forked from Archive/PX4-Autopilot
Path cleanup, low impact changes (#5340)
* Low impact changes from path_cleanup branch. This is a step towards minimizing the diff with path_cleanup branch. * Update ecl. * Revert matrix update. * Revert ecl and matrix. * Update sitl gazebo. * Revert sitl_gazebo and matrix changes.
This commit is contained in:
James Goppert
GitHub
parent
d32a7ffb8d
commit
818840b576
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@ -121,6 +121,9 @@
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# and leads to wrong toolchain detection
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cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
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# Use clang
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#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
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#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
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@ -163,12 +166,8 @@ if(NOT CMAKE_INSTALL_PREFIX)
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endif()
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message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
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# switch to ros CMake file if building ros
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if (${OS} STREQUAL "ros")
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include("cmake/ros-CMakeLists.txt")
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else() # otherwise use the rest of this file
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
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message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
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set(config_module "configs/${CONFIG}")
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include(${config_module})
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@ -262,7 +261,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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add_custom_target(submodule_clean
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMAND git submodule deinit -f .
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COMMAND rm -rf .git/modules/*
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)
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@ -272,12 +271,12 @@ add_custom_target(submodule_clean
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#
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add_custom_target(check_format
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COMMAND Tools/check_code_style.sh
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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add_custom_target(config
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COMMAND cmake-gui .
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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#=============================================================================
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@ -326,7 +325,7 @@ add_custom_target(xml_gen
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# external projects
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#
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set(ep_base ${CMAKE_BINARY_DIR}/external)
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set(ep_base ${PX4_BINARY_DIR}/external)
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set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
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# add external project install folders to build
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@ -355,7 +354,7 @@ foreach(module ${config_module_list})
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if(external_module)
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STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
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STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
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add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
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add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
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else()
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add_subdirectory(src/${module})
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endif()
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@ -380,7 +379,7 @@ endif()
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#=============================================================================
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# generate git version
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#
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px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
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px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
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#=============================================================================
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# packaging
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@ -410,6 +409,4 @@ if (${OS} STREQUAL "posix")
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endif()
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include(CPack)
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endif() # ros alternative endif
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# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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@ -136,14 +136,14 @@ function(px4_add_git_submodule)
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REQUIRED TARGET PATH
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ARGN ${ARGN})
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string(REPLACE "/" "_" NAME ${PATH})
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add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
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)
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add_custom_target(${TARGET}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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)
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endfunction()
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@ -371,7 +371,7 @@ function(px4_generate_messages)
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endif()
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# headers
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set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
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set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
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set(msg_list)
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foreach(msg_file ${MSG_FILES})
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get_filename_component(msg ${msg_file} NAME_WE)
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@ -389,15 +389,15 @@ function(px4_generate_messages)
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-d msg
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-o ${msg_out_path}
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-e msg/templates/uorb
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-t ${CMAKE_BINARY_DIR}/topics_temporary_header
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-t ${PX4_BINARY_DIR}/topics_temporary_header
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic headers"
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VERBATIM
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)
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# !sources
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set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
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set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
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set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
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foreach(msg ${msg_list})
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list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
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@ -410,9 +410,9 @@ function(px4_generate_messages)
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-d msg
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-o ${msg_source_out_path}
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-e msg/templates/uorb
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-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
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-t ${PX4_BINARY_DIR}/topics_temporary_sources
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic sources"
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VERBATIM
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)
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@ -427,7 +427,7 @@ function(px4_generate_messages)
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# multi messages for target OS
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set(msg_multi_out_path
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${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
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${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
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set(msg_multi_files_out)
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foreach(msg ${msg_list})
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list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
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@ -440,10 +440,10 @@ function(px4_generate_messages)
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-d msg
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-o ${msg_multi_out_path}
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-e msg/templates/px4/uorb
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-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
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-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
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-p "px4_"
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic multi headers for ${OS}"
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VERBATIM
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)
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@ -504,9 +504,9 @@ function(px4_add_upload)
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px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
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add_custom_target(${OUT}
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COMMAND ${PYTHON_EXECUTABLE}
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${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
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${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
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DEPENDS ${BUNDLE}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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@ -523,9 +523,9 @@ function(px4_add_adb_push)
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ARGN ${ARGN})
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add_custom_target(${OUT}
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COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
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COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
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DEPENDS ${DEPENDS}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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@ -541,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
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ARGN ${ARGN})
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add_custom_target(${OUT}
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COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
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COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
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DEPENDS ${DEPENDS}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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@ -559,9 +559,9 @@ function(px4_add_scp_push)
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ARGN ${ARGN})
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add_custom_target(${OUT}
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COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
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COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
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DEPENDS ${DEPENDS}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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@ -761,21 +761,21 @@ function(px4_add_common_flags)
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)
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set(added_include_dirs
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${CMAKE_SOURCE_DIR}/src
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${CMAKE_BINARY_DIR}
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${CMAKE_BINARY_DIR}/src
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${CMAKE_SOURCE_DIR}/src/modules
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${CMAKE_SOURCE_DIR}/src/include
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${CMAKE_SOURCE_DIR}/src/lib
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${CMAKE_SOURCE_DIR}/src/platforms
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${PX4_SOURCE_DIR}/src
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${PX4_BINARY_DIR}
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${PX4_BINARY_DIR}/src
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${PX4_SOURCE_DIR}/src/modules
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${PX4_SOURCE_DIR}/src/include
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${PX4_SOURCE_DIR}/src/lib
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${PX4_SOURCE_DIR}/src/platforms
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# TODO Build/versioning was in Makefile,
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# do we need this, how does it work with cmake
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${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
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${CMAKE_BINARY_DIR}
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${CMAKE_BINARY_DIR}/src/modules/px4_messages
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${CMAKE_BINARY_DIR}/src/modules
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${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
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${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
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${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
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${PX4_BINARY_DIR}
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${PX4_BINARY_DIR}/src/modules/px4_messages
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${PX4_BINARY_DIR}/src/modules
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${PX4_SOURCE_DIR}/mavlink/include/mavlink
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${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
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)
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list(APPEND added_include_dirs
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@ -858,19 +858,19 @@ function(px4_create_git_hash_header)
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COMMAND git describe --always --tags
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OUTPUT_VARIABLE git_tag
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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message(STATUS "GIT_TAG = ${git_tag}")
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execute_process(
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COMMAND git rev-parse --verify HEAD
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OUTPUT_VARIABLE git_version
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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#message(STATUS "GIT_VERSION = ${git_version}")
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set(git_version_short)
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string(SUBSTRING ${git_version} 1 16 git_version_short)
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configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
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configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
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endfunction()
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#=============================================================================
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@ -897,12 +897,12 @@ function(px4_generate_parameters_xml)
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ONE_VALUE OUT BOARD
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REQUIRED OUT BOARD
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ARGN ${ARGN})
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set(path ${CMAKE_SOURCE_DIR}/src)
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set(path ${PX4_SOURCE_DIR}/src)
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file(GLOB_RECURSE param_src_files
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${CMAKE_SOURCE_DIR}/src/*params.c
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${PX4_SOURCE_DIR}/src/*params.c
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)
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
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-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
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DEPENDS ${param_src_files}
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)
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@ -944,7 +944,7 @@ function(px4_generate_parameters_source)
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set(SCOPE "")
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endif()
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add_custom_command(OUTPUT ${generated_files}
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
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DEPENDS ${XML} ${DEPS} ${SCOPE}
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||||
)
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set(${OUT} ${generated_files} PARENT_SCOPE)
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||||
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@ -975,10 +975,10 @@ function(px4_generate_airframes_xml)
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ONE_VALUE OUT BOARD
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REQUIRED OUT BOARD
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ARGN ${ARGN})
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set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
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set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
|
||||
-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
|
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-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
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||||
--board CONFIG_ARCH_BOARD_${BOARD} --xml
|
||||
)
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
|
|
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|||
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@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
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||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
|
|
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|||
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@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
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||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_uavcan_num_ifaces 2)
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||||
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||||
|
|
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|||
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@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
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||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
|
|
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|||
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|
@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
|
|
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|||
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|
@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_uavcan_num_ifaces 2)
|
||||
|
||||
|
|
|
|||
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@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_uavcan_num_ifaces 2)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_uavcan_num_ifaces 1)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_BEBOP
|
||||
|
|
|
|||
|
|
@ -4,9 +4,9 @@
|
|||
# on the Linux side of the Snapdragon.
|
||||
include(configs/posix_sdflight_default)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(CONFIG_SHMEM "1")
|
||||
|
||||
|
|
|
|||
|
|
@ -1,13 +1,13 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
# Use build stubs unless explicitly set not to
|
||||
if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
|
||||
set(DSPAL_STUBS_ENABLE "1")
|
||||
endif()
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,9 +1,9 @@
|
|||
include(configs/posix_rpi_common)
|
||||
|
||||
if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
|
||||
else()
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
|
||||
endif()
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,3 @@
|
|||
include(configs/posix_rpi_common)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
|
||||
set(config_module_list
|
||||
drivers/device
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
|
||||
set(config_module_list
|
||||
drivers/boards/sitl
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
include(posix/px4_impl_posix)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
|
||||
|
||||
set(config_module_list
|
||||
drivers/device
|
||||
|
|
|
|||
|
|
@ -6,9 +6,9 @@ else()
|
|||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -6,9 +6,9 @@ else()
|
|||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
|
|||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
add_definitions(
|
||||
-D__USING_SNAPDRAGON_LEGACY_DRIVER
|
||||
|
|
|
|||
|
|
@ -6,9 +6,9 @@ else()
|
|||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -6,8 +6,8 @@ else()
|
|||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
|
|
|
|||
|
|
@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
|
|||
# Run a full link with build stubs to make sure qurt target isn't broken
|
||||
set(QURT_ENABLE_STUBS "1")
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
include(hexagon_sdk)
|
||||
|
||||
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
|
||||
|
|
|
|||
|
|
@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
|
|||
|
||||
set(config_generate_parameters_scope ALL)
|
||||
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
|
|
|
|||
|
|
@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)
|
|||
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
|
||||
--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
|
||||
--git_identity ${CMAKE_SOURCE_DIR}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
|
||||
--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
|
||||
--git_identity ${PX4_SOURCE_DIR}
|
||||
${extra_args}
|
||||
--image ${EXE}.bin > ${OUT}
|
||||
DEPENDS ${EXE}
|
||||
|
|
@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
|
|||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
|
||||
configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
|
||||
${OUT})
|
||||
endfunction()
|
||||
|
||||
|
|
@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
|
|||
REQUIRED OUT CONFIG THREADS
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
|
||||
set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
|
||||
|
||||
# patch
|
||||
add_custom_target(__nuttx_patch_${CONFIG})
|
||||
file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
|
||||
${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
|
||||
file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
|
||||
${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
|
||||
foreach(patch ${nuttx_patches})
|
||||
string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
|
||||
message(STATUS "nuttx-patch: ${patch}")
|
||||
add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
|
||||
COMMAND ${PATCH} -p0 -N < ${CMAKE_SOURCE_DIR}/${patch}
|
||||
COMMAND ${PATCH} -p0 -N < ${PX4_SOURCE_DIR}/${patch}
|
||||
COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
|
||||
DEPENDS ${DEPENDS}
|
||||
)
|
||||
|
|
@ -204,7 +204,7 @@ function(px4_nuttx_add_export)
|
|||
|
||||
# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
|
||||
# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
|
||||
file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
|
||||
file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
|
||||
hw_stack_check_${CONFIG}
|
||||
REGEX "CONFIG_ARMV7M_STACKCHECK=y"
|
||||
)
|
||||
|
|
@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
|
|||
endif()
|
||||
|
||||
# copy and export
|
||||
file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
|
||||
file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
|
||||
file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
|
||||
file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
|
||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
|
||||
COMMAND ${MKDIR} -p ${nuttx_src}
|
||||
COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
|
||||
#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
|
||||
COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
|
||||
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
|
||||
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
|
||||
COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
|
||||
COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
|
||||
COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
|
||||
#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
|
||||
COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
|
||||
COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
|
||||
COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
|
||||
DEPENDS ${config_files} ${DEPENDS}
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "Building NuttX for ${CONFIG}")
|
||||
|
||||
# extract
|
||||
add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
|
||||
COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
|
||||
COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
|
||||
COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
|
||||
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
|
||||
DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
|
||||
DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
|
||||
|
||||
add_custom_target(${OUT}
|
||||
DEPENDS nuttx_export_${CONFIG}.stamp)
|
||||
|
|
@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
|
|||
REQUIRED OUT ROOT
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
|
||||
set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
|
||||
set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
|
||||
set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
|
||||
set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
|
||||
set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
|
||||
set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
|
||||
set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
|
||||
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
|
||||
|
||||
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
|
||||
|
||||
set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
|
||||
set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
|
||||
|
||||
|
||||
set(extras)
|
||||
|
|
@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
|
|||
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
|
||||
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
|
||||
--include_path "${CMAKE_SOURCE_DIR}/src/include"
|
||||
--include_path "${PX4_SOURCE_DIR}/src/include"
|
||||
--c_compiler ${CMAKE_C_COMPILER}
|
||||
--nm ${NM} --objcopy ${OBJCOPY}
|
||||
--obj romfs.o
|
||||
|
|
@ -414,7 +414,7 @@ function(px4_os_add_flags)
|
|||
LINK_DIRS ${LINK_DIRS}
|
||||
DEFINITIONS ${DEFINITIONS})
|
||||
|
||||
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
|
||||
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
|
||||
set(added_include_dirs
|
||||
${nuttx_export_dir}/include
|
||||
${nuttx_export_dir}/include/cxx
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@
|
|||
#
|
||||
|
||||
include(common/px4_base)
|
||||
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
|
|
@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
|
|||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
|
||||
configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
|
||||
${OUT})
|
||||
endfunction()
|
||||
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@
|
|||
#
|
||||
|
||||
include(common/px4_base)
|
||||
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
|
|
@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
|
|||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
|
||||
configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
|
|
|
|||
|
|
@ -1,334 +0,0 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(px4)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
||||
add_definitions(-D__PX4_ROS)
|
||||
add_definitions(-D__EXPORT=)
|
||||
add_definitions(-DMAVLINK_DIALECT=common)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
rospy
|
||||
std_msgs
|
||||
geometry_msgs
|
||||
message_generation
|
||||
cmake_modules
|
||||
gazebo_msgs
|
||||
sensor_msgs
|
||||
mav_msgs
|
||||
libmavconn
|
||||
tf
|
||||
)
|
||||
find_package(Eigen REQUIRED)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependencies might have been
|
||||
## pulled in transitively but can be declared for certainty nonetheless:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a run_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
add_message_files(
|
||||
FILES
|
||||
actuator_armed.msg
|
||||
actuator_controls.msg
|
||||
commander_state.msg
|
||||
control_state.msg
|
||||
distance_sensor.msg
|
||||
manual_control_setpoint.msg
|
||||
mc_virtual_rates_setpoint.msg
|
||||
offboard_control_mode.msg
|
||||
parameter_update.msg
|
||||
position_setpoint.msg
|
||||
position_setpoint_triplet.msg
|
||||
rc_channels.msg
|
||||
ros/actuator_controls_0.msg
|
||||
ros/actuator_controls_virtual_mc.msg
|
||||
vehicle_attitude.msg
|
||||
vehicle_attitude_setpoint.msg
|
||||
vehicle_control_mode.msg
|
||||
vehicle_force_setpoint.msg
|
||||
vehicle_global_velocity_setpoint.msg
|
||||
vehicle_local_position.msg
|
||||
vehicle_local_position_setpoint.msg
|
||||
vehicle_rates_setpoint.msg
|
||||
vehicle_status.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# Service1.srv
|
||||
# Service2.srv
|
||||
# )
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
generate_messages(
|
||||
DEPENDENCIES
|
||||
std_msgs
|
||||
gazebo_msgs
|
||||
)
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if you package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
INCLUDE_DIRS src/include
|
||||
LIBRARIES px4
|
||||
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
|
||||
DEPENDS system_lib
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
${catkin_INCLUDE_DIRS}
|
||||
src/platforms
|
||||
src/platforms/ros/px4_messages
|
||||
src/include
|
||||
src/modules
|
||||
${CMAKE_BINARY_DIR}/src/modules
|
||||
src/
|
||||
src/lib
|
||||
src/lib/matrix
|
||||
${EIGEN_INCLUDE_DIRS}
|
||||
integrationtests
|
||||
)
|
||||
|
||||
## generate multiplatform wrapper headers
|
||||
## note that the message header files are generated as in any ROS project with generate_messages()
|
||||
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
|
||||
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
|
||||
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
|
||||
set(MULTIPLATFORM_PREFIX px4_)
|
||||
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
|
||||
--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
|
||||
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
|
||||
|
||||
## Declare a cpp library
|
||||
add_library(px4
|
||||
src/platforms/ros/px4_ros_impl.cpp
|
||||
src/platforms/ros/perf_counter.cpp
|
||||
src/platforms/ros/geo.cpp
|
||||
src/lib/mathlib/math/Limits.cpp
|
||||
src/modules/systemlib/circuit_breaker.cpp
|
||||
)
|
||||
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
|
||||
|
||||
target_link_libraries(px4
|
||||
${catkin_LIBRARIES}
|
||||
)
|
||||
|
||||
## Declare a test publisher
|
||||
add_executable(publisher
|
||||
src/examples/publisher/publisher_main.cpp
|
||||
src/examples/publisher/publisher_example.cpp)
|
||||
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
|
||||
target_link_libraries(publisher
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Declare a test subscriber
|
||||
add_executable(subscriber
|
||||
src/examples/subscriber/subscriber_main.cpp
|
||||
src/examples/subscriber/subscriber_example.cpp)
|
||||
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
|
||||
target_link_libraries(subscriber
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## MC Attitude Control
|
||||
add_executable(mc_att_control
|
||||
src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
|
||||
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
|
||||
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
|
||||
add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(mc_att_control
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## MC Position Control
|
||||
add_executable(mc_pos_control
|
||||
src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
|
||||
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
|
||||
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(mc_pos_control
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Attitude Estimator dummy
|
||||
add_executable(attitude_estimator
|
||||
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
|
||||
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(attitude_estimator
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Position Estimator dummy
|
||||
add_executable(position_estimator
|
||||
src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
|
||||
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(position_estimator
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Manual input
|
||||
add_executable(manual_input
|
||||
src/platforms/ros/nodes/manual_input/manual_input.cpp)
|
||||
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(manual_input
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Multicopter Mixer dummy
|
||||
add_executable(mc_mixer
|
||||
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
|
||||
add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(mc_mixer
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Commander dummy
|
||||
add_executable(commander
|
||||
src/platforms/ros/nodes/commander/commander.cpp)
|
||||
add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(commander
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Mavlink dummy
|
||||
add_executable(mavlink
|
||||
src/platforms/ros/nodes/mavlink/mavlink.cpp)
|
||||
add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(mavlink
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Offboard Position Setpoint Demo
|
||||
add_executable(demo_offboard_position_setpoints
|
||||
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
|
||||
add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(demo_offboard_position_setpoints
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
## Offboard Attitude Setpoint Demo
|
||||
add_executable(demo_offboard_attitude_setpoints
|
||||
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
|
||||
add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
|
||||
target_link_libraries(demo_offboard_attitude_setpoints
|
||||
${catkin_LIBRARIES}
|
||||
px4
|
||||
)
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# install(PROGRAMS
|
||||
# scripts/my_python_script
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark executables and/or libraries for installation
|
||||
install(TARGETS ${PROJECT_NAME}
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
|
||||
## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
|
||||
#if(CATKIN_ENABLE_TESTING)
|
||||
# find_package(rostest REQUIRED)
|
||||
# add_rostest(integrationtests/demo_tests/direct_tests.launch)
|
||||
# add_rostest(integrationtests/demo_tests/mavros_tests.launch)
|
||||
#endif()
|
||||
|
|
@ -0,0 +1,84 @@
|
|||
uorb start
|
||||
param load
|
||||
param set MAV_TYPE 20
|
||||
param set VT_TYPE 2
|
||||
param set SYS_AUTOSTART 4010
|
||||
param set SYS_RESTART_TYPE 2
|
||||
dataman start
|
||||
param set BAT_N_CELLS 3
|
||||
param set CAL_GYRO0_ID 2293768
|
||||
param set CAL_ACC0_ID 1376264
|
||||
param set CAL_ACC1_ID 1310728
|
||||
param set CAL_MAG0_ID 196616
|
||||
param set CAL_GYRO0_XOFF 0.01
|
||||
param set CAL_ACC0_XOFF 0.01
|
||||
param set CAL_ACC0_YOFF -0.01
|
||||
param set CAL_ACC0_ZOFF 0.01
|
||||
param set CAL_ACC0_XSCALE 1.01
|
||||
param set CAL_ACC0_YSCALE 1.01
|
||||
param set CAL_ACC0_ZSCALE 1.01
|
||||
param set CAL_ACC1_XOFF 0.01
|
||||
param set CAL_MAG0_XOFF 0.01
|
||||
param set MC_ROLLRATE_P 0.2
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLL_P 6
|
||||
param set MPC_XY_P 0.15
|
||||
param set MPC_XY_VEL_P 0.05
|
||||
param set MPC_XY_VEL_D 0.005
|
||||
param set MPC_XY_FF 0.1
|
||||
param set MPC_Z_VEL_MAX 1.5
|
||||
param set MPC_Z_VEL_P 0.6
|
||||
param set MPC_Z_VEL_I 0.15
|
||||
param set SENS_BOARD_ROT 8
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set COM_RC_IN_MODE 1
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_ACC_RAD 3.0
|
||||
param set MPC_TKO_SPEED 1.0
|
||||
param set MIS_YAW_TMT 10
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set COM_DISARM_LAND 5
|
||||
param set COM_DL_LOSS_EN 1
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
replay tryapplyparams
|
||||
simulator start -s
|
||||
rgbledsim start
|
||||
tone_alarm start
|
||||
gyrosim start
|
||||
accelsim start
|
||||
barosim start
|
||||
adcsim start
|
||||
gpssim start
|
||||
measairspeedsim start
|
||||
pwm_out_sim mode_pwm
|
||||
sleep 1
|
||||
sensors start
|
||||
commander start
|
||||
land_detector start multicopter
|
||||
navigator start
|
||||
attitude_estimator_q start
|
||||
local_position_estimator start
|
||||
vtol_att_control start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
||||
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u 14556
|
||||
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
|
||||
sdlog2 start -r 200 -e -t -a
|
||||
mavlink boot_complete
|
||||
replay trystart
|
||||
|
|
@ -10,7 +10,7 @@ add_executable(firmware_nuttx
|
|||
builtin_commands.c)
|
||||
|
||||
|
||||
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
|
||||
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
|
||||
|
||||
set(link_libs
|
||||
romfs apps nuttx m gcc
|
||||
|
|
@ -20,7 +20,7 @@ if(NOT ${BOARD} STREQUAL "sim")
|
|||
list(APPEND link_libs nosys)
|
||||
set(main_link_flags
|
||||
"-T${nuttx_export_dir}/build/ld.script"
|
||||
"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
|
||||
"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
|
||||
)
|
||||
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
|
||||
set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
|
||||
|
|
@ -43,12 +43,12 @@ add_custom_target(check_weak
|
|||
if(NOT ${BOARD} STREQUAL "sim")
|
||||
|
||||
if (config_io_board)
|
||||
set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
|
||||
set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
set(romfs_dir "ROMFS/px4fmu_common")
|
||||
if (${BOARD} STREQUAL "tap-v1")
|
||||
set(romfs_dir "ROMFS/tap_common")
|
||||
set(romfs_dir "ROMFS/tap_common")
|
||||
endif()
|
||||
if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
|
||||
set(romfs_dir "ROMFS/px4fmu_test")
|
||||
|
|
@ -68,8 +68,8 @@ if(NOT ${BOARD} STREQUAL "sim")
|
|||
px4_nuttx_add_firmware(OUT ${fw_file}
|
||||
BOARD ${BOARD}
|
||||
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
|
||||
PARAM_XML ${CMAKE_BINARY_DIR}/parameters.xml
|
||||
AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
|
||||
PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
|
||||
AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
|
||||
)
|
||||
|
||||
configure_file(gdbinit.in .gdbinit)
|
||||
|
|
@ -94,21 +94,21 @@ if(NOT ${BOARD} STREQUAL "sim")
|
|||
|
||||
add_custom_target(debug_io
|
||||
COMMAND ${GDB}
|
||||
${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
DEPENDS firmware_nuttx
|
||||
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
|
||||
)
|
||||
|
||||
add_custom_target(debug_io_tui
|
||||
COMMAND ${GDBTUI}
|
||||
${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
DEPENDS firmware_nuttx
|
||||
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
|
||||
)
|
||||
|
||||
add_custom_target(debug_io_ddd
|
||||
COMMAND ${DDD} --debugger ${GDB}
|
||||
${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
|
||||
DEPENDS firmware_nuttx
|
||||
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
|
||||
)
|
||||
|
|
|
|||
|
|
@ -4,4 +4,4 @@ attach 1
|
|||
monitor vector_catch disable hard
|
||||
set mem inaccessible-by-default off
|
||||
set print pretty
|
||||
source ${CMAKE_SOURCE_DIR}/Debug/PX4
|
||||
source ${PX4_SOURCE_DIR}/Debug/PX4
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
|
|||
APPS_DEST "/home/linaro"
|
||||
SOURCES
|
||||
px4muorb_stub.c
|
||||
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
apps.h
|
||||
LINK_LIBS
|
||||
-Wl,--start-group
|
||||
|
|
@ -33,14 +33,14 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
|
|||
OS ${OS}
|
||||
BOARD ${BOARD}
|
||||
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
|
||||
${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
|
||||
${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
|
||||
DEPENDS px4
|
||||
DEST /home/linaro)
|
||||
|
||||
elseif ("${BOARD}" STREQUAL "rpi")
|
||||
|
||||
add_executable(px4
|
||||
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
apps.h
|
||||
)
|
||||
|
||||
|
|
@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
|
|||
OS ${OS}
|
||||
BOARD ${BOARD}
|
||||
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
|
||||
${CMAKE_SOURCE_DIR}/posix-configs/rpi/px4.config
|
||||
${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
|
||||
DEPENDS px4
|
||||
DEST /home/pi)
|
||||
|
||||
|
|
@ -67,7 +67,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
|
|||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
|
||||
|
||||
add_executable(px4
|
||||
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
apps.h
|
||||
)
|
||||
|
||||
|
|
@ -91,14 +91,14 @@ elseif ("${BOARD}" STREQUAL "bebop")
|
|||
OS ${OS}
|
||||
BOARD ${BOARD}
|
||||
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
|
||||
${CMAKE_SOURCE_DIR}/posix-configs/bebop/px4.config
|
||||
${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
|
||||
DEPENDS px4
|
||||
DEST /usr/bin)
|
||||
|
||||
else()
|
||||
|
||||
add_executable(px4
|
||||
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
|
||||
apps.h
|
||||
)
|
||||
if (NOT APPLE)
|
||||
|
|
@ -120,8 +120,8 @@ endif()
|
|||
|
||||
add_custom_target(run_config
|
||||
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
|
||||
"${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
|
||||
"${config_sitl_viewer}" "${config_sitl_model}" "${PX4_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
add_dependencies(run_config px4)
|
||||
|
|
@ -145,8 +145,8 @@ foreach(viewer none jmavsim gazebo replay)
|
|||
add_custom_target(${_targ_name}
|
||||
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
|
||||
"${debugger}"
|
||||
"${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
|
||||
"${viewer}" "${model}" "${PX4_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
add_dependencies(${_targ_name} px4)
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
include(fastrpc)
|
||||
include(qurt_lib)
|
||||
|
||||
|
|
@ -7,7 +7,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
|
||||
|
||||
px4_qurt_generate_builtin_commands(
|
||||
OUT ${CMAKE_BINARY_DIR}/apps.h
|
||||
OUT ${PX4_BINARY_DIR}/apps.h
|
||||
MODULE_LIST ${module_libraries})
|
||||
|
||||
FASTRPC_STUB_GEN(px4muorb.idl)
|
||||
|
|
@ -20,8 +20,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
|
|||
${FASTRPC_DSP_INCLUDES}
|
||||
)
|
||||
add_executable(px4
|
||||
${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
|
||||
${CMAKE_BINARY_DIR}/apps.h)
|
||||
${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
|
||||
${PX4_BINARY_DIR}/apps.h)
|
||||
|
||||
target_link_libraries(px4
|
||||
-Wl,--start-group
|
||||
|
|
@ -40,7 +40,7 @@ else()
|
|||
QURT_LIB(LIB_NAME px4
|
||||
IDL_NAME px4muorb
|
||||
SOURCES
|
||||
${CMAKE_BINARY_DIR}/apps.h
|
||||
${PX4_BINARY_DIR}/apps.h
|
||||
LINK_LIBS
|
||||
${module_libraries}
|
||||
${target_libraries}
|
||||
|
|
@ -54,7 +54,7 @@ else()
|
|||
BOARD ${BOARD}
|
||||
FILES ${CMAKE_CURRENT_BINARY_DIR}/libpx4.so
|
||||
${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
|
||||
${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
|
||||
${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
|
||||
DEPENDS px4 px4muorb_skel
|
||||
DEST /usr/share/data/adsp)
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -40,4 +40,5 @@ px4_add_module(
|
|||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@
|
|||
#if !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
#define TEST_DATA_PATH "/fs/microsd"
|
||||
#else
|
||||
#define TEST_DATA_PATH "../../../../src/lib/rc/rc_tests/test_data/"
|
||||
#define TEST_DATA_PATH "../../../../test_data/"
|
||||
#endif
|
||||
|
||||
extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
|
||||
|
|
|
|||
|
|
@ -30,10 +30,10 @@
|
|||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
include(hexagon_sdk)
|
||||
|
||||
include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
|
||||
include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
|
||||
include_directories(${HEXAGON_SDK_INCLUDES})
|
||||
|
||||
px4_add_module(
|
||||
|
|
|
|||
|
|
@ -34,8 +34,8 @@
|
|||
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
px4_generate_parameters_source(OUT param_files
|
||||
XML ${CMAKE_BINARY_DIR}/parameters.xml
|
||||
SCOPE ${CMAKE_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
|
||||
XML ${PX4_BINARY_DIR}/parameters.xml
|
||||
SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
|
||||
DEPS xml_gen
|
||||
)
|
||||
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
|
|||
|
||||
include_directories(
|
||||
${include_dirs}
|
||||
${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
|
||||
${PX4_BINARY_DIR}/src/modules/systemlib/mixer
|
||||
.
|
||||
)
|
||||
link_directories(${link_dirs})
|
||||
|
|
@ -117,10 +117,10 @@ add_dependencies(${fw_io_name}
|
|||
mixer_gen
|
||||
)
|
||||
|
||||
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
|
||||
set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
|
||||
set(main_link_flags
|
||||
"-T${nuttx_export_dir}/build/ld.script"
|
||||
"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
|
||||
"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
|
||||
)
|
||||
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
|
||||
set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@
|
|||
############################################################################
|
||||
|
||||
# for generated files
|
||||
include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
|
||||
include_directories(${PX4_BINARY_DIR}/src/modules/param)
|
||||
|
||||
set(SRCS
|
||||
perf_counter.c
|
||||
|
|
|
|||
|
|
@ -70,7 +70,7 @@
|
|||
/**
|
||||
* A UAVCAN Server Sub node.
|
||||
*/
|
||||
class UavcanServers
|
||||
class __EXPORT UavcanServers
|
||||
{
|
||||
static constexpr unsigned NumIfaces = 1; // UAVCAN_STM32_NUM_IFACES
|
||||
|
||||
|
|
|
|||
|
|
@ -419,3 +419,5 @@ int main(int argc, char **argv)
|
|||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/* vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
|
|
|
|||
|
|
@ -32,10 +32,10 @@
|
|||
############################################################################
|
||||
|
||||
if("${CONFIG_SHMEM}" STREQUAL "1")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
include(hexagon_sdk)
|
||||
|
||||
include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
|
||||
include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
|
||||
include_directories(${HEXAGON_SDK_INCLUDES})
|
||||
list(APPEND SHMEM_SRCS
|
||||
shmem_posix.c
|
||||
|
|
|
|||
|
|
@ -30,7 +30,7 @@
|
|||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
|
||||
include(hexagon_sdk)
|
||||
|
||||
include_directories(${HEXAGON_8074_INCLUDES})
|
||||
|
|
|
|||
|
|
@ -405,22 +405,22 @@ bool MatrixTest::matrixAssignmentTests(void)
|
|||
Matrix3f m3(data_times_2);
|
||||
|
||||
ut_test(isEqual(m, m2));
|
||||
ut_test(!(m == m3));
|
||||
ut_test(!isEqual(m, m3));
|
||||
|
||||
m2 *= 2;
|
||||
ut_test(m2 == m3);
|
||||
ut_test(isEqual(m2, m3));
|
||||
|
||||
m2 /= 2;
|
||||
m2 -= 1;
|
||||
float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
ut_test(Matrix3f(data_minus_1) == m2);
|
||||
ut_test(isEqual(Matrix3f(data_minus_1), m2));
|
||||
|
||||
m2 += 1;
|
||||
ut_test(Matrix3f(data) == m2);
|
||||
ut_test(isEqual(Matrix3f(data), m2));
|
||||
|
||||
m3 -= m2;
|
||||
|
||||
ut_test(m3 == m2);
|
||||
ut_test(isEqual(m3, m2));
|
||||
|
||||
float data_row_02_swap[9] = {
|
||||
7, 8, 9,
|
||||
|
|
@ -436,13 +436,13 @@ bool MatrixTest::matrixAssignmentTests(void)
|
|||
|
||||
Matrix3f m4(data);
|
||||
|
||||
ut_test(-m4 == m4 * (-1));
|
||||
ut_test(isEqual(-m4, m4 * (-1)));
|
||||
|
||||
m4.swapCols(0, 2);
|
||||
ut_test(m4 == Matrix3f(data_col_02_swap));
|
||||
ut_test(isEqual(m4, Matrix3f(data_col_02_swap)));
|
||||
m4.swapCols(0, 2);
|
||||
m4.swapRows(0, 2);
|
||||
ut_test(m4 == Matrix3f(data_row_02_swap));
|
||||
ut_test(isEqual(m4, Matrix3f(data_row_02_swap)));
|
||||
ut_test(fabs(m4.min() - 1) < 1e-5);
|
||||
|
||||
Scalar<float> s;
|
||||
|
|
@ -601,10 +601,10 @@ bool MatrixTest::vectorTests(void)
|
|||
ut_test(fabs(v1.dot(v2) - 130.0f) < 1e-5);
|
||||
v2.normalize();
|
||||
Vector<float, 5> v3(v2);
|
||||
ut_test(v2 == v3);
|
||||
ut_test(isEqual(v2, v3));
|
||||
float data1_sq[] = {1, 4, 9, 16, 25};
|
||||
Vector<float, 5> v4(data1_sq);
|
||||
ut_test(v1 == v4.pow(0.5));
|
||||
ut_test(isEqual(v1, v4.pow(0.5)));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -639,15 +639,15 @@ bool MatrixTest::vector3Tests(void)
|
|||
Vector3f a(1, 0, 0);
|
||||
Vector3f b(0, 1, 0);
|
||||
Vector3f c = a.cross(b);
|
||||
ut_test(c == Vector3f(0, 0, 1));
|
||||
ut_test(isEqual(c, Vector3f(0, 0, 1)));
|
||||
c = a % b;
|
||||
ut_test(c == Vector3f(0, 0, 1));
|
||||
ut_test(isEqual(c, Vector3f(0, 0, 1)));
|
||||
Matrix<float, 3, 1> d(c);
|
||||
Vector3f e(d);
|
||||
ut_test(e == d);
|
||||
ut_test(isEqual(e, d));
|
||||
float data[] = {4, 5, 6};
|
||||
Vector3f f(data);
|
||||
ut_test(f == Vector3f(4, 5, 6));
|
||||
ut_test(isEqual(f, Vector3f(4, 5, 6)));
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -32,14 +32,14 @@
|
|||
############################################################################
|
||||
|
||||
add_custom_command(OUTPUT topic_listener.cpp
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
|
||||
DEPENDS msg_gen
|
||||
)
|
||||
|
||||
add_custom_target(generate_topic_listener
|
||||
DEPENDS
|
||||
topic_listener.cpp
|
||||
${CMAKE_SOURCE_DIR}/Tools/generate_listener.py)
|
||||
${PX4_SOURCE_DIR}/Tools/generate_listener.py)
|
||||
|
||||
px4_add_module(
|
||||
MODULE systemcmds__topic_listener
|
||||
|
|
|
|||
|
|
@ -13,15 +13,19 @@ enable_testing()
|
|||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=gnu++0x -g -fno-exceptions -fno-rtti -fno-threadsafe-statics -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__")
|
||||
|
||||
if (NOT PX4_SOURCE_DIR)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/..")
|
||||
endif()
|
||||
|
||||
set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
|
||||
|
||||
set(GTEST_DIR ${PX4_SOURCE_DIR}/unittests/googletest)
|
||||
add_subdirectory(${GTEST_DIR})
|
||||
include_directories(${GTEST_DIR}/include)
|
||||
|
||||
set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
|
||||
set(PX4_SRC ${PX4_SOURCE_DIR}/src)
|
||||
set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)
|
||||
|
||||
include_directories(${CMAKE_SOURCE_DIR})
|
||||
include_directories(${PX4_SOURCE_DIR})
|
||||
include_directories(${PX4_SITL_BUILD}/src)
|
||||
include_directories(${PX4_SITL_BUILD}/src/modules)
|
||||
include_directories(${PX4_SITL_BUILD}/src/modules/param)
|
||||
|
|
@ -69,7 +73,7 @@ set(PX4_PLATFORM
|
|||
# check
|
||||
add_custom_target(check
|
||||
COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
|
||||
WORKING_DIR ${CMAKE_BINARY_DIR}
|
||||
WORKING_DIR ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL)
|
||||
|
||||
# add_gtest
|
||||
|
|
@ -80,7 +84,7 @@ function(add_gtest)
|
|||
else()
|
||||
target_link_libraries(${test_name} gtest_main pthread rt ${PX4_PLATFORM})
|
||||
endif()
|
||||
add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
|
||||
add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${PX4_SOURCE_DIR})
|
||||
add_dependencies(check ${test_name})
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
|
|
|||
Loading…
Reference in New Issue