo box
+    set_property(CACHE "${NAME}" PROPERTY STRINGS ${ARG_OPTIONS})
+
+    # mark as advanced if advanced option given
+    if(ARG_ADVANCED)
         mark_as_advanced(FORCE "${NAME}")
     endif()
 
-endmacro()
+endfunction()
-

cmake/options.cmake

@@ -0,0 +1,213 @@
+# options
+#bool_option(LOGGING DESCRIPTION "Logging support?" DEFAULT OFF)
+#bool_option(GPS "Gps support?" ON)
+#option(CLI_SLIDER "Command-line-interface slider support?" OFF)
+#option(APM2 "Build for APM 2.0" OFF)
+
+# set booleans for project
+foreach(PROJECT_NAME "ArduPlane;ArduCopter")
+    if ("${APM_PROJECT}" STREQUAL "${PROJECT_NAME}")
+        set(IS_${PROJECT_NAME} true) 
+    else()
+        set(IS_${PROJECT_NAME} false) 
+    endif()
+endforeach()
+
+if (IS_ARDUCOPTER)
+endif()
+apm_option("APM_FRAME" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Vehicle type?"
+    DEFAULT "PLANE_FRAME"
+    OPTIONS
+        "PLANE FRAME"
+        "HELI_FRAME"
+        "HEXA_FRAME"
+        "OCTA_FRAME"
+        "Y6_FRAME"
+    )
+
+apm_option("GPS_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "GPS protocol?"
+    DEFAULT "GPS_PROTOCOL_AUTO" 
+    OPTIONS 
+        "GPS_PROTOOCL_NONE"
+        "GPS_PROTOCOL_AUTO"
+        "GPS_PROTOCOL_NONE"
+        "GPS_PROTOCOL_IMU"
+        "GPS_PROTOCOL_MTK"
+        "GPS_PROTOCOL_MTK16"
+        "GPS_PROTOCOL_UBLOX"
+        "GPS_PROTOCOL_SIRF"
+        "GPS_PROTOCOL_NMEA")
+
+apm_option("AIRSPEED_SENSOR" TYPE BOOL
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Enable airspeed sensor?"
+    DEFAULT OFF)
+
+apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Airspeed ratio?"
+    DEFAULT "1.9936")
+
+apm_option("MAGNETOMETER" TYPE BOOL
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Enable airspeed sensor?"
+    DEFAULT OFF)
+
+apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Magnetometer orientation?" 
+    DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
+    OPTIONS 
+        "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
+        "AP_COMPASS_COMPONENTS_DOWN_PINS_BACK"
+        "AP_COMPASS_COMPONENTS_UP_PINS_FORWARD"
+        "AP_COMPASS_COMPONENTS_UP_PINS_BACK")
+
+apm_option("HIL_MODE" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Hardware-in-the-loop- mode?"
+    DEFAULT "HIL_MODE_DISABLED"
+    OPTIONS 
+        "HIL_MODE_DISABLED"
+        "HIL_MODE_ATTITUDE"
+        "HIL_MODE_SENSORS")
+
+apm_option("HIL_PORT" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Port for Hardware-in-the-loop communication"
+    DEFAULT "0"
+    OPTIONS "0" "1" "2" "3")
+
+apm_option("HIL_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Hardware-in-the-loop protocol?"
+    DEFAULT "HIL_PROTOCOL_MAVLINK"
+    OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
+
+apm_option("GPS_PROTOCOL" TYPE STRING
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Ground station protocol?"
+    DEFAULT "GCS_PROTOCOL_MAVLINK"
+    OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
+
+apm_option("GCS_PORT" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Ground station port?"
+    DESCRIPTION "3"
+    OPTIONS "0" "1" "2" "3")
+
+apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "MAVLink System ID?"
+    DESCRIPTION "1")
+
+apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Serial 0 baudrate?"
+    DEFAULT "115200" 
+    OPTIONS "57600" "115200") 
+
+apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Serial 3 baudrate?"
+    DEFAULT "57600" 
+    OPTIONS "57600" "115200") 
+
+apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Enable low voltage/ high discharge warnings?"
+    DEFAULT OFF)
+
+apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Voltage to consider low (volts)?"
+    DEFAULT "9.6")
+
+apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Voltage division ratio?"
+    DEFAULT "3.56")
+
+apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Current amps/volt?"
+    DEFAULT "27.32")
+
+apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Current amps offset?"
+    DEFAULT "0.0")
+
+apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
+    DEPENDS IS_ARDUPLANE
+    DESCRIPTION "Current amps offset?"
+    DEFAULT "0.0")
+
+
+#set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?")
+#set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?")
+#set(HIGH_DISCHARGE "1760" CACHE STRING "What to consider high discharge rate (milliamp-hours)?")
+
+#set(INPUT_VOLTAGE "4.68" CACHE STRING "Voltage measured at the processor (volts)?")
+
+#set(FLIGHT_MODE_CHANNEL "8" CACHE STRING "The radio channel to control the flight mode.")
+#set_property(CACHE FLIGHT_MODE_CHANNEL PROPERTY STRINGS 1 2 3 4 5 6 7 8)
+
+#set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE)
+
+#set(FLIGHT_MODE_1 "RTL" CACHE STRING "Flight mode for radio position 1 (1165 ms)?")
+#set_property(CACHE FLIGHT_MODE_1 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLIGHT_MODE_2 "RTL" CACHE STRING "Flight mode for radio position 2 (1295 ms)?")
+#set_property(CACHE FLIGHT_MODE_2 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLIGHT_MODE_3 "STABILIZE" CACHE STRING "Flight mode for radio position 3 (1425 ms)?")
+#set_property(CACHE FLIGHT_MODE_3 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLIGHT_MODE_4 "STABILIZE" CACHE STRING "Flight mode for radio position 4 (1555 ms)?")
+#set_property(CACHE FLIGHT_MODE_4 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLIGHT_MODE_5 "MANUAL" CACHE STRING "Flight mode for radio position 5 (FAILSAFE if using channel 8) (1685 ms)?")
+#set_property(CACHE FLIGHT_MODE_5 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLIGHT_MODE_6 "MANUAL" CACHE STRING "Flight mode for radio position 6 (FAILSAFE is using channel 8) (1815 ms)?")
+#set_property(CACHE FLIGHT_MODE_6 PROPERTY STRINGS ${FLIGHT_MODES}) 
+
+#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
+#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
+
+#set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
+#set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
+
+#set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?")
+#set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) 
+
+#set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).")
+
+#set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?")
+#set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) 
+#set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER")
+#set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL")
+
+#set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?")
+#set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED) 
+
+#set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?")
+#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) 
+
+#set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?")
+#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) 
+
+#set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?")
+#set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED) 
+
+#set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and IMU calibration (s)?")
+
+#set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?")
+#set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED) 
+
+