From 94cab1f9a9eb7e460cf2bd8fef80ca148325465f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 18 Mar 2019 12:44:50 -0400
Subject: [PATCH] update cmake NuttX helper save behaviour (oldconfig,
 menuconfig, etc)

---
 platforms/nuttx/NuttX/CMakeLists.txt | 251 ++++++++++++++++++---------
 platforms/nuttx/cmake/init.cmake     |  37 +++-
 2 files changed, 207 insertions(+), 81 deletions(-)

diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 9f49ba5676..2d7156968a 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -1,3 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
 
 if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
 	# copy with rsync and create file dependencies
@@ -27,7 +59,7 @@ file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx
 add_custom_command(
 	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
 	COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
-	COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
 	DEPENDS ${copy_nuttx_files} git_nuttx
 	COMMENT "Copying NuttX/nuttx to ${CP_DST}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -44,7 +76,7 @@ file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*
 add_custom_command(
 	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
 	COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
-	COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
 	DEPENDS ${copy_apps_files} git_nuttx_apps
 	COMMENT "Copying NuttX/apps to ${CP_DST}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -75,53 +107,61 @@ endif()
 # NuttX configure
 ###############################################################################
 
-if ("x${config_expanded}" STREQUAL "x")
-	# copy PX4 board Compressed config into nuttx and inflate it
+# copy NuttX config directory
+add_custom_command(
+	OUTPUT
+		${NUTTX_DIR}/arch/arm/include/math.h
+		${PX4_BINARY_DIR}/NuttX/nuttx-config/include/board.h
+		${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
+		${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/ld.script
+		${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
+	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h # copy arm math.h into NuttX source
+	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
+	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
+	DEPENDS
+		${NUTTX_SRC_DIR}/math.h
+		${NUTTX_SRC_DIR}/nsh_romfsimg.h
+		${NUTTX_CONFIG_DIR}/include/board.h
+		${NUTTX_CONFIG_DIR}/scripts/ld.script
+		${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
+		${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
+)
+
+# NuttX defconfig
+#  cmake should trigger reconfigure if defconfig changes
+set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
+file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
+if (NOT config_expanded)
+	# copy compressed PX4 defconfig into nuttx and inflate
 	add_custom_command(
-		OUTPUT
-			${NUTTX_DIR}/.config
-			${NUTTX_DIR}/arch/arm/include/math.h
+		OUTPUT ${NUTTX_DIR}/.config
 		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
 		COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps"
-		COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
-		COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
-		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h # copy arm math.h into NuttX source
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
 		COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
 		DEPENDS
-			${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
-			${NUTTX_CONFIG_DIR}/include/board.h
-			${NUTTX_CONFIG_DIR}/scripts/ld.script
-			${NUTTX_SRC_DIR}/math.h
-			${NUTTX_SRC_DIR}/nsh_romfsimg.h
+			${NUTTX_DEFCONFIG}
+			${NUTTX_DIR}/configs/dummy/Kconfig
+			${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
-		)
+	)
 else()
-	# copy PX4 board config into nuttx
+	# copy uncompressed PX4 defconfig into nuttx
 	add_custom_command(
-		OUTPUT
-			${NUTTX_DIR}/.config
-			${NUTTX_DIR}/arch/arm/include/math.h
-		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
-		COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
-		COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
-		COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
-		COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
-		COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
+		OUTPUT ${NUTTX_DIR}/.config
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
 		DEPENDS
-			${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
-			${NUTTX_CONFIG_DIR}/include/board.h
-			${NUTTX_CONFIG_DIR}/scripts/ld.script
-			${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
-			${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+			${NUTTX_DEFCONFIG}
 			${NUTTX_DIR}/configs/dummy/Kconfig
-			${CMAKE_CURRENT_SOURCE_DIR}/math.h
-			${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
+			${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG} and configuring"
-		)
+	)
 endif()
 
 ###############################################################################
@@ -149,8 +189,11 @@ else()
 endif()
 
 # context
-add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
-	COMMAND make ${nuttx_build_options} --no-print-directory context ${nuttx_build_output}
+add_custom_command(
+	OUTPUT
+		${NUTTX_DIR}/include/nuttx/version.h
+		${NUTTX_DIR}/include/nuttx/config.h
+	COMMAND make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context ${nuttx_build_output}
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	${nuttx_build_uses_terminal}
@@ -254,70 +297,122 @@ if (CONFIG_NET)
 	add_nuttx_dir(net net y -D__KERNEL__)
 endif()
 
-# oldconfig helper
-add_custom_target(oldconfig
-	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} oldconfig
-	COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+###############################################################################
+# NuttX oldconfig
+add_custom_target(oldconfig_nuttx
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y oldconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
 	USES_TERMINAL
-	)
+)
 
-# olddefconfig helper
-add_custom_target(olddefconfig
-	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} olddefconfig
-	COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+# NuttX oldconfig + savedefconfig back to PX4
+add_custom_target(oldconfig
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
+	DEPENDS oldconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make oldconfig then savedefconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+# NuttX oldconfig + copy uncompressed back to PX4
+add_custom_target(oldconfig_uncompressed
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
+	DEPENDS oldconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make oldconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+###############################################################################
+# NuttX olddefconfig
+add_custom_target(olddefconfig_nuttx
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}"
 	USES_TERMINAL
 	)
 
-# menuconfig helper
-add_custom_target(menuconfig
-	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
+# NuttX olddefconfig + savedefconfig back to PX4
+add_custom_target(olddefconfig
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
+	DEPENDS olddefconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make olddefconfig then savedefconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+# NuttX oldconfig + copy uncompressed back to PX4
+add_custom_target(olddefconfig_uncompressed
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
+	DEPENDS olddefconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make olddefconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+###############################################################################
+# NuttX menuconfig
+add_custom_target(menuconfig_nuttx
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y menuconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
 	USES_TERMINAL
 	)
 
-# qconfig helper
-add_custom_target(qconfig
-	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} qconfig
+# NuttX menuconfig + savedefconfig back to PX4
+add_custom_target(menuconfig
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
+	DEPENDS menuconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make nuttx_menuconfig then savedefconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+# NuttX menuconfig + copy uncompressed back to PX4
+add_custom_target(menuconfig_uncompressed
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
+	DEPENDS menuconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make nuttx_menuconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
+)
+
+###############################################################################
+# NuttX qconfig
+add_custom_target(qconfig_nuttx
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y qconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
 	USES_TERMINAL
 	)
 
-# savedefconfig helper
-add_custom_target(savedefconfig
-	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} savedefconfig
-	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/defconfig ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
-	DEPENDS ${NUTTX_DIR}/.config
-	COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
+# NuttX qconfig + savedefconfig back to PX4
+add_custom_target(qconfig
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
+	DEPENDS qconfig_nuttx
 	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make qconfig then savedefconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
 )
 
-# menuconfig and save
-add_custom_target(menuconfig_save
-	COMMAND
-		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces menuconfig to run before savedefconfig
-	DEPENDS menuconfig
-)
-
-# oldconfig and save
-add_custom_target(oldconfig_save
-	COMMAND
-		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces oldconfig to run before savedefconfig
-	DEPENDS oldconfig
-)
-
-# qconfig and save
-add_custom_target(qconfig_save
-	COMMAND
-		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces qconfig to run before savedefconfig
-	DEPENDS qconfig
+# NuttX qconfig + copy uncompressed back to PX4
+add_custom_target(qconfig_uncompressed
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
+	DEPENDS qconfig_nuttx
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running make qconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
+	USES_TERMINAL
 )
diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake
index 5b2f5c7c6f..af661f0beb 100644
--- a/platforms/nuttx/cmake/init.cmake
+++ b/platforms/nuttx/cmake/init.cmake
@@ -1,3 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
 
 if(NOT PX4_BOARD)
 	message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
@@ -80,9 +112,8 @@ execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/n
 execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
 
 # copy PX4 board config into nuttx
-file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
-
-if ("x${config_expanded}" STREQUAL "x")
+file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
+if (NOT config_expanded)
 	execute_process(COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps" WORKING_DIRECTORY ${NUTTX_DIR})
 	execute_process(COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig WORKING_DIRECTORY ${NUTTX_DIR})
 endif()