fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

voxl2-slpi: generate MAVLink headers locally instead of cross-build dependency

Browse Source 
The SLPI drivers dsp_hitl and mavlink_rc_in hardcoded an include path
into the voxl2-default build output for MAVLink headers. This created
an undeclared cross-target dependency that required voxl2-default to be
built first.

Generate the MAVLink common dialect headers directly during the SLPI
build using mavgen.py, outputting to the SLPI build's own directory.
An INTERFACE library (mavlink_common_headers) propagates the include
paths and warning suppression flags to both drivers.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche 2026-02-26 23:08:29 -08:00
parent cccff98454
commit 344bb6af83
3 changed files with 35 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
boards/modalai/voxl2-slpi/src/CMakeLists.txt
View File

@ -43,6 +43,37 @@ add_library(drivers_board
spi.cpp
)
# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
# SLPI build is self-contained and does not depend on voxl2-default.
set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
add_custom_command(
OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
--lang C --wire-protocol 2.0
--output ${MAVLINK_LIBRARY_DIR}
${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
> ${CMAKE_BINARY_DIR}/mavgen_common.log
DEPENDS
git_mavlink_v2
${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
COMMENT "Generating MAVLink common headers for SLPI"
)
add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
add_library(mavlink_common_headers INTERFACE)
add_dependencies(mavlink_common_headers mavlink_common_generate)
target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
target_include_directories(mavlink_common_headers INTERFACE
${MAVLINK_LIBRARY_DIR}
${MAVLINK_LIBRARY_DIR}/common
)
# Add custom drivers for SLPI
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)

4
boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt
View File

@ -31,17 +31,15 @@
#
############################################################################
message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/common")
px4_add_module(
MODULE drivers__modalai__dsp_hitl
MAIN dsp_hitl
INCLUDES
${PX4_SOURCE_DIR}/src/drivers/dsp_hitl
${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
SRCS
dsp_hitl.cpp
DEPENDS
mavlink_common_headers
px4_work_queue
drivers_accelerometer
drivers_gyroscope

8
boards/modalai/voxl2-slpi/src/drivers/mavlink_rc_in/CMakeLists.txt
View File

@ -31,19 +31,17 @@
#
############################################################################
message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/standard")
px4_add_module(
MODULE drivers__modalai__mavlink_rc_in
MAIN mavlink_rc_in
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
-Wno-address-of-packed-member # TODO: fix in c_library_v2
-Wno-cast-align
-Wno-address-of-packed-member
INCLUDES
${PX4_SOURCE_DIR}/src/drivers/rc_input
${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
SRCS
mavlink_rc_in.cpp
DEPENDS
mavlink_common_headers
px4_work_queue
)