Cut over MAVLink to new style build system

makefiles/config_px4fmu_default.mk

@@ -21,6 +21,8 @@ MODULES		+= systemcmds/eeprom
 # General system control
 #
 MODULES		+= modules/commander
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
 
 #
 # Estimation modules (EKF / other filters)
@@ -56,8 +58,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
-	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
-	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
 	$(call _B, mixer,                  ,                          4096,  mixer_main                 ) \
 	$(call _B, mpu6000,                ,                          4096,  mpu6000_main               ) \
 	$(call _B, ms5611,                 ,                          2048,  ms5611_main                ) \

makefiles/config_px4fmuv2_default.mk

@@ -21,6 +21,8 @@ MODULES		+= systemcmds/ramtron
 # General system control
 #
 MODULES		+= modules/commander
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
 
 #
 # Estimation modules (EKF / other filters)
@@ -55,8 +57,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
-	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
-	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
 	$(call _B, mixer,                  ,                          4096,  mixer_main                 ) \
 	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
 	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \

src/modules/mavlink/mavlink.c

@@ -64,9 +64,9 @@
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"

src/modules/mavlink/mavlink_bridge_header.h

@@ -51,7 +51,7 @@
 #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
 #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
 
-#include "v1.0/mavlink_types.h"
+#include <v1.0/mavlink_types.h>
 #include <unistd.h>
 
 

src/modules/mavlink/mavlink_log.c

@@ -42,7 +42,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include "mavlink_log.h"
+#include <mavlink/mavlink_log.h>
 
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {

src/modules/mavlink/mavlink_receiver.c

@@ -64,9 +64,9 @@
 
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"
@@ -312,7 +312,7 @@ handle_message(mavlink_message_t *msg)
 		static const float ground_press = 1013.25f; // mbar
 		static const float ground_tempC = 21.0f;
 		static const float ground_alt = 0.0f;
-		static const float T0 = 273.15;
+		static const float T0 = 273.15f;
 		static const float R = 287.05f;
 		static const float g = 9.806f;
 

src/modules/mavlink/missionlib.c

@@ -62,9 +62,9 @@
 
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+#include <mavlink/mavlink_log.h>
 
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"

src/modules/mavlink/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2013 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
@@ -32,13 +32,16 @@
 ############################################################################
 
 #
-# Mavlink Application
+# MAVLink protocol to uORB interface process
 #
 
-APPNAME		 = mavlink_onboard
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	 = mavlink
+SRCS		 += mavlink.c \
+			   missionlib.c \
+			   mavlink_parameters.c \
+			   mavlink_log.c \
+			   mavlink_receiver.c \
+			   orb_listener.c \
+			   waypoints.c
 
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/mavlink/orb_listener.c

@@ -56,8 +56,9 @@
 #include <stdlib.h>
 #include <poll.h>
 
+#include <mavlink/mavlink_log.h>
+
 #include "waypoints.h"
-#include "mavlink_log.h"
 #include "orb_topics.h"
 #include "missionlib.h"
 #include "mavlink_hil.h"

src/modules/mavlink_onboard/mavlink_bridge_header.h

@@ -51,7 +51,7 @@
 #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
 #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
 
-#include "v1.0/mavlink_types.h"
+#include <v1.0/mavlink_types.h>
 #include <unistd.h>
 
 

src/modules/mavlink_onboard/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2013 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
@@ -32,13 +32,11 @@
 ############################################################################
 
 #
-# Mavlink Application
+# MAVLink protocol to uORB interface process (XXX hack for onboard use)
 #
 
-APPNAME		 = mavlink
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	 = mavlink_onboard
+SRCS		 = mavlink.c \
+			   mavlink_receiver.c
 
-INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink