forked from Archive/PX4-Autopilot
ROMFS:Bake in UAVCAN FW with builds that end in _uavcan
The configuration are mostly for testing now.
This commit is contained in:
David Sidrane
Daniel Agar
parent
8c2678bca1
commit
e0e796a2b9
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@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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endforeach()
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if(config_uavcan_peripheral_firmware)
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include(ExternalProject)
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
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# include the px4io binary in ROMFS
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message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
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ExternalProject_Add(build_${uavcan_peripheral_config}
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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UPDATE_COMMAND ""
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CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
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INSTALL_COMMAND ""
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USES_TERMINAL_BUILD true
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DEPENDS git_nuttx git_nuttx_apps
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BUILD_ALWAYS 1
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)
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ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
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${uavcan_peripheral_config}.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
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DEPENDS
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build_${uavcan_peripheral_config}
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COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
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)
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list(APPEND extras_dependencies
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${uavcan_peripheral_config}.stamp
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)
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endforeach()
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endif()
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list(APPEND extras_dependencies
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${config_romfs_extra_dependencies}
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)
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@ -0,0 +1,53 @@
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# UAVCAN boot loadable Module ID
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set(uavcanblid_sw_version_major 0)
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set(uavcanblid_sw_version_minor 1)
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add_definitions(
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-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
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-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
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)
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set(uavcanblid_hw_version_major 1)
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set(uavcanblid_hw_version_minor 0)
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set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
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add_definitions(
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-DHW_UAVCAN_NAME=${uavcanblid_name}
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-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
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-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
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)
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add_definitions(-DUSE_S_RGB_LED_DMA)
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px4_add_board(
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PLATFORM nuttx
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VENDOR cuav
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MODEL can-gps-v1
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LABEL debug
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT cannode
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UAVCAN_INTERFACES 1
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DRIVERS
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barometer/ms5611
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bootloaders
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gps
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lights/neopixel
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magnetometer/rm3100
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safety_button
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tone_alarm
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uavcannode
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MODULES
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load_mon
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SYSTEMCMDS
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i2cdetect
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led_control
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param
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perf
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reboot
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top
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topic_listener
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tune_control
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ver
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work_queue
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)
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@ -0,0 +1,128 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR cuav
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MODEL nora
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LABEL uavcan
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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#BUILD_BOOTLOADER
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#TESTING
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UAVCAN_INTERFACES 2
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UAVCAN_TIMER_OVERRIDE 2
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UAVCAN_PERIPHERALS
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cuav_can-gps-v1_default
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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GPS2:/dev/ttyS2
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TEL2:/dev/ttyS3
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# CONSOLE: /dev/ttyS4
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# RC: /dev/ttyS5
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DRIVERS
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adc/board_adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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heater
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#imu # all available imu drivers
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imu/bosch/bmi088
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imu/invensense/icm20649
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imu/invensense/icm20689
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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mkblctrl
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optical_flow # all available optical flow drivers
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#osd
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pca9685
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power_monitor/ina226
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#protocol_splitter
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pwm_out_sim
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pwm_out
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rc_input
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roboclaw
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safety_button
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#tap_esc
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telemetry # all available telemetry drivers
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#test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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dataman
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ekf2
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events
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flight_mode_manager
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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temperature_compensation
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vmount
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vtol_att_control
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SYSTEMCMDS
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#bl_update
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dmesg
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dumpfile
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esc_calib
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hardfault_log
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i2cdetect
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led_control
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mft
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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system_time
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#tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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#matlab_csv_serial
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#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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#rover_steering_control # Rover example app
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#uuv_example_app
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#work_item
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)
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@ -0,0 +1,128 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR cuav
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MODEL x7pro
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LABEL uavcan
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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#BUILD_BOOTLOADER
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#TESTING
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UAVCAN_INTERFACES 2
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UAVCAN_TIMER_OVERRIDE 2
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UAVCAN_PERIPHERALS
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cuav_can-gps-v1_default
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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GPS2:/dev/ttyS2
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TEL2:/dev/ttyS3
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# CONSOLE: /dev/ttyS4
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# RC: /dev/ttyS5
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DRIVERS
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adc/board_adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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heater
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#imu # all available imu drivers
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imu/bosch/bmi088
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imu/invensense/icm20649
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imu/invensense/icm20689
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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mkblctrl
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optical_flow # all available optical flow drivers
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#osd
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pca9685
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power_monitor/ina226
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#protocol_splitter
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pwm_out_sim
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pwm_out
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rc_input
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roboclaw
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safety_button
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#tap_esc
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telemetry # all available telemetry drivers
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#test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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dataman
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ekf2
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events
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flight_mode_manager
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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temperature_compensation
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vmount
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vtol_att_control
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SYSTEMCMDS
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#bl_update
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dmesg
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dumpfile
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esc_calib
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hardfault_log
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i2cdetect
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led_control
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mft
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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system_time
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#tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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#matlab_csv_serial
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#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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#rover_steering_control # Rover example app
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#uuv_example_app
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#work_item
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)
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@ -0,0 +1,138 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v5
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LABEL uavcan
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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UAVCAN_INTERFACES 2
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UAVCAN_PERIPHERALS
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cuav_can-gps-v1_default
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS3
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DRIVERS
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adc/board_adc
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#adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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#heater
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#imu # all available imu drivers
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#imu/adis16448
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#imu/adis16477
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#imu/adis16497
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imu/bosch/bmi055
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imu/invensense/icm20602
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imu/invensense/icm20689
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#imu/mpu6000 # legacy icm20602/icm20689 driver
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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mkblctrl
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optical_flow # all available optical flow drivers
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#osd
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pca9685
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#pca9685_pwm_out
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power_monitor/ina226
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#protocol_splitter
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#pwm_input
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pwm_out_sim
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pwm_out
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px4io
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rc_input
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#roboclaw
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#rpm
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safety_button
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#tap_esc
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telemetry # all available telemetry drivers
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#test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
|
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attitude_estimator_q
|
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battery_status
|
||||
camera_feedback
|
||||
commander
|
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dataman
|
||||
ekf2
|
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#esc_battery
|
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events
|
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flight_mode_manager
|
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fw_att_control
|
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fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
#rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
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vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
#bl_update
|
||||
dmesg
|
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#dumpfile
|
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esc_calib
|
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#gpio
|
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hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
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usb_connected
|
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ver
|
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work_queue
|
||||
EXAMPLES
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
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#hello
|
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#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
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#work_item
|
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)
|
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@ -50,6 +50,7 @@
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# [ IO <string> ]
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# [ BOOTLOADER <string> ]
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# [ UAVCAN_INTERFACES <string> ]
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# [ UAVCAN_PERIPHERALS <list> ]
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# [ DRIVERS <list> ]
|
||||
# [ MODULES <list> ]
|
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# [ SYSTEMCMDS <list> ]
|
||||
|
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@ -74,6 +75,7 @@
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# IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
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# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only)
|
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# UAVCAN_INTERFACES : number of interfaces for UAVCAN
|
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# UAVCAN_PERIPHERALS : list of UAVCAN peripheral firmware to build and embed
|
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# DRIVERS : list of drivers to build for this board (relative to src/drivers)
|
||||
# MODULES : list of modules to build for this board (relative to src/modules)
|
||||
# SYSTEMCMDS : list of system commands to build for this board (relative to src/systemcmds)
|
||||
|
|
@ -154,6 +156,7 @@ function(px4_add_board)
|
|||
SYSTEMCMDS
|
||||
EXAMPLES
|
||||
SERIAL_PORTS
|
||||
UAVCAN_PERIPHERALS
|
||||
EMBEDDED_METADATA
|
||||
OPTIONS
|
||||
BUILD_BOOTLOADER
|
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|
|
@ -236,6 +239,10 @@ function(px4_add_board)
|
|||
if(IO)
|
||||
set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
|
||||
endif()
|
||||
|
||||
if(UAVCAN_PERIPHERALS)
|
||||
set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(UAVCAN_INTERFACES)
|
||||
|
|
|
|||
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Reference in New Issue