forked from Archive/PX4-Autopilot
Tools/auterion: add Skynode upload scripts (#21842)
This commit is contained in:
Matthias Grob
GitHub
parent
068b1494fc
commit
0200ef9a60
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#!/bin/bash
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# Flash PX4 to a device running AuterionOS in the local network
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if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
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echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
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exit 1
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fi
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ssh_port=22
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ssh_user=root
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while getopts ":f:c:d:p:u:r" opt; do
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case ${opt} in
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f )
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if [ -n "$OPTARG" ]; then
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firmware_file="$OPTARG"
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else
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echo "ERROR: -f requires a non-empty option argument."
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exit 1
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fi
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;;
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c )
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if [ -f "$OPTARG/rc.autostart" ]; then
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config_dir="$OPTARG"
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else
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echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
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exit 1
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fi
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;;
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d )
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if [ "$OPTARG" ]; then
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device="$OPTARG"
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else
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echo "ERROR: -d requires a non-empty option argument."
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exit 1
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fi
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;;
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p )
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if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
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ssh_port="$OPTARG"
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else
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echo "ERROR: -p ssh_port must be a number."
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exit 1
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fi
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;;
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u )
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if [ "$OPTARG" ]; then
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ssh_user="$OPTARG"
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else
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echo "ERROR: -u requires a non-empty option argument."
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exit 1
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fi
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;;
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r )
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revert=true
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;;
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esac
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done
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if [ -z "$device" ]; then
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echo "Error: missing device"
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exit 1
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fi
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target_dir=/shared_container_dir/fmu
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target_file_name="update-dev.tar"
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if [ "$revert" == true ]; then
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# revert to the release version which was originally deployed
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cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
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ssh -t -p $ssh_port $ssh_user@$device "$cmd"
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else
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# create custom update-dev.tar
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tmp_dir="$(mktemp -d)"
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config_path=""
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firmware_path=""
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if [ -d "$config_dir" ]; then
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cp -r "$config_dir" "$tmp_dir/config"
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config_path=config
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fi
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if [ -f "$firmware_file" ]; then
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extension="${firmware_file##*.}"
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cp "$firmware_file" "$tmp_dir/firmware.$extension"
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if [ "$extension" == "elf" ]; then
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# ensure the file is stripped to reduce file size
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arm-none-eabi-strip "$tmp_dir/firmware.$extension"
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fi
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firmware_path="firmware.$extension"
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fi
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pushd "$tmp_dir" &>/dev/null
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if [ -z $firmware_path ] && [ -z $config_path ]; then
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exit 1
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fi
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tar_name="tar"
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if [ -x "$(command -v gtar)" ]; then
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# check if gnu-tar is installed on macOS and use that instead
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tar_name="gtar"
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fi
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$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
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# send it to the target to start flashing
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scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
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popd &>/dev/null
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rm -rf "$tmp_dir"
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fi
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# grab status output for flashing progress
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cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
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ssh -t -p $ssh_port $ssh_user@$device "$cmd"
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@ -0,0 +1,51 @@
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#!/usr/bin/env bash
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DIR="$(dirname $(readlink -f $0))"
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DEFAULT_AUTOPILOT_HOST=10.41.1.1
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DEFAULT_AUTOPILOT_PORT=33333
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DEFAULT_AUTOPILOT_USER=auterion
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for i in "$@"
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do
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case $i in
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--file=*)
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PX4_BINARY_FILE="${i#*=}"
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;;
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--default-ip=*)
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DEFAULT_AUTOPILOT_HOST="${i#*=}"
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;;
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--default-port=*)
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DEFAULT_AUTOPILOT_PORT="${i#*=}"
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;;
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--default-user=*)
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DEFAULT_AUTOPILOT_USER="${i#*=}"
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;;
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--revert)
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REVERT_AUTOPILOT_ARGUMENT=-r
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;;
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--wifi)
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DEFAULT_AUTOPILOT_HOST=10.41.0.1
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;;
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*)
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# unknown option
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;;
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esac
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done
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# allow these to be overridden
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[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
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[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
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[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
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ARGUMENTS=()
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ARGUMENTS+=(-d "$AUTOPILOT_HOST")
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ARGUMENTS+=(-p "$AUTOPILOT_PORT")
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ARGUMENTS+=(-u "$AUTOPILOT_USER")
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ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
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ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
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echo "Flashing $AUTOPILOT_HOST ..."
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"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
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exit 0
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@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
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add_custom_target(upload_skynode_usb
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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add_custom_target(upload_skynode_wifi
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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@ -0,0 +1,49 @@
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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
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add_custom_target(upload_skynode_usb
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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add_custom_target(upload_skynode_wifi
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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