boards organization

.ci/Jenkinsfile-SITL_tests

@@ -30,7 +30,7 @@ pipeline {
             sh('make distclean')
             sh "ccache -z"
             sh "git fetch --tags"
-            sh('make posix_sitl_default')
+            sh('make px4sitl_default')
             sh "ccache -s"
           }
         }
@@ -47,8 +47,8 @@ pipeline {
         stage('unit tests') {
           steps {
             sh 'export'
-            sh 'make posix_sitl_default test_results_junit'
+            sh 'make px4sitl_default test_results_junit'
-            junit 'build/posix_sitl_default/JUnitTestResults.xml'
+            junit 'build/px4sitl_default/JUnitTestResults.xml'
           }
         }
 
@@ -56,7 +56,7 @@ pipeline {
           steps {
             sh 'export'
             sh "ccache -z"
-            sh('make posix_sitl_default sitl_gazebo')
+            sh('make px4sitl_default sitl_gazebo')
             sh "ccache -s"
           }
         }
@@ -64,8 +64,8 @@ pipeline {
         stage('package') {
           steps {
             sh 'export'
-            sh('make posix_sitl_default package')
+            sh('make px4sitl_default package')
-            stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
+            stash(name: "px4_sitl_package", includes: "build/px4sitl_default/*.bz2")
           }
         }
 
@@ -176,7 +176,7 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean'
-            sh 'make posix_sitl_default test_results_junit'
+            sh 'make px4sitl_default test_results_junit'
             withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
               sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
             }
@@ -221,11 +221,11 @@ def createTestNode(Map test_def) {
           }
 
           unstash('px4_sitl_package')
-          sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')            
+          sh('tar -xjpvf build/px4sitl_default/px4-px4sitl_default*.bz2')
 
           // run test
           try {
-            sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+            sh('px4-px4sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
 
           } catch (exc) {
             // save all test artifacts for debugging
@@ -240,7 +240,7 @@ def createTestNode(Map test_def) {
 
               // process log data (with python code coverage)
               try {
-                sh('coverage run -p px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+                sh('coverage run -p px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
               } catch (exc) {
                 // save log analysis artifacts for debugging
                 archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -249,7 +249,7 @@ def createTestNode(Map test_def) {
               }
 
               // upload log to flight review (https://logs.px4.io/) with python code coverage
-              sh('coverage run -p px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+              sh('coverage run -p px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
 
               // upload python code coverage to codecov.io
               sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
@@ -257,7 +257,7 @@ def createTestNode(Map test_def) {
           } else { // non code coverage
             // process ekf log data
             try {
-              sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+              sh('px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
             } catch (exc) {
               // save log analysis artifacts for debugging
               archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -266,7 +266,7 @@ def createTestNode(Map test_def) {
             }
 
             // upload log to flight review (https://logs.px4.io/)
-            sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+            sh('px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
           }
 
           if (!test_ok) {

.ci/Jenkinsfile-compile

@@ -18,8 +18,8 @@ pipeline {
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
           ]
 
-          // MAC OSX posix_sitl_default
+          // MAC OSX px4sitl_default
-          build_nodes["posix_sitl_default (OSX)"] = {
+          build_nodes["px4sitl_default (OSX)"] = {
             node("mac") {
               withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
                 stage("sitl (OSX)") {
@@ -28,7 +28,7 @@ pipeline {
                     sh('export')
                     sh('make distclean')
                     sh('ccache -z')
-                    sh('make posix_sitl_default')
+                    sh('make px4sitl_default')
                     sh('ccache -s')
                     sh('make tests')
                   }
@@ -43,7 +43,7 @@ pipeline {
             }
           }
 
-          // MAC OSX nuttx_px4fmu-v4pro_default
+          // MAC OSX px4fmu-v4pro_default
           build_nodes["px4fmu-v4pro_default (OSX)"] = {
             node("mac") {
               withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
@@ -53,7 +53,7 @@ pipeline {
                     sh('export')
                     sh('make distclean')
                     sh('ccache -z')
-                    sh('make nuttx_px4fmu-v4pro_default')
+                    sh('make px4fmu-v4pro_default')
                     sh('ccache -s')
                   }
                   catch (exc) {
@@ -69,46 +69,46 @@ pipeline {
 
           // docker builds:
           def arch_builds = [
-            target: ["posix_sitl_default"],
+            target: ["px4sitl_default"],
             image: docker_images.arch,
             archive: false
           ]
 
           def armhf_builds = [
-            target: ["posix_ocpoc_ubuntu"],
+            target: ["aerotennaocpoc_ubuntu"],
             image: docker_images.armhf,
             archive: false
           ]
 
           def base_builds = [
-            target: ["posix_sitl_rtps"],
+            target: ["px4sitl_rtps"],
             image: docker_images.base,
             archive: false
           ]
 
           def nuttx_builds_archive = [
             target: ["px4fmu-v2_default", "px4fmu-v3_default", "px4fmu-v4_default", "px4fmu-v4pro_default", "px4fmu-v5_default", "px4fmu-v5_rtps", "px4fmu-v5_stackcheck",
-                     "aerofc-v1_default", "aerocore2_default", "auav-x21_default", "av-x-v1_default", "crazyflie_default", "mindpx-v2_default",
+                     "intelaerofc-v1_default", "gumstixaerocore2_default", "auavx21_default", "avx-v1_default", "bitcrazecrazyflie_default", "airmindmindpx-v2_default",
-                     "nxphlite-v3_default", "omnibus-f4sd_default"],
+                     "nxphlite-v3_default", "omnibusf4sd_default"],
             image: docker_images.nuttx,
             archive: true
           ]
 
           def nuttx_builds_other = [
-            target: ["px4-same70xplained-v1_default", "px4-stm32f4discovery_default", "px4cannode-v1_default",
+            target: ["atmelsame70xplained_default", "stm32f4discovery_default", "px4cannode-v1_default",
-                     "px4esc-v1_default", "px4nucleoF767ZI-v1_default", "s2740vc-v1_default"],
+                     "px4esc-v1_default", "stmnucleo-F767ZI_default", "thiemars2740vc-v1_default"],
             image: docker_images.nuttx,
             archive: false
           ]
 
           def rpi_builds = [
-            target: ["posix_rpi_cross", "posix_bebop_default"],
+            target: ["emlidnavio2_cross", "parrotbebop_default"],
             image: docker_images.rpi,
             archive: false
           ]
 
           def snapdragon_builds = [
-            target: ["qurt_eagle_default", "posix_eagle_default"],
+            target: ["atlflighteagle_qurt-default", "atlflighteagle_default"],
             image: docker_images.snapdragon,
             archive: false
           ]

.ci/Jenkinsfile-hardware

@@ -18,10 +18,10 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make nuttx_px4fmu-v2_test'
+            sh 'make px4fmu-v2_test'
             sh 'make sizes'
             sh 'ccache -s'
-            stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
+            stash includes: 'build/px4fmu-v2_test/px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
             stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v2'
           }
           post {
@@ -43,10 +43,10 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make nuttx_px4fmu-v4_stackcheck'
+            sh 'make px4fmu-v4_stackcheck'
             sh 'make sizes'
             sh 'ccache -s'
-            stash includes: 'build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
+            stash includes: 'build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
             stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
           }
           post {
@@ -82,7 +82,7 @@ pipeline {
                       -ex "attach 1" \
                       -ex "load" \
                       -ex "kill" \
-                      build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf
+                      build/px4fmu-v2_test/px4fmu-v2_test.elf
                 '''
                 sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
                 sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
@@ -116,7 +116,7 @@ pipeline {
                       -ex "attach 1" \
                       -ex "load" \
                       -ex "kill" \
-                      build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf
+                      build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf
                 '''
                 sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
                 sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'

.gitmodules

@@ -34,8 +34,8 @@
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
 	branch = master
-[submodule "cmake/cmake_hexagon"]
+[submodule "boards/atlflight/cmake_hexagon"]
-	path = cmake/cmake_hexagon
+	path = boards/atlflight/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon.git
 	branch = master
 [submodule "src/drivers/gps/devices"]

.travis.yml

@@ -28,5 +28,5 @@ addons:
       description: "Build submitted via Travis CI"
     notification_email: ci@px4.io
     build_command_prepend: "make distclean"
-    build_command: "make posix_sitl_default"
+    build_command: "make px4sitl_default"
     branch_pattern: coverity_scan

CMakeLists.txt

@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${OS}" STREQUAL "posix",
+#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${OS} STREQUAL "posix". This will throw an
+#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${OS} is not defined instead of silently
+#	error when ${PX4_PLATFORM} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
@@ -104,12 +104,12 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 
 #=============================================================================
 # git
 #
-include(common/px4_git)
+include(px4_git)
 
 execute_process(
 	COMMAND git describe --always --tags
@@ -132,13 +132,90 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 # configuration
 #
 
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "px4sitl_default" CACHE STRING "desired configuration")
 
-string(REPLACE "_" ";" config_args ${CONFIG})
+set(config_module_list)
-list(GET config_args 0 OS)
+set(config_df_driver_list)
-list(GET config_args 1 BOARD)
-list(GET config_args 2 LABEL)
 
+# find PX4 config
+#  look for in tree board config that matches CONFIG input
+if(NOT PX4_CONFIG_FILE)
+
+	file(GLOB_RECURSE board_configs
+		RELATIVE "${PX4_SOURCE_DIR}/boards"
+		"boards/*.cmake"
+		)
+
+	set(PX4_CONFIGS ${board_configs} CACHE STRINGS "PX4 board configs" FORCE)
+
+	foreach(filename ${board_configs})
+		# parse input CONFIG into components to match with existing in tree configs
+		#  the platform prefix (eg nuttx_) is historical, and removed if present
+		string(REPLACE ".cmake" "" filename_stripped ${filename})
+		string(REPLACE "/" ";" config ${filename_stripped})
+		list(LENGTH config config_len)
+
+		if(${config_len} EQUAL 3)
+
+
+			list(GET config 0 vendor)
+			list(GET config 1 model)
+			list(GET config 2 label)
+
+			set(board "${vendor}${model}")
+
+			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
+			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+			# <BOARD>_<LABEL> (eg px4fmu-v2_default)
+			# <BOARD>_default (eg px4fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form
+			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4fmu-v2_default)
+			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
+
+			if ((${config_no_os} MATCHES "${board}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form special case to ease board layout transition (2018-11-18)
+			#  match board with model and label only: eg sitl_default -> px4_sitl_default
+			if ((${config_no_os} MATCHES "${model}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+		endif()
+
+	endforeach()
+endif()
+
+if(NOT PX4_CONFIG_FILE)
+	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
+endif()
+
+message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
+message(STATUS "PX4 config: ${PX4_BOARD_VENDOR} ${PX4_BOARD_MODEL} ${PX4_BOARD_LABEL}")
+message(STATUS "PX4 platform: ${PX4_PLATFORM}")
+
+# external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -147,13 +224,12 @@ endif()
 
 set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
+include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-include(configs/${CONFIG})
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
+	if (${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -166,9 +242,8 @@ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebIn
 
 #=============================================================================
 
-message(STATUS "PX4 VERSION: ${PX4_GIT_TAG}")
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
-message(STATUS "CONFIG: ${CONFIG}")
+message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 # project definition
@@ -194,10 +269,10 @@ endif()
 #=============================================================================
 
 # Setup install paths
-if (${OS} STREQUAL "posix")
+if (${PX4_PLATFORM} STREQUAL "posix")
 
-	include(common/coverage)
+	include(coverage)
-	include(common/sanitizers)
+	include(sanitizers)
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -216,6 +291,7 @@ endif()
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
+	px4_add_board
 	)
 foreach(cmd ${px4_required_interface})
 	if (NOT COMMAND ${cmd})
@@ -223,13 +299,6 @@ foreach(cmd ${px4_required_interface})
 	endif()
 endforeach()
 
-set(px4_required_config config_module_list)
-foreach(conf ${px4_required_config})
-	if (NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
-	endif()
-endforeach()
-
 #=============================================================================
 # ccache
 #
@@ -276,43 +345,11 @@ else()
 	px4_find_python_module(jinja2 REQUIRED)
 endif()
 
-#=============================================================================
-# check required toolchain variables
-#
-
-set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
-foreach(var ${required_variables})
-	if (NOT ${var})
-		message(FATAL_ERROR "Toolchain/config must define ${var}")
-	endif()
-endforeach()
-
-# print full c compiler version
-execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-		OUTPUT_VARIABLE c_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
-message(STATUS "C compiler: ${c_compiler_version_short}")
-
-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
-		OUTPUT_VARIABLE cxx_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
-message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
-
-#=============================================================================
-# external libraries
-#
-px4_os_prebuild_targets(OUT prebuild_targets BOARD ${BOARD})
-
 #=============================================================================
 # build flags
 #
 px4_os_add_flags(
-	BOARD ${BOARD}
+	BOARD ${PX4_BOARD}
 	C_FLAGS c_flags
 	CXX_FLAGS cxx_flags
 	OPTIMIZATION_FLAGS optimization_flags
@@ -328,16 +365,17 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimizatio
 #=============================================================================
 # message, and airframe generation
 #
-include(common/px4_metadata)
+include(px4_metadata)
 
 add_subdirectory(msg EXCLUDE_FROM_ALL)
 
-px4_generate_airframes_xml(BOARD ${BOARD})
+px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 
 #=============================================================================
 # DriverFramework
 #
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+set(OS ${PX4_PLATFORM})
 add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
@@ -398,26 +436,12 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${OS})
+add_subdirectory(platforms/${PX4_PLATFORM})
-
-#=============================================================================
-# generate custom target to print for all executable and module cmake targets
-#
-if (all_posix_cmake_targets)
-	list(SORT all_posix_cmake_targets)
-	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
-	add_custom_target(list_cmake_targets
-		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
-		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
-		VERBATIM
-		)
-endif()
-
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${BOARD})
+set(uorb_graph_config ${PX4_BOARD})
 
 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -471,10 +495,10 @@ endif()
 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
 	USES_TERMINAL
@@ -521,7 +545,7 @@ add_custom_target(all_metadata
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
 set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")

Jenkinsfile

@@ -62,12 +62,12 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make nuttx_px4fmu-v2_default'
+            sh 'make px4fmu-v2_default'
-            sh 'make nuttx_px4fmu-v2_default bloaty_symbols'
+            sh 'make px4fmu-v2_default bloaty_symbols'
-            sh 'make nuttx_px4fmu-v2_default bloaty_compileunits'
+            sh 'make px4fmu-v2_default bloaty_compileunits'
-            sh 'make nuttx_px4fmu-v2_default bloaty_inlines'
+            sh 'make px4fmu-v2_default bloaty_inlines'
-            sh 'make nuttx_px4fmu-v2_default bloaty_templates'
+            sh 'make px4fmu-v2_default bloaty_templates'
-            sh 'make nuttx_px4fmu-v2_default bloaty_compare_master'
+            sh 'make px4fmu-v2_default bloaty_compare_master'
             sh 'make sizes'
             sh 'ccache -s'
           }
@@ -90,12 +90,12 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make nuttx_px4fmu-v5_default'
+            sh 'make px4fmu-v5_default'
-            sh 'make nuttx_px4fmu-v5_default bloaty_symbols'
+            sh 'make px4fmu-v5_default bloaty_symbols'
-            sh 'make nuttx_px4fmu-v5_default bloaty_compileunits'
+            sh 'make px4fmu-v5_default bloaty_compileunits'
-            sh 'make nuttx_px4fmu-v5_default bloaty_inlines'
+            sh 'make px4fmu-v5_default bloaty_inlines'
-            sh 'make nuttx_px4fmu-v5_default bloaty_templates'
+            sh 'make px4fmu-v5_default bloaty_templates'
-            sh 'make nuttx_px4fmu-v5_default bloaty_compare_master'
+            sh 'make px4fmu-v5_default bloaty_compare_master'
             sh 'make sizes'
             sh 'ccache -s'
           }
@@ -272,7 +272,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make airframe_metadata'
-            dir('build/posix_sitl_default/docs') {
+            dir('build/px4sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
               stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
             }
@@ -291,7 +291,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make parameters_metadata'
-            dir('build/posix_sitl_default/docs') {
+            dir('build/px4sitl_default/docs') {
               archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
               stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
             }
@@ -310,7 +310,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make module_documentation'
-            dir('build/posix_sitl_default/docs') {
+            dir('build/px4sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
               stash includes: 'modules/*.md', name: 'metadata_module_documentation'
             }
@@ -334,8 +334,8 @@ pipeline {
             sh 'make distclean'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_sitl.json')
+              archiveArtifacts(artifacts: 'graph_px4sitl.json')
-              stash includes: 'graph_sitl.json', name: 'uorb_graph'
+              stash includes: 'graph_px4sitl.json', name: 'uorb_graph'
             }
           }
           post {

Makefile

@@ -53,11 +53,11 @@ endif
 # make px4fmu-v2_default test 		(builds and tests)
 #
 # This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build/nuttx_px4fmu-v2_default and then call make
+# directory build/px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
 #  explicity set default build target
-all: posix_sitl_default
+all: px4sitl_default
 
 # Parsing
 # --------------------------------------------------------------------
@@ -156,10 +156,11 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# Get a list of all config targets cmake/configs/*.cmake
+# Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)"/cmake/configs -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\///' | sed -e 's/\//_/g'  | sort)
-# Strip off leading nuttx_
+
-NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+# Strip off default
+CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -177,22 +178,26 @@ $(NUTTX_CONFIG_TARGETS):
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
-posix: posix_sitl_default
+$(CONFIG_TARGETS_DEFAULT):
-broadcast: posix_sitl_broadcast
+	$(call cmake-build,$@_default)
+
+all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+
+posix: px4sitl_default
+posix_sitl_default: px4sitl_default
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast all_nuttx_targets
+.PHONY: all posix posix_sitl_default all_nuttx_targets all_default_targets
 
 # Multi- config targets.
-eagle_default: posix_eagle_default qurt_eagle_default
+eagle_default: atlflighteagle_default atlflighteagle_qurt-default
-eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_rtps: atlflighteagle_rtps atlflighteagle_qurt-rtps
-eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
-excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-.PHONY: eagle_default eagle_rtps eagle_legacy_default
+excelsior_default: atlflightexcelsior_default atlflightexcelsior_qurt-default
-.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
+excelsior_rtps: atlflightexcelsior_rtps atlflightexcelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
 
 # Other targets
 # --------------------------------------------------------------------
@@ -213,23 +218,23 @@ px4fmu_firmware: \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_aerocore2_default \
+	check_gumstixaerocore2_default \
-	check_aerofc-v1_default \
+	check_intelaerofc-v1_default \
-	check_auav-x21_default \
+	check_auavx21_default \
-	check_crazyflie_default \
+	check_bitcrazecrazyflie_default \
-	check_mindpx-v2_default \
+	check_airmindmindpx-v2_default \
 	check_px4fmu-v2_lpe \
 	sizes
 
 # Other NuttX firmware
 alt_firmware: \
 	check_nxphlite-v3_default \
-	check_px4-same70xplained-v1_default \
+	check_atmelsame70xplained_default \
-	check_px4-stm32f4discovery_default \
+	check_stm32f4discovery_default \
 	check_px4cannode-v1_default \
 	check_px4esc-v1_default \
-	check_px4nucleoF767ZI-v1_default \
+	check_stmnucleo-F767ZI_default \
-	check_s2740vc-v1_default \
+	check_thiemars2740vc-v1_default \
 	sizes
 
 # builds with RTPS
@@ -237,7 +242,7 @@ check_rtps: \
 	check_px4fmu-v3_rtps \
 	check_px4fmu-v4_rtps \
 	check_px4fmu-v4pro_rtps \
-	check_posix_sitl_rtps \
+	check_px4sitl_rtps \
 	sizes
 
 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -443,4 +448,4 @@ help:
 
 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done

ROMFS/CMakeLists.txt

@@ -87,13 +87,13 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
-		--board ${BOARD}
+		--board ${PX4_BOARD}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-		--folder ${romfs_gen_root_dir} --board ${BOARD}
+		--folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	DEPENDS
 		${jinja_templates}
 		${module_config_files}
@@ -107,6 +107,7 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
 
 # copy extras into ROMFS
 set(extras_dependencies)
+
 # copy px4io binary if configured
 if(config_io_board)
 	list(APPEND extras_dependencies
@@ -115,6 +116,7 @@ if (config_io_board)
 		)
 endif()
 
+
 if(config_bl_file)
 	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
 	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)

ROMFS/px4fmu_common/init.d/rcS

@@ -71,7 +71,7 @@ set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set FMU_ARGS ""
 set FMU_MODE pwm
-set IOFW "/etc/extras/px4io-v2.bin"
+set IOFW "/etc/extras/px4io-v2_default.bin"
 set IO_PRESENT no
 set LOG_FILE /fs/microsd/bootlog.txt
 set MAV_TYPE none
@@ -367,7 +367,7 @@ else
 
 	#
 	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firware file and IO_PRESENT = no
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
 	#
 
 	if [ -f $IOFW ]

Tools/astyle/files_to_check_code_style.sh

@@ -10,7 +10,6 @@ fi
 
 exec find src platforms \
     -path platforms/nuttx/NuttX -prune -o \
-    -path platforms/nuttx/nuttx-configs -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \

Tools/docker_run.sh

@@ -5,14 +5,14 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2018-11-22"
-	elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2018-11-22"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2018-09-12"
 	elif [[ $@ =~ .*ocpoc.* ]]; then
-		# posix_ocpoc_ubuntu
+		# aerotennaocpoc_ubuntu
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2018-11-22"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then	
 		# clang tools

Tools/sitl_multiple_run.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make posix_sitl_default'
+# It assumes px4 is already built, with 'make px4sitl_default'
 
 # The simulator is expected to send to UDP port 14560+i for i in [0, N-1]
 # For example jmavsim can be run like this:
@@ -12,7 +12,7 @@ sitl_num=2
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/.."
 
-build_path=${src_path}/build/posix_sitl_default
+build_path=${src_path}/build/px4sitl_default
 
 echo "killing running instances"
 pkill -x px4 || true

boards/aerotenna/ocpoc/src/CMakeLists.txt

@@ -30,7 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_library(drivers_board
-	../common/board_identity.c
-)
 
+px4_add_library(drivers_board
+	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
+)

boards/aerotenna/ocpoc/src/board_config.h

@@ -58,4 +58,4 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 
 #include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>

boards/aerotenna/ocpoc/ubuntu.cmake

@@ -0,0 +1,86 @@
+
+px4_add_board(
+	VENDOR aerotenna
+	MODEL ocpoc
+	LABEL ubuntu
+	PLATFORM posix
+	ARCH cortex-a9
+	TOOLCHAIN Toolchain-arm-linux-gnueabihf
+	TESTING
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		linux_pwm_out
+		linux_sbus
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		ocpoc_adc
+		rgbled
+		pwm_out_sim
+		#telemetry # all available telemetry drivers
+		vmount
+
+	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+		mpu9250
+		ms5611
+		hmc5883
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		#simulator
+		#uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		esc_calib
+		led_control
+		mixer
+		motor_ramp
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hwtest # Hardware test
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+	)

boards/airmind/mindpx-v2/default.cmake

@@ -0,0 +1,116 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR airmind
+	MODEL mindpx-v2
+	ARCH cortex-m4
+	ROMFS
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 1
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		blinkm
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/l3gd20
+		imu/lsm303d
+		imu/mpu6000
+		imu/mpu9250
+		irlock
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		oreoled
+		pca9685
+		pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		rc_input
+		rgbled
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		vmount
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
+		#matlab_csv_serial
+		#publisher
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+		#subscriber
+		uuv_example_app
+
+	)

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -688,7 +688,7 @@ CONFIG_RAM_SIZE=262144
 # Board Selection
 #
 CONFIG_ARCH_BOARD_MINDPX_V2=y
-CONFIG_ARCH_BOARD="mindpx-v2"
+CONFIG_ARCH_BOARD="airmindmindpx-v2"
 
 #
 # Custom Board Configuration

boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * nuttx-configs/px4fmu-v3/scripts/ld.script
+ * scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>

boards/airmind/mindpx-v2/src/board_config.h

@@ -372,7 +372,7 @@ extern void stm32_usbinitialize(void);
 #define board_peripheral_reset(ms)
 
 
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #endif /* __ASSEMBLY__ */
 

boards/atlflight/eagle/default.cmake

@@ -0,0 +1,115 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(-D__PX4_POSIX_EAGLE)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL eagle
+	LABEL default
+	TESTING
+	TOOLCHAIN
+		toolchain/Toolchain-arm-linux-gnueabihf
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		linux_sbus
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		rgbled
+		pwm_out_sim
+		qshell/posix
+		#telemetry # all available telemetry drivers
+		vmount
+
+	MODULES
+		muorb/krait
+
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		simulator
+		#uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		#bl_update
+		#config
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hwtest # Hardware test
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+	)

boards/atlflight/eagle/qurt-default.cmake

@@ -0,0 +1,83 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EAGLE)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL eagle
+	LABEL qurt-default
+
+	DRIVERS
+		gps
+		spektrum_rc
+		qshell/qurt
+		snapdragon_pwm_out
+
+	DF_DRIVERS
+		mpu9250
+		bmp280
+		hmc5883
+		trone
+		isl29501
+		ltc2946
+
+	MODULES
+		muorb/adsp
+
+		attitude_estimator_q
+		commander
+		ekf2
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_pos_control
+		position_estimator_inav
+		sensors
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		param
+	)

boards/atlflight/eagle/src/CMakeLists.txt

@@ -32,6 +32,6 @@
 ############################################################################
 
 px4_add_library(drivers_board
+	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 	sitl_led.c
-	../common/board_identity.c
 )

boards/atlflight/eagle/src/board_config.h

@@ -61,4 +61,4 @@
 #define PX4_NUMBER_I2C_BUSES 3
 
 #include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>

boards/atlflight/excelsior/default.cmake

@@ -0,0 +1,115 @@
+
+# Excelsior is the code name of a board currently in development.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(-D__PX4_POSIX_EXCELSIOR)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL default
+	TESTING
+	TOOLCHAIN
+		toolchain/Toolchain-arm-oemllib32-linux-gnueabi
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		linux_sbus
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		rgbled
+		pwm_out_sim
+		qshell/posix
+		#telemetry # all available telemetry drivers
+		vmount
+
+	MODULES
+		muorb/krait
+
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		simulator
+		#uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		#bl_update
+		#config
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hwtest # Hardware test
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+	)

boards/atlflight/excelsior/qurt-default.cmake

@@ -0,0 +1,82 @@
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EXCELSIOR)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL qurt-default
+
+	DRIVERS
+		gps
+		spektrum_rc
+		qshell/qurt
+		snapdragon_pwm_out
+
+	DF_DRIVERS
+		mpu9250
+		bmp280
+		hmc5883
+		trone
+		isl29501
+		ltc2946
+
+	MODULES
+		muorb/adsp
+
+		attitude_estimator_q
+		commander
+		ekf2
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_pos_control
+		position_estimator_inav
+		sensors
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		param
+	)

boards/atmel/same70xplained/default.cmake

@@ -0,0 +1,116 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR atmel
+	MODEL same70xplained
+	ARCH cortex-m7
+	ROMFS
+	ROMFSROOT px4fmu_common
+	TESTING
+	#UAVCAN_INTERFACES 1
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		blinkm
+		#camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/mpu6000
+		imu/mpu9250
+		imu/lsm303d
+		imu/l3gd20
+		irlock
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		oreoled
+		pca9685
+		#pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		#rc_input
+		rgbled
+		samv7
+		#WIP samv7/adc
+		samv7/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm
+		vmount
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		#WIP uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		#WIP hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		#usb_connected
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
+		#matlab_csv_serial
+		#publisher
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+		#subscriber
+		uuv_example_app
+
+	)

boards/atmel/same70xplained/firmware.prototype

@@ -4,7 +4,7 @@
     "description": "Firmware for the SAME70xplained board",
     "image": "",
     "build_time": 0,
-    "summary": "PX4/SAME70xplained",
+    "summary": "Atmel/SAME70xplained",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2097152,

boards/atmel/same70xplained/nuttx-config/nsh/defconfig

@@ -427,9 +427,9 @@ CONFIG_RAM_SIZE=393216
 # Board Selection
 #
 # CONFIG_ARCH_BOARD_SAME70_XPLAINED is not set
-CONFIG_ARCH_BOARD_PX4_SAME70XPLAINED_V1=y
+CONFIG_ARCH_BOARD_ATMELSAME70XPLAINED=y
 # CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4-same70xplained-v1"
+CONFIG_ARCH_BOARD="atmelsame70xplained"
 
 #
 # Common Board Options

boards/atmel/same70xplained/src/README.md

@@ -8,9 +8,9 @@ http://www.atmel.com/tools/ATSAME70-XPLD.aspx
 2. git checkout same70xplained
 3. make clean
 4. git submudule update --init --recursive
-5. make px4-same70xplained-v1_default
+5. make px4same70xplained-v1_default
 
-The ELF file Firmare will be in `build_px4-same70xplained-v1_default/src/firmware/nuttx/`
+The ELF file Firmare will be in `build/px4same70xplained-v1_default/`
 
 The EFL file name is `firmware_nuttx`
 

boards/atmel/same70xplained/src/board_config.h

@@ -549,7 +549,7 @@ bool sam_writeprotected(int slotno);
 int sam_at24config(void);
 #endif
 
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #endif /* __ASSEMBLY__ */
 

boards/auav/esc35-v1/default.cmake

@@ -6,8 +6,6 @@ add_definitions(
 	-DPARAMETER_BUFFER_SIZE=1024
 )
 
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
-
 # UAVCAN boot loadable Module ID
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
@@ -17,17 +15,20 @@ add_definitions(
 	)
 
 # Bring in common uavcan hardware identity definitions
-include(common/px4_git)
+include(px4_git)
 px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
 include(configs/uavcan_board_ident/esc35-v1)
+
 add_definitions(
 	-DHW_UAVCAN_NAME=${uavcanblid_name}
 	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
 	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
 )
 
-px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
+include(px4_make_uavcan_bootloader)
-	BIN ${PX4_BINARY_DIR}/esc35-v1.bin
+px4_make_uavcan_bootloadable(
+	BOARD auavesc35
+	BIN ${PX4_BINARY_DIR}/auavesc35-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
@@ -35,29 +36,30 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
 	SW_MINOR ${uavcanblid_sw_version_minor}
 )
 
-set(config_module_list
+px4_add_board(
-	#
+	PLATFORM nuttx
-	# Board support modules
+	VENDOR auav
-	#
+	MODEL esc35-v1
-	drivers/stm32
+	ARCH cortex-m4
 
-	#
+	DRIVERS
-	# System commands
+		bootloaders
-	#
+		stm32
-	systemcmds/config
+
-	systemcmds/reboot
+	MODULES
-	systemcmds/top
+		uavcanesc
-	systemcmds/param
+		uavcanesc/nshterm
-	systemcmds/ver
+		uavcanesc/commands/cfg
+		uavcanesc/commands/selftest
+		uavcanesc/commands/dc
+		uavcanesc/commands/rpm
+		uavcanesc/commands/stat
+
+	SYSTEMCMDS
+		config
+		reboot
+		param
+		top
+		ver
 
-	#
-	# General system control
-	#
-	modules/uavcanesc
-	modules/uavcanesc/nshterm
-	modules/uavcanesc/commands/cfg
-	modules/uavcanesc/commands/selftest
-	modules/uavcanesc/commands/dc
-	modules/uavcanesc/commands/rpm
-	modules/uavcanesc/commands/stat
 	)

boards/auav/esc35-v1/nuttx-config/nsh/defconfig

@@ -559,8 +559,8 @@ CONFIG_RAM_SIZE=131072
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_ESC35_V1=y
+CONFIG_ARCH_BOARD_AUAVESC35_V1=y
-CONFIG_ARCH_BOARD="esc35-v1"
+CONFIG_ARCH_BOARD="auavesc35-v1"
 
 #
 # Custom Board Configuration

boards/auav/esc35-v1/src/board_config.h

@@ -275,7 +275,7 @@ int usbmsc_archinitialize(void);
 extern int composite_archinitialize(void);
 #endif
 
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #endif /* __ASSEMBLY__ */
 

boards/auav/x21/default.cmake

@@ -0,0 +1,122 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR auav
+	MODEL x21
+	LABEL default
+	ARCH cortex-m4
+	ROMFS
+	ROMFSROOT px4fmu_common
+	IO px4io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 1
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		blinkm
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/mpu6000
+		imu/mpu9250
+		irlock
+		magnetometer # all available magnetometer drivers
+		#md25
+		mkblctrl
+		oreoled
+		pca8574
+		pca9685
+		#pmw3901
+		protocol_splitter
+		pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		px4io
+		rgbled
+		#rgbled_pwm
+		roboclaw
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		vmount
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
+		#matlab_csv_serial
+		#publisher
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+		#subscriber
+		uuv_example_app
+
+	)

boards/auav/x21/nuttx-config/nsh/defconfig

@@ -688,7 +688,7 @@ CONFIG_RAM_SIZE=262144
 # Board Selection
 #
 CONFIG_ARCH_BOARD_AUAV_X21=y
-CONFIG_ARCH_BOARD="auav-x21"
+CONFIG_ARCH_BOARD="auavx21"
 
 #
 # Custom Board Configuration

boards/auav/x21/nuttx-config/scripts/ld.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * configs/auav_x21/common/ld.script
+ * scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>

boards/auav/x21/src/board_config.h

@@ -300,7 +300,7 @@ extern void stm32_usbinitialize(void);
 
 extern void stm32_spiinitialize(void);
 
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #endif /* __ASSEMBLY__ */
 __END_DECLS

boards/auav/x21/src/timer_config.c

@@ -48,7 +48,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/stm32/drv_io_timer.h>
 
-#include "../auav-x21/board_config.h"
+#include "board_config.h"
 
 __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 	{

boards/auav/x21/src/usb.c

@@ -54,7 +54,7 @@
 #include <up_arch.h>
 #include <stm32.h>
 
-#include "../auav-x21/board_config.h"
+#include "board_config.h"
 
 /************************************************************************************
  * Definitions

boards/av/x-v1/default.cmake

@@ -0,0 +1,121 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR av
+	MODEL x-v1
+	ARCH cortex-m7
+	ROMFS
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS6
+		TEL1:/dev/ttyS0
+		TEL2:/dev/ttyS1
+		TEL3:/dev/ttyS2
+		TEL4:/dev/ttyS3
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		blinkm
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/adis16477
+		irlock
+		magnetometer # all available magnetometer drivers
+		#md25
+		mkblctrl
+		#oreoled
+		#pca8574
+		pca9685
+		#pmw3901
+		protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		rc_input
+		#rgbled
+		#rgbled_pwm
+		roboclaw
+		stm32
+		stm32/adc
+		#stm32/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		vmount
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		#usb_connected
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
+		#matlab_csv_serial
+		#publisher
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+		#subscriber
+		uuv_example_app
+
+	)

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -533,8 +533,8 @@ CONFIG_RAM_SIZE=376832
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_AV_X_V1=y
+CONFIG_ARCH_BOARD_AVX_V1=y
-CONFIG_ARCH_BOARD="av-x-v1"
+CONFIG_ARCH_BOARD="avx-v1"
 
 #
 # Common Board Options

boards/av/x-v1/nuttx-config/scripts/ld.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * nuttx-configs/av-x/scripts/script.ld
+ * scripts/script.ld
  *
  *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>

boards/av/x-v1/src/board_config.h

@@ -471,7 +471,7 @@ void board_spi_reset(int ms);
 int nsh_archinitialize(void);
 #endif
 
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #endif /* __ASSEMBLY__ */
 

boards/beaglebone/blue/cross.cmake

@@ -0,0 +1,84 @@
+
+px4_add_board(
+	VENDOR beaglebone
+	MODEL blue
+	LABEL cross
+	PLATFORM posix
+	ARCH cortex-a8
+	TOOLCHAIN Toolchain-arm-linux-gnueabihf
+	TESTING
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		#telemetry # all available telemetry drivers
+		vmount
+
+		linux_gpio
+		linux_pwm_out
+		linux_sbus
+		bbblue_adc
+
+	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+		mpu9250
+		bmp280
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		#uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		esc_calib
+		led_control
+		mixer
+		motor_ramp
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hwtest # Hardware test
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+	)

boards/beaglebone/blue/native.cmake

@@ -0,0 +1,83 @@
+
+px4_add_board(
+	VENDOR beaglebone
+	MODEL blue
+	LABEL native
+	PLATFORM posix
+	TOOLCHAIN Toolchain-native
+	TESTING
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		#telemetry # all available telemetry drivers
+		vmount
+
+		linux_gpio
+		linux_pwm_out
+		linux_sbus
+		bbblue_adc
+
+	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+		mpu9250
+		bmp280
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		gnd_att_control
+		gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		#uavcan
+		vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		esc_calib
+		led_control
+		mixer
+		motor_ramp
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		ver
+
+	EXAMPLES
+		bottle_drop # OBC challenge
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hwtest # Hardware test
+		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		rover_steering_control # Rover example app
+		segway
+	)

boards/beaglebone/blue/src/CMakeLists.txt

@@ -35,6 +35,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
 
 px4_add_library(drivers_board
 	init.c
-	../common/board_identity.c
+	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 )
 

boards/beaglebone/blue/src/board_config.h

@@ -66,7 +66,7 @@
 #define PX4_NUMBER_I2C_BUSES    1
 
 #include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
 
 #ifdef  __cplusplus
 extern "C" {

boards/bitcraze/crazyflie/default.cmake

@@ -0,0 +1,73 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR bitcraze
+	MODEL crazyflie
+	ARCH cortex-m4
+	ROMFS
+	ROMFSROOT px4fmu_common
+
+	DRIVERS
+		barometer/lps25h
+		distance_sensor/vl53lxx
+		gps
+		imu/mpu9250
+		pmw3901
+		px4fmu
+		stm32
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		#fw_att_control
+		#fw_pos_control_l1
+		#gnd_att_control
+		#gnd_pos_control
+		#gpio_led
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		position_estimator_inav
+		sensors
+		syslink
+		#uavcan
+		#vtol_att_control
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		#tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+
+	)

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -653,7 +653,7 @@ CONFIG_RAM_SIZE=196608
 # Board Selection
 #
 CONFIG_ARCH_BOARD_CRAZYFLIE=y
-CONFIG_ARCH_BOARD="crazyflie"
+CONFIG_ARCH_BOARD="bitcrazecrazyflie"
 
 #
 # Custom Board Configuration