From 434dddedea4973a7bb63211dc53331301ff630f4 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sat, 7 Jan 2017 20:07:36 -0500
Subject: [PATCH] Changes to add px4fmu-v2_lpe config.

---
 CMakeLists.txt                          |  5 +++--
 Makefile                                |  1 +
 Tools/px_process_params.py              | 15 +++++++++++++++
 cmake/common/px4_base.cmake             |  6 +++++-
 cmake/configs/nuttx_px4fmu-v2_lpe.cmake | 12 ++++++++++++
 5 files changed, 36 insertions(+), 3 deletions(-)
 create mode 100644 cmake/configs/nuttx_px4fmu-v2_lpe.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b19216a6cf..8e0ff05c95 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -365,8 +365,9 @@ px4_generate_messages(TARGET msg_gen
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
 px4_generate_parameters_xml(OUT parameters.xml 
-                            BOARD ${BOARD}
-                            SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake)
+	BOARD ${BOARD}
+	SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
 add_custom_target(xml_gen
 	DEPENDS parameters.xml airframes.xml)
diff --git a/Makefile b/Makefile
index 29a4ba1030..04f415999b 100644
--- a/Makefile
+++ b/Makefile
@@ -207,6 +207,7 @@ qgc_firmware: \
 	check_mindpx-v2_default \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
+	check_px4fmu-v2_lpe \
 	check_px4fmu-v3_default \
 	check_px4fmu-v4_default \
 	check_tap-v1_default \
diff --git a/Tools/px_process_params.py b/Tools/px_process_params.py
index e9061823bb..2f950e4724 100644
--- a/Tools/px_process_params.py
+++ b/Tools/px_process_params.py
@@ -53,6 +53,7 @@ import argparse
 from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc, scope, cmakeparser
 
 import re
+import json
 import codecs
 
 def main():
@@ -112,6 +113,10 @@ def main():
                         help="DokuWiki page edit summary")
     parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
     parser.add_argument('--scope', default=None, action='store', help="pass the scope (list of compiled modules)")
+    parser.add_argument("-o", "--overrides",
+                        default="{}",
+                        metavar="OVERRIDES",
+                        help="a dict of overrides in the form of a json string")
 
     args = parser.parse_args()
 
@@ -155,6 +160,16 @@ def main():
     if len(param_groups) == 0:
         print("Warning: no parameters found")
 
+    override_dict = json.loads(args.overrides)
+    if len(override_dict.keys()) > 0:
+        for group in param_groups:
+            for param in group.GetParams():
+                name = param.GetName()
+                if name in override_dict.keys():
+                    val = str(override_dict[param.GetName()])
+                    param.default = val
+                    print("OVERRIDING {:s} to {:s}!!!!!".format(name, val))
+
     # Output to XML file
     if args.xml:
         if args.verbose: print("Creating XML file " + args.xml)
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 6663b60a0a..cdb867a52a 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -1014,16 +1014,20 @@ endfunction()
 function(px4_generate_parameters_xml)
 	px4_parse_function_args(
 		NAME px4_generate_parameters_xml
-		ONE_VALUE OUT BOARD SCOPE
+		ONE_VALUE OUT BOARD SCOPE OVERRIDES
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
 	set(path ${PX4_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
 		${PX4_SOURCE_DIR}/src/*params.c
 		)
+	if (NOT OVERRIDES)
+		set(OVERRIDES "{}")
+	endif()
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml --scope ${SCOPE}
+			--overrides ${OVERRIDES}
 		DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			${PX4_SOURCE_DIR}/Tools/px_generate_params.py
 		)
diff --git a/cmake/configs/nuttx_px4fmu-v2_lpe.cmake b/cmake/configs/nuttx_px4fmu-v2_lpe.cmake
new file mode 100644
index 0000000000..b1e7a09ba1
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v2_lpe.cmake
@@ -0,0 +1,12 @@
+include(configs/nuttx_px4fmu-v2_default)
+
+set(PARAM_DEFAULT_OVERRIDES "{\\\"SYS_MC_EST_GROUP\\\": 1}")
+
+list(REMOVE_ITEM config_module_list
+	modules/ekf2
+	)
+
+list(APPEND config_module_list
+	modules/attitude_estimator_q
+	modules/local_position_estimator
+	)