forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
commit
dcf71d5f69
2
Makefile
2
Makefile
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@ -131,7 +131,7 @@ endif
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#
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.PHONY: clean
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clean:
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@make -C $(NUTTX_SRC) -r $(MQUIET) clean
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@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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@make -C $(ROMFS_SRC) -r $(MQUIET) clean
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.PHONY: distclean
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@ -65,7 +65,7 @@
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#include <systemlib/perf_counter.h>
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#include <systemlib/hx_stream.h>
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#include "../protocol.h"
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#include "px4io/protocol.h"
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#include "uploader.h"
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class PX4IO;
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@ -1,73 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file PX4FMU <-> PX4IO messaging protocol.
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*
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* This initial version of the protocol is very simple; each side transmits a
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* complete update with each frame. This avoids the sending of many small
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* messages and the corresponding complexity involved.
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*/
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/*
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* XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
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* TREES ARE MERGED.
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*/
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#define PX4IO_OUTPUT_CHANNELS 8
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#define PX4IO_INPUT_CHANNELS 12
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#define PX4IO_RELAY_CHANNELS 2
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#pragma pack(push,1)
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/* command from FMU to IO */
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struct px4io_command {
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uint16_t f2i_magic;
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#define F2I_MAGIC 0x636d
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uint16_t servo_command[PX4IO_OUTPUT_CHANNELS];
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bool relay_state[PX4IO_RELAY_CHANNELS];
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bool arm_ok;
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};
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/* report from IO to FMU */
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struct px4io_report {
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uint16_t i2f_magic;
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#define I2F_MAGIC 0x7570
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uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
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bool armed;
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uint8_t channel_count;
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} __attribute__((packed));
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#pragma pack(pop)
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@ -35,4 +35,15 @@
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# Build the px4io application.
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#
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#
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# Note that we pull a couple of specific files from the systemlib, since
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# we can't support it all.
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#
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CSRCS = comms.c \
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mixer.c \
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px4io.c \
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safety.c \
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../systemlib/hx_stream.c \
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../systemlib/perf_counter.c
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include $(APPDIR)/mk/app.mk
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@ -48,6 +48,8 @@
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#define PX4IO_INPUT_CHANNELS 12
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#define PX4IO_RELAY_CHANNELS 2
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#pragma pack(push, 1)
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/* command from FMU to IO */
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struct px4io_command {
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uint16_t f2i_magic;
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@ -56,7 +58,7 @@ struct px4io_command {
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uint16_t servo_command[PX4IO_OUTPUT_CHANNELS];
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bool relay_state[PX4IO_RELAY_CHANNELS];
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bool arm_ok;
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} __attribute__((packed));
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};
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/* report from IO to FMU */
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struct px4io_report {
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@ -66,4 +68,6 @@ struct px4io_report {
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uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
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bool armed;
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uint8_t channel_count;
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} __attribute__((packed));
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};
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#pragma pack(pop)
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@ -38,7 +38,8 @@
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* the same names.
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*/
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#include <stdio.h>
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#include <nuttx/config.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <string.h>
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@ -47,17 +48,31 @@
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#define NOCODE 1000 /* larger than maximum errno */
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#if CONFIG_NFILE_STREAMS > 0
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# include <stdio.h>
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#elif defined(CONFIG_ARCH_LOWPUTC)
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# include <debug.h>
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extern int lib_lowvprintf(const char *fmt, va_list ap);
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#else
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# warning Cannot output without one of CONFIG_NFILE_STREAMS or CONFIG_ARCH_LOWPUTC
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#endif
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const char *
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getprogname(void)
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{
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#if CONFIG_TASK_NAME_SIZE > 0
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_TCB *thisproc = sched_self();
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return thisproc->name;
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#else
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return "app";
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#endif
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}
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static void
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warnerr_core(int errcode, const char *fmt, va_list args)
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{
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#if CONFIG_NFILE_STREAMS > 0
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fprintf(stderr, "%s: ", getprogname());
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vfprintf(stderr, fmt, args);
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@ -67,6 +82,17 @@ warnerr_core(int errcode, const char *fmt, va_list args)
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if (errcode < NOCODE)
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fprintf(stderr, ": %s", strerror(errcode));
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fprintf(stderr, "\n");
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#elif CONFIG_ARCH_LOWPUTC
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lib_lowprintf("%s: ", getprogname());
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lib_lowvprintf(fmt, args);
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/* convenience as many parts of NuttX use negative errno */
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if (errcode < 0)
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errcode = -errcode;
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if (errcode < NOCODE)
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lib_lowprintf(": %s", strerror(errcode));
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lib_lowprintf("\n");
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#endif
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}
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void
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@ -1,8 +1,6 @@
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############################################################################
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# configs/stm3210e-eval/nsh/appconfig
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#
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# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -14,7 +12,7 @@
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name NuttX nor the names of its contributors may be
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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@ -33,7 +31,4 @@
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#
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############################################################################
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# Path to px4io app containing the user_start entry point
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CONFIGURED_APPS += px4io
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CONFIGURED_APPS += systemlib
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