mc atune: add module to all targets

- adjust flash constrianed targets to fit
2026-04-14 10:07:39 +08:00 · 2021-10-01 11:38:32 +02:00 · 2021-10-01 11:38:32 +02:00 · 5874b1f87c
commit 5874b1f87c
parent b99dbcc6a7
86 changed files with 98 additions and 30 deletions
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@ -69,6 +69,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/ark/can-gps/debug.cmake
+++ b/boards/ark/can-gps/debug.cmake
@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		ver
+		#ver
 		work_queue
 )
--- a/boards/ark/can-gps/default.cmake
+++ b/boards/ark/can-gps/default.cmake
@ -4,7 +4,8 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
+	CONSTRAINED_FLASH
+	  NO_HELP
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode
--- a/boards/ark/can-rtk-gps/debug.cmake
+++ b/boards/ark/can-rtk-gps/debug.cmake
@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		ver
+		#ver
 		work_queue
 )
--- a/boards/ark/can-rtk-gps/default.cmake
+++ b/boards/ark/can-rtk-gps/default.cmake
@ -4,7 +4,8 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
+	CONSTRAINED_FLASH
+	  NO_HELP
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode
--- a/boards/atl/mantis-edu/default.cmake
+++ b/boards/atl/mantis-edu/default.cmake
@ -27,6 +27,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/beaglebone/blue/default.cmake
+++ b/boards/beaglebone/blue/default.cmake
@ -53,6 +53,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@ -32,6 +32,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/bitcraze/crazyflie21/default.cmake
+++ b/boards/bitcraze/crazyflie21/default.cmake
@ -31,6 +31,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cuav/nora/test.cmake
+++ b/boards/cuav/nora/test.cmake
@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@ -37,8 +37,8 @@ px4_add_board(
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cuav/x7pro/test.cmake
+++ b/boards/cuav/x7pro/test.cmake
@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@ -28,20 +28,21 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		#imu/invensense/icm42688p
 		#irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
+		#optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@ -50,6 +51,7 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@ -76,6 +78,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@ -112,7 +115,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		serial_test
+		#serial_test
 		#system_time
 		tests # tests and test runner
 		top
--- a/boards/cubepilot/cubeorange/default.cmake
+++ b/boards/cubepilot/cubeorange/default.cmake
@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cubepilot/cubeorange/test.cmake
+++ b/boards/cubepilot/cubeorange/test.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cubepilot/cubeyellow/default.cmake
+++ b/boards/cubepilot/cubeyellow/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/cubepilot/cubeyellow/test.cmake
+++ b/boards/cubepilot/cubeyellow/test.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/emlid/navio2/default.cmake
+++ b/boards/emlid/navio2/default.cmake
@ -53,6 +53,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/holybro/durandal-v1/test.cmake
+++ b/boards/holybro/durandal-v1/test.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/holybro/kakutef7/default.cmake
+++ b/boards/holybro/kakutef7/default.cmake
@ -1,4 +1,6 @@

+add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
+
 px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
@ -45,6 +47,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/holybro/pix32v5/default.cmake
+++ b/boards/holybro/pix32v5/default.cmake
@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/modalai/fc-v1/rtps.cmake
+++ b/boards/modalai/fc-v1/rtps.cmake
@ -66,6 +66,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/modalai/fc-v1/test.cmake
+++ b/boards/modalai/fc-v1/test.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/modalai/fc-v2/default.cmake
+++ b/boards/modalai/fc-v2/default.cmake
@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/modalai/fc-v2/test.cmake
+++ b/boards/modalai/fc-v2/test.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/ctrl-zero-f7-oem/default.cmake
+++ b/boards/mro/ctrl-zero-f7-oem/default.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/ctrl-zero-f7/default.cmake
+++ b/boards/mro/ctrl-zero-f7/default.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/ctrl-zero-h7-oem/default.cmake
+++ b/boards/mro/ctrl-zero-h7-oem/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/ctrl-zero-h7/default.cmake
+++ b/boards/mro/ctrl-zero-h7/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/pixracerpro/default.cmake
+++ b/boards/mro/pixracerpro/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/x21-777/default.cmake
+++ b/boards/mro/x21-777/default.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/mro/x21/default.cmake
+++ b/boards/mro/x21/default.cmake
@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-e/default.cmake
+++ b/boards/nxp/fmuk66-e/default.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-e/rtps.cmake
+++ b/boards/nxp/fmuk66-e/rtps.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-e/socketcan.cmake
+++ b/boards/nxp/fmuk66-e/socketcan.cmake
@ -67,6 +67,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-v3/rtps.cmake
+++ b/boards/nxp/fmuk66-v3/rtps.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-v3/socketcan.cmake
+++ b/boards/nxp/fmuk66-v3/socketcan.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmuk66-v3/test.cmake
+++ b/boards/nxp/fmuk66-v3/test.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@ -44,7 +44,7 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
-		smart_battery/batmon
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@ -56,6 +56,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		#mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@ -79,6 +79,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v2/multicopter.cmake
+++ b/boards/px4/fmu-v2/multicopter.cmake
@ -51,6 +51,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v3/test.cmake
+++ b/boards/px4/fmu-v3/test.cmake
@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v4/test.cmake
+++ b/boards/px4/fmu-v4/test.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v4pro/test.cmake
+++ b/boards/px4/fmu-v4pro/test.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/cryptotest.cmake
+++ b/boards/px4/fmu-v5/cryptotest.cmake
@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/ctrlalloc.cmake
+++ b/boards/px4/fmu-v5/ctrlalloc.cmake
@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/debug.cmake
+++ b/boards/px4/fmu-v5/debug.cmake
@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/optimized.cmake
+++ b/boards/px4/fmu-v5/optimized.cmake
@ -81,6 +81,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@ -77,6 +77,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/test.cmake
+++ b/boards/px4/fmu-v5/test.cmake
@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/uavcanv0periph.cmake
+++ b/boards/px4/fmu-v5/uavcanv0periph.cmake
@ -77,6 +77,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5/uavcanv1.cmake
+++ b/boards/px4/fmu-v5/uavcanv1.cmake
@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
+++ b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5x/default.cmake
+++ b/boards/px4/fmu-v5x/default.cmake
@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v5x/test.cmake
+++ b/boards/px4/fmu-v5x/test.cmake
@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v6u/default.cmake
+++ b/boards/px4/fmu-v6u/default.cmake
@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v6u/test.cmake
+++ b/boards/px4/fmu-v6u/test.cmake
@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v6x/default.cmake
+++ b/boards/px4/fmu-v6x/default.cmake
@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/fmu-v6x/test.cmake
+++ b/boards/px4/fmu-v6x/test.cmake
@ -78,6 +78,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/raspberrypi/default.cmake
+++ b/boards/px4/raspberrypi/default.cmake
@ -50,6 +50,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/sitl/ctrlalloc.cmake
+++ b/boards/px4/sitl/ctrlalloc.cmake
@ -41,6 +41,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/sitl/nolockstep.cmake
+++ b/boards/px4/sitl/nolockstep.cmake
@ -39,6 +39,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@ -39,6 +39,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@ -40,6 +40,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/scumaker/pilotpi/arm64.cmake
+++ b/boards/scumaker/pilotpi/arm64.cmake
@ -50,6 +50,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/scumaker/pilotpi/default.cmake
+++ b/boards/scumaker/pilotpi/default.cmake
@ -50,6 +50,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/spracing/h7extreme/default.cmake
+++ b/boards/spracing/h7extreme/default.cmake
@ -62,6 +62,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/boards/uvify/core/default.cmake
+++ b/boards/uvify/core/default.cmake
@ -54,6 +54,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
--- a/cmake/px4_add_library.cmake
+++ b/cmake/px4_add_library.cmake
@ -45,12 +45,7 @@ function(px4_add_library target)

 	# all PX4 libraries have access to parameters and uORB
 	add_dependencies(${target} uorb_headers)
-	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform uorb_msgs)
-
-	# TODO: move to platform layer
-	if ("${PX4_PLATFORM}" MATCHES "nuttx")
-		target_link_libraries(${target} PRIVATE m nuttx_c)
-	endif()
+	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform)

 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
 	px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${ARGN})
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@ -314,5 +314,4 @@ add_custom_command(OUTPUT ${uorb_sources}
 	)

 add_library(uorb_msgs ${uorb_sources})
-target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@ -146,7 +146,7 @@ endif()

 target_link_libraries(px4 PRIVATE ${module_libraries})

-if (config_romfs_root)
+if(config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
 	target_link_libraries(px4 PRIVATE romfs)
 endif()
--- a/src/drivers/gps/CMakeLists.txt
+++ b/src/drivers/gps/CMakeLists.txt
@ -53,4 +53,3 @@ px4_add_module(
 	DEPENDS
 		git_gps_devices
 	)
-target_link_libraries(drivers__gps PRIVATE m)
--- a/src/lib/geo/CMakeLists.txt
+++ b/src/lib/geo/CMakeLists.txt
@ -37,6 +37,5 @@ add_library(geo
 )
 add_dependencies(geo prebuild_targets)
 target_compile_options(geo PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
-target_link_libraries(geo PRIVATE m)

 px4_add_unit_gtest(SRC test_geo.cpp LINKLIBS geo)
--- a/src/lib/pid_design/CMakeLists.txt
+++ b/src/lib/pid_design/CMakeLists.txt
@ -31,8 +31,4 @@
 #
 ############################################################################

-px4_add_library(PidDesign
-	pid_design.hpp
-)
-
 px4_add_unit_gtest(SRC pid_design_test.cpp)
--- a/src/modules/mc_autotune_attitude_control/CMakeLists.txt
+++ b/src/modules/mc_autotune_attitude_control/CMakeLists.txt
@ -44,5 +44,4 @@ px4_add_module(
 		mathlib
 		px4_work_queue
 		SystemIdentification
-		PidDesign
 )