From 74a871576cb20d3fb1246d91d0354eec6598dc8f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 10 Dec 2016 13:05:08 +1100
Subject: [PATCH] waf: added FMUv3 to build

---
 Tools/ardupilotwaf/boards.py                  |  6 +++++
 Tools/ardupilotwaf/px4.py                     |  2 ++
 .../cmake/configs/nuttx_px4fmu-v3_apm.cmake   | 25 +++++++++++++++++++
 3 files changed, 33 insertions(+)
 create mode 100644 Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 6d912b7477..ef2f0a8671 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -468,6 +468,12 @@ class px4_v2(px4):
         super(px4_v2, self).__init__()
         self.version = '2'
 
+class px4_v3(px4):
+    name = 'px4-v3'
+    def __init__(self):
+        super(px4_v3, self).__init__()
+        self.version = '3'
+
 class px4_v4(px4):
     name = 'px4-v4'
     def __init__(self):
diff --git a/Tools/ardupilotwaf/px4.py b/Tools/ardupilotwaf/px4.py
index 99135cc46b..3c7f94f4ed 100644
--- a/Tools/ardupilotwaf/px4.py
+++ b/Tools/ardupilotwaf/px4.py
@@ -230,6 +230,8 @@ def configure(cfg):
 
     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')
 
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake
new file mode 100644
index 0000000000..cbf2b3a5ec
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake
@@ -0,0 +1,25 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/lsm303d
+    drivers/l3gd20
+    drivers/mpu9250
+    drivers/mpu6000
+    drivers/hmc5883
+    drivers/ms5611
+    drivers/boards/px4fmu-v2
+    drivers/pwm_input
+    modules/uavcan
+    lib/mathlib
+    drivers/px4io
+    drivers/oreoled
+)
+
+list(APPEND config_extra_libs
+    uavcan
+    uavcan_stm32_driver
+)
+
+set(config_io_board
+    px4io-v2
+)