Merged master to beta

2026-10-22 10:43:34 +08:00 · 2015-11-06 10:58:59 +01:00
parent f6ddf53865 fc62461e5b
commit 5e57553615
727 changed files with 27451 additions and 16160 deletions
@@ -17,7 +17,9 @@
 .~lock.*
 Archives/*
 Build/*
+Testing/
 build/*
+build_*/
 core
 cscope.out
 Firmware.sublime-workspace
@@ -52,3 +54,6 @@ src/platforms/posix/px4_messages/
 src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
+rootfs/
+*.autosave
+CMakeLists.txt.user
@@ -4,8 +4,8 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "src/lib/uavcan"]
-	path = src/lib/uavcan
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
 	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
@@ -13,12 +13,15 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
-[submodule "unittests/gtest"]
-	path = unittests/gtest
-	url = https://github.com/sjwilks/gtest.git
-[submodule "src/lib/eigen"]
-	path = src/lib/eigen
-	url = https://github.com/PX4/eigen.git
 [submodule "src/lib/dspal"]
 	path = src/lib/dspal
 	url = https://github.com/mcharleb/dspal.git
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
+	url = https://github.com/PX4/jMAVSim.git
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/sitl_gazebo.git
+[submodule "unittests/googletest"]
+	path = unittests/googletest
+	url = https://github.com/google/googletest.git
@@ -3,8 +3,14 @@

 language: cpp

-# use travis-ci docker based infrastructure
-sudo: false
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      sudo: false
+    - os: osx
+      osx_image: beta-xcode6.3
+      sudo: true

 cache:
  directories:
@@ -15,16 +21,18 @@ addons:
    sources:
    - kubuntu-backports
    - ubuntu-toolchain-r-test
+    - george-edison55-precise-backports
    packages:
    - build-essential
    - ccache
-    - cmake
    - clang-3.5
+    - cmake
    - g++-4.8
    - gcc-4.8
    - genromfs
    - libc6-i386
    - libncurses5-dev
+    - ninja-build
    - python-argparse
    - python-empy
    - python-serial
@@ -32,21 +40,43 @@ addons:
    - texinfo
    - zlib1g-dev

+before_install:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         pushd .
+      && cd ~
+      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+      && . ~/.profile
+      && popd
+      && git clone git://github.com/PX4/CI-Tools.git
+      && ./CI-Tools/s3cmd-configure
+      && mkdir -p ~/bin
+      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+      && astyle --version
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+      ;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+         brew tap PX4/homebrew-px4
+      && brew update
+      && brew install astyle
+      && brew install gcc-arm-none-eabi
+      && brew install genromfs
+      && brew install kconfig-frontends
+      && brew install ninja
+      && sudo easy_install pip
+      && sudo pip install pyserial empy
+      ;
+    fi
+
 before_script:
-  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
-# General toolchain dependencies
-  - pushd .
-  - cd ~
-  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
-  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-  - . ~/.profile
-  - popd
 # setup ccache
  - mkdir -p ~/bin
  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
  - ln -s /usr/bin/ccache ~/bin/clang++
  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
@@ -56,12 +86,10 @@ before_script:
  - ln -s /usr/bin/ccache ~/bin/g++-4.8
  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
  - export PATH=~/bin:$PATH
-# grab astyle 2.05.1
-  - wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
-  - astyle --version

 env:
  global:
+    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
@@ -70,41 +98,36 @@ env:

 script:
  - make check_format
-  - ccache -z
  - arm-none-eabi-gcc --version
-  - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
-  - make posix -j4
-  - ccache -s
-  - echo -en 'travis_fold:end:script.1\\r'
-  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
-  - make tests
-  - cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
-  - echo -en 'travis_fold:end:script.2\\r'
-  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
-  - make archives
-  - ccache -s
-  - echo -en 'travis_fold:end:script.3\\r'
-  - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
-  - make -j4
-  - make size
-  - ccache -s
-  - echo -en 'travis_fold:end:script.4\\r'
-  - zip Firmware.zip Images/*.px4
+  - echo 'Building POSIX Firmware..' && make posix_sitl_simple
+  - echo 'Running Tests..' && make posix_sitl_simple test
+  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
+  - cd vectorcontrol
+  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
+  - cd ..
+  - mkdir -p ROMFS/px4fmu_common/uavcan/fw/com.thiemar.s2740vc-v1/1.0/
+  - mkdir -p ROMFS/px4fmu_common/uavcan/fw/org.pixhawk.px4esc-v1/1.0/
+  - cp vectorcontrol/firmware/com.thiemar.s2740vc-v1-1.0.*.bin ROMFS/px4fmu_common/uavcan/fw/com.thiemar.s2740vc-v1/1.0/.
+  - cp vectorcontrol/firmware/org.pixhawk.px4esc-v1-1.0.*.bin ROMFS/px4fmu_common/uavcan/fw/org.pixhawk.px4esc-v1/1.0/.
+  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+  - echo 'Running Tests..' && make px4fmu-v2_default test

-after_script:
-  - git clone git://github.com/PX4/CI-Tools.git
-  - ./CI-Tools/s3cmd-configure
-# upload newest build for this branch with s3 index
-  - ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
-# archive newest build by date with s3 index
-  - ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
-  - ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
-# upload top level index.html and timestamp.html
-  - ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
-  - ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
-  - echo ""
-  - echo "Binaries have been posted to:"
-  - echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+after_success:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
+      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+      && echo ""
+      && echo "Binaries have been posted to:"
+      && echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      ;
+    fi

 deploy:
  provider: releases
@@ -1,332 +1,345 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(px4)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-add_definitions(-D__PX4_ROS)
-add_definitions(-D__EXPORT=)
-add_definitions(-DMAVLINK_DIALECT=common)
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################

-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  geometry_msgs
-  message_generation
-  cmake_modules
-  gazebo_msgs
-  sensor_msgs
-  mav_msgs
-  libmavconn
-  tf
-)
-find_package(Eigen REQUIRED)
+#=============================================================================
+# CMAKE CODING STANDARD FOR PX4
+#
+# Structure
+# ---------------------------------------------------------------------------
+#
+# * 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}_${BOARD}.cmake.
+#
+# Formatting
+# ---------------------------------------------------------------------------
+#
+# * Use hard indents to match the px4 source code.
+#
+# * All function and script arguments are upper case.
+#
+# * All local variables are lower case.
+#
+# * All cmake functions are lowercase.
+#
+# * For else, endif, endfunction, etc, never put the name of the statement
+#
+#	Instead of the very confusing:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else (${var} STREQUAL "1") <-- tag is referring to name of if
+#			# do somthing
+#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
+#
+#	Do this:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else () <-- leave blank
+#			# do somthing
+#		endif () <-- leave blank
+#
+# Functions/Macros
+# ---------------------------------------------------------------------------
+#
+# * Use px4_parse_function_args to parse functions and check for required
+#   arguments. Unless there is only one argument in the function and it is clear.
+#
+# * Never use macros. They allow overwriting global variables and this
+#	makes variable declarations hard to locate.
+#
+# * If a target from add_custom_* is set in a function, explicitly pass it
+#	as an output argument so that the target name is clear to the user.
+#
+# * Avoid use of global variables in functions. Functions in a nested 
+#	scope may use global variables, but this makes it difficult to
+#	resuse functions.
+#
+# Included CMake Files
+# ---------------------------------------------------------------------------
+#
+# * All variables in config files must have the prefix "config_".
+#
+# * Never set global variables in an included cmake file,
+#	you may only define functions. This excludes config and Toolchain files.
+#	This makes it clear to the user when variables are being set or targets
+#	are being created.
+#
+# * Setting a global variable in a CMakeLists.txt file is ok, because
+#	each CMakeLists.txt file has scope in the current directory and all
+#	subdirecties, so it is not truly global.
+#
+# * All toolchain files should be included in the cmake
+#	directory and named Toolchain-"name".cmake.
+#
+# Misc
+# ---------------------------------------------------------------------------
+#
+# * If referencing a string variable, don't put it in quotes.
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
+#	evaluating to false.
+#
+#=============================================================================

-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+# Warning: Changing this modifies CMake's internal workings
+# and leads to wrong toolchain detection
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

+#=============================================================================
+# parameters
+#

-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
+set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
+set(THREADS "4" CACHE STRING
+	"number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")

-################################################
-## Declare ROS messages, services and actions ##
-################################################
+#=============================================================================
+# configuration
+#
+# must come before project to set toolchain

-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
+set(target_name "${OS}-${BOARD}-${LABEL}")

-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  rc_channels.msg
-  vehicle_attitude.msg
-  vehicle_attitude_setpoint.msg
-  manual_control_setpoint.msg
-  actuator_controls.msg
-  actuator_controls_0.msg
-  actuator_controls_virtual_mc.msg
-  vehicle_rates_setpoint.msg
-  mc_virtual_rates_setpoint.msg
-  vehicle_attitude.msg
-  vehicle_control_mode.msg
-  actuator_armed.msg
-  parameter_update.msg
-  vehicle_status.msg
-  vehicle_local_position.msg
-  position_setpoint.msg
-  position_setpoint_triplet.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  offboard_control_mode.msg
-  vehicle_force_setpoint.msg
-  distance_sensor.msg
-)
+message(STATUS "${target_name}")

-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+	include("cmake/ros-CMakeLists.txt")
+else()  # otherwise use the rest of this file

-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+set(config_module "configs/${CONFIG}")
+include(${config_module})

-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  gazebo_msgs
-)
+# cmake modules
+include(ExternalProject)

-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS src/include
-  LIBRARIES px4
-  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
-  DEPENDS system_lib
-)
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if(NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${config_module} must implement ${cmd}")
+	endif()
+endforeach()
+set(px4_required_config
+	config_module_list
+	)
+foreach(conf ${px4_required_config})
+	if(NOT DEFINED ${conf})
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
+	endif()
+endforeach()

-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  src/platforms
-  src/platforms/ros/px4_messages
-  src/include
-  src/modules
-  src/
-  src/lib
-  ${EIGEN_INCLUDE_DIRS}
-  integrationtests
-)
-
-## generate multiplatform wrapper headers
-## note that the message header files are generated as in any ROS project with generate_messages()
-set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
-set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
-set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
-set(MULTIPLATFORM_PREFIX px4_)
-add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
-
-## Declare a cpp library
-add_library(px4
-  src/platforms/ros/px4_ros_impl.cpp
-  src/platforms/ros/perf_counter.cpp
-  src/platforms/ros/geo.cpp
-  src/lib/mathlib/math/Limits.cpp
-  src/modules/systemlib/circuit_breaker.cpp
-)
-add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-
-target_link_libraries(px4
-  ${catkin_LIBRARIES}
-)
-
-## Declare a test publisher
-add_executable(publisher
-	src/examples/publisher/publisher_main.cpp
-	src/examples/publisher/publisher_example.cpp)
-add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(publisher
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Declare a test subscriber
-add_executable(subscriber
-	src/examples/subscriber/subscriber_main.cpp
-	src/examples/subscriber/subscriber_example.cpp)
-add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(subscriber
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Attitude Control
-add_executable(mc_att_control
-	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
-add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_att_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Position Control
-add_executable(mc_pos_control
-	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
-	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
-add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_pos_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Attitude Estimator dummy
-add_executable(attitude_estimator
-	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
-add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(attitude_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Position Estimator dummy
-add_executable(position_estimator
-	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
-add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(position_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Manual input
-add_executable(manual_input
-	src/platforms/ros/nodes/manual_input/manual_input.cpp)
-add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(manual_input
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Multicopter Mixer dummy
-add_executable(mc_mixer
-  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
-add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_mixer
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Commander dummy
-add_executable(commander
-	src/platforms/ros/nodes/commander/commander.cpp)
-add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(commander
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Mavlink dummy
-add_executable(mavlink
-	src/platforms/ros/nodes/mavlink/mavlink.cpp)
-add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mavlink
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Position Setpoint Demo
-add_executable(demo_offboard_position_setpoints
-	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
-add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_position_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Attitude Setpoint Demo
-add_executable(demo_offboard_attitude_setpoints
-	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
-add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_attitude_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(integrationtests/demo_tests/direct_tests.launch)
-  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
+	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
+	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
+	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
+endif()
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
+	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
 endif()

+set(version_major 1)
+set(version_minor 0)
+set(version_patch 1)
+set(version "${version_major}.${version_minor}.${version_patch}")
+set(package-contact "px4users@googlegroups.com")

+#=============================================================================
+# programs
+#
+find_package(PythonInterp REQUIRED)
+
+#=============================================================================
+# cmake modules
+#
+enable_testing()
+
+#=============================================================================
+# check required toolchain variables
+#
+set(required_variables
+	CMAKE_C_COMPILER_ID
+	)
+foreach(var ${required_variables})
+	if (NOT ${var})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+#=============================================================================
+# git
+#
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+
+add_custom_target(submodule_clean
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	COMMAND git submodule deinit -f .
+	COMMAND rm -rf .git/modules/*
+	)
+
+#=============================================================================
+# misc targets
+#
+add_custom_target(check_format
+	COMMAND Tools/check_code_style.sh
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	)
+
+add_custom_target(config
+	COMMAND cmake-gui .
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	)
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})
+
+#=============================================================================
+# build flags
+#
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+
+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
+#=============================================================================
+# source code generation
+#
+file(GLOB_RECURSE msg_files msg/*.msg)
+px4_generate_messages(TARGET msg_gen
+	MSG_FILES ${msg_files}
+	OS ${OS}
+	DEPENDS git_genmsg git_gencpp
+	)
+px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
+px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
+add_custom_target(xml_gen
+	DEPENDS parameters.xml airframes.xml)
+
+#=============================================================================
+# external projects
+#
+
+set(ep_base ${CMAKE_BINARY_DIR}/external)
+set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
+
+# add external project install folders to build
+link_directories(${ep_base}/Install/lib)
+include_directories(${ep_base}/Install/include)
+# add the directories so cmake won't warn
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
+
+#=============================================================================
+# subdirectories
+#
+set(module_libraries)
+foreach(module ${config_module_list})
+	add_subdirectory(src/${module})
+	px4_mangle_name(${module} mangled_name)
+	list(APPEND module_libraries ${mangled_name})
+	#message(STATUS "adding module: ${module}")
+endforeach()
+
+add_subdirectory(src/firmware/${OS})
+
+if (config_io_board)
+	add_subdirectory(src/modules/px4iofirmware)
+endif()
+
+#=============================================================================
+# generate git version
+#
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+
+#=============================================================================
+# packaging
+#
+# Important to having packaging at end of cmake file.
+#
+set(CPACK_PACKAGE_VERSION ${version})
+set(CPACK_PACKAGE_CONTACT ${package_contact})
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_SOURCE_GENERATOR "ZIP")
+include(CPack)
+
+endif() # ros alternative endif
+
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :
@@ -1,5 +1,6 @@
+############################################################################
 #
-#   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -28,280 +29,178 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
+############################################################################

+# Enforce the presence of the GIT repository
 #
-# Top-level Makefile for building PX4 firmware images.
-#
-
-TARGETS	:= nuttx posix posix-arm qurt
-EXPLICIT_TARGET	:= $(filter $(TARGETS),$(MAKECMDGOALS))
-ifneq ($(EXPLICIT_TARGET),)
-    export PX4_TARGET_OS=$(EXPLICIT_TARGET)
-    export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+# We depend on our submodules, so we have to prevent attempts to
+# compile without it being present.
+ifeq ($(wildcard .git),)
+    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
 endif

-#
-# Get path and tool configuration
-#
-export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
-include $(PX4_BASE)makefiles/setup.mk
-
-#
-# Get a version string provided by git
-# This assumes that git command is available and that
-# the directory holding this file also contains .git directory
-#
-GIT_DESC := $(shell git log -1 --pretty=format:%H)
-ifneq ($(words $(GIT_DESC)),1)
-    GIT_DESC := "unknown_git_version"
+CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
+ifneq ($(CMAKE_VER),0)
+    $(warning Not a valid CMake version or CMake not installed.)
+    $(warning On Ubuntu, install or upgrade via:)
+    $(warning )
+    $(warning 3rd party PPA:)
+    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
+    $(warning sudo apt-get update)
+    $(warning sudo apt-get install cmake)
+    $(warning )
+    $(warning Official website:)
+    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.3.2)
+    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
+    $(warning )
+    $(error Fatal)
 endif

-GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
-
+# Help
+# --------------------------------------------------------------------
+# Don't be afraid of this makefile, it is just passing
+# arguments to cmake to allow us to keep the wiki pages etc.
+# that describe how to build the px4 firmware
+# the same even when using cmake instead of make.
 #
-# Canned firmware configurations that we (know how to) build.
+# Example usage:
 #
-KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
-CONFIGS			?= $(KNOWN_CONFIGS)
-
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# Boards that we (know how to) build NuttX export kits for.
-#
-KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
-BOARDS			?= $(KNOWN_BOARDS)
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build_nuttx_px4fmu-v2_default and then call make
+# in that directory with the target upload.

-#
-# Debugging
-#
-MQUIET			 = --no-print-directory
-#MQUIET			 = --print-directory
+#  explicity set default build target
+all: px4fmu-v2_default

-################################################################################
-# No user-serviceable parts below
-################################################################################
+# Parsing
+# --------------------------------------------------------------------
+# assume 1st argument passed is the main target, the
+# rest are arguments to pass to the makefile generated
+# by cmake in the subdirectory
+ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+j ?= 4

-#
-# If the user has listed a config as a target, strip it out and override CONFIGS.
-#
-FIRMWARE_GOAL		 = firmware
-EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
-ifneq ($(EXPLICIT_CONFIGS),)
-CONFIGS			:= $(EXPLICIT_CONFIGS)
-.PHONY:			$(EXPLICIT_CONFIGS)
-$(EXPLICIT_CONFIGS):	all
-
-#
-# If the user has asked to upload, they must have also specified exactly one
-# config.
-#
-ifneq ($(filter upload,$(MAKECMDGOALS)),)
-ifneq ($(words $(EXPLICIT_CONFIGS)),1)
-$(error In order to upload, exactly one board config must be specified)
-endif
-FIRMWARE_GOAL		 = upload
-.PHONY: upload
-upload:
-	@:
-endif
-endif
-
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix)
-include $(PX4_BASE)makefiles/posix/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix-arm)
-include $(PX4_BASE)makefiles/posix/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),qurt)
-include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
-endif
-
-qurt_fixup:
-	makefiles/qurt/setup.sh $(PX4_BASE)
-
-restore:
-	cd src/lib/eigen && git checkout .
-	git submodule update
-	
-#
-# Versioning
-#
-
-GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
-GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
-
-$(GIT_VER_FILE) :
-	$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
-		$(MKDIR) -p $(PX4_VERSIONING_DIR); \
-		$(ECHO) "" > $(GIT_VER_FILE); \
-	fi
-
-.PHONY: checkgitversion
-checkgitversion: $(GIT_VER_FILE)
-	$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
-		$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
-		$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_STR  \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
-		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
-	fi
-#
-# Sizes
-#
-
-.PHONY: size
-size:
-	$(Q) for elfs in Build/*; do if [ -f  $$elfs/firmware.elf ]; then  $(SIZE) $$elfs/firmware.elf; fi done
-
-
-#
-# Submodule Checks
-#
-
-.PHONY: checksubmodules
-checksubmodules:
-	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh $(PX4_TARGET_OS))
-
-.PHONY: updatesubmodules
-updatesubmodules:
-	$(Q) (git submodule init)
-	$(Q) (git submodule update)
-
-MSG_DIR = $(PX4_BASE)msg
-UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
-MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
-TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
-MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
-MULTIPLATFORM_PREFIX = px4_
-TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
-MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
-GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
-GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
-
-.PHONY: generateuorbtopicheaders
-generateuorbtopicheaders: checksubmodules
-	@$(ECHO) "Generating uORB topic headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
-	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
-
-#
-# Testing targets
-#
-testbuild:
-	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
-	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
-
-nuttx posix posix-arm qurt: 
-ifeq ($(GOALS),)
-	$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
+NINJA_BUILD := $(shell ninja --version 2>/dev/null)
+ifdef NINJA_BUILD
+    PX4_CMAKE_GENERATOR ?= "Ninja"
+    PX4_MAKE = ninja
+    PX4_MAKE_ARGS =
 else
-	export PX4_TARGET_OS=$@
+
+ifdef SYSTEMROOT
+	# Windows
+	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
+else
+	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
+endif
+    PX4_MAKE = make
+    PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

-sitl_quad:
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
-sitl_quad_gazebo:
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
-sitl_plane:
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
+# Functions
+# --------------------------------------------------------------------
+# describe how to build a cmake config
+define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
+endef

-qurtrun:
-	$(MAKE) PX4_TARGET_OS=qurt sim
+# create empty targets to avoid msgs for targets passed to cmake
+define cmake-targ
+$(1):
+	@#
+.PHONY: $(1)
+endef

-#
-# Unittest targets. Builds and runs the host-level
-# unit tests.
-.PHONY: tests
-tests:	generateuorbtopicheaders
-	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
+# ADD CONFIGS HERE
+# --------------------------------------------------------------------
+#  Do not put any spaces between function arguments.

-.PHONY: check_format
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)
+
+px4fmu-v2_default:
+	$(call cmake-build,nuttx_px4fmu-v2_default)
+
+px4fmu-v2_simple:
+	$(call cmake-build,nuttx_px4fmu-v2_simple)
+
+px4fmu-v2_lpe:
+	$(call cmake-build,nuttx_px4fmu-v2_lpe)
+
+nuttx_sim_simple:
+	$(call cmake-build,$@)
+
+posix_sitl_simple:
+	$(call cmake-build,$@)
+
+posix_sitl_lpe:
+	$(call cmake-build,$@)
+
+ros_sitl_simple:
+	$(call cmake-build,$@)
+
+qurt_eagle_travis:
+	$(call cmake-build,$@)
+
+qurt_eagle_release:
+	$(call cmake-build,$@)
+
+posix_eagle_release:
+	$(call cmake-build,$@)
+
+posix: posix_sitl_simple
+
+posix_sitl_default: posix_sitl_simple
+
+ros: ros_sitl_simple
+
+sitl_deprecation:
+	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
+	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
+
+sitl_quad: sitl_deprecation
+sitl_plane: sitl_deprecation
+sitl_ros: sitl_deprecation
+
+# Other targets
+# --------------------------------------------------------------------
 check_format:
-	$(Q) (./Tools/check_code_style.sh)
+	@./Tools/check_code_style.sh

-#
-# Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything
-# that's generated leaving only files that are in source control.
-#
-.PHONY:	clean
 clean:
-	@echo > /dev/null
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
-	$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
-	$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
+	@rm -rf build_*/
+	@(cd NuttX && git clean -d -f -x)
+	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)

-.PHONY:	distclean
-distclean: clean
-	@echo > /dev/null
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+# targets handled by cmake
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_vtol gazebo_iris gazebo_vtol
+$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

+.PHONY: clean
+
+CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+
+# Future:
+#$(CONFIGS):
+##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
+#	@cd Build/$@ && make
 #
-# Print some help text
+#clean-all:
+#	@rm -rf Build/*
 #
-.PHONY: help
-help:
-	@$(ECHO) ""
-	@$(ECHO) " PX4 firmware builder"
-	@$(ECHO) " ===================="
-	@$(ECHO) ""
-	@$(ECHO) "  Available targets:"
-	@$(ECHO) "  ------------------"
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  archives"
-	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
-	@$(ECHO) ""
-endif
-	@$(ECHO) "  all"
-	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
-	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@$(ECHO) ""
-	@for config in $(CONFIGS); do \
-		$(ECHO) "  $$config"; \
-		$(ECHO) "    Build just the $$config firmware configuration."; \
-		$(ECHO) ""; \
-	done
-	@$(ECHO) "  clean"
-	@$(ECHO) "    Remove all firmware build pieces."
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  distclean"
-	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
-	@$(ECHO) ""
-	@$(ECHO) "  upload"
-	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
-	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
-	@$(ECHO) "    all configurations."
-	@$(ECHO) ""
-endif
-	@$(ECHO) "  testbuild"
-	@$(ECHO) "    Perform a complete clean build of the entire tree."
-	@$(ECHO) ""
-	@$(ECHO) "  Common options:"
-	@$(ECHO) "  ---------------"
-	@$(ECHO) ""
-	@$(ECHO) "  V=1"
-	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
-	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  To see help for a specifix target use 'make <target> help' where target is"
-	@$(ECHO) "  one of: "
-	@$(ECHO) "     nuttx"
-	@$(ECHO) "     posix"
-	@$(ECHO) "     qurt"
-	@$(ECHO) ""
-endif
-
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
@@ -4,7 +4,7 @@

 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

-This repository contains the PX4 Flight Core, with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.
+This repository contains the [PX4 Flight Core](http://px4.io), with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.

 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
@@ -32,7 +32,7 @@ Software in the Loop guide:
 Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).

 Developer guide:
-http://px4.io/dev/
+http://dev.px4.io

 Testing guide:
 http://px4.io/dev/unit_tests
@@ -28,11 +28,3 @@ fi
 set MIXER quad_w

 set PWM_OUT 1234
-set PWM_MIN 1200
-
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
@@ -32,6 +32,3 @@ fi
 set MIXER quad_w

 set PWM_OUT 1234
-
-set PWM_MIN 1200
-set PWM_MAX 1950
@@ -30,7 +30,4 @@ fi

 set MIXER quad_w

-set PWM_MIN 1210
-set PWM_MAX 2100
-
 set PWM_OUT 1234
@@ -30,7 +30,6 @@ fi
 set MIXER sk450_deadcat

 set PWM_OUT 1234
-set PWM_MIN 1050

 set PWM_AUX_OUT 1234
 # set PWM_AUX_MIN 900
@@ -4,6 +4,17 @@
 #
 # @type Hexarotor Coaxial
 #
+# @output MAIN1 front right top, CW; angle:60; direction:CW
+# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
+# @output MAIN3 back top, CW; angle:180; direction:CW
+# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
+# @output MAIN5 front left top, CW; angle:-60; direction:CW
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

@@ -14,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -39,6 +39,9 @@ then
 	param set FW_RR_P 0.04
 fi

+# Configure this as plane
+set MAV_TYPE 1
+# Set mixer
 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -0,0 +1,34 @@
+#!nsh
+#
+# @name Lumenier QAV250
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set PWM_MIN 1075
+	param set PWM_THR_MIN 0.06
+	param set PWM_MANTHR_MIN 0.06
+fi
+
@@ -15,13 +15,12 @@ sh /etc/init.d/4001_quad_x

 if [ $AUTOCNF == yes ]
 then
-	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.16
+	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
@@ -9,21 +9,16 @@
 # filter by setting INAV_ENABLED = 0
 if param compare INAV_ENABLED 1
 then
-	# The system is defaulting to EKF_ATT_ENABLED = 1
-	# and uses the older EKF filter. However users can
-	# enable the new quaternion based complimentary
-	# filter by setting EKF_ATT_ENABLED = 0.
-	# Note that on FMUv1, the EKF att estimator is not
-	# available and the Q estimator runs instead.
-	if param compare EKF_ATT_ENABLED 1
-	then
-		attitude_estimator_ekf start
-	else
-		attitude_estimator_q start
-	fi
+	attitude_estimator_q start
 	position_estimator_inav start
 else
-	ekf_att_pos_estimator start
+	if param compare LPE_ENABLED 1
+	then
+		attitude_estimator_q start
+		local_position_estimator start
+	else
+		ekf_att_pos_estimator start
+	fi
 fi

 if mc_att_control start
@@ -112,4 +112,6 @@ fi

 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
-sensors start
+if sensors start
+then
+fi
@@ -260,11 +260,11 @@ then
 		#
 		# Check if PX4IO present and update firmware if needed
 		#
-		if [ -f /etc/extras/px4io-v2_default.bin ]
+		if [ -f /etc/extras/px4io-v2.bin ]
 		then
-			set IO_FILE /etc/extras/px4io-v2_default.bin
+			set IO_FILE /etc/extras/px4io-v2.bin
 		else
-			set IO_FILE /etc/extras/px4io-v1_default.bin
+			set IO_FILE /etc/extras/px4io-v1.bin
 		fi

 		if px4io checkcrc ${IO_FILE}
@@ -391,6 +391,14 @@ then
 	#
 	set TTYS1_BUSY no

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs
+	#
+	if param greater UAVCAN_ENABLE 2
+	then
+		set OUTPUT_MODE uavcan_esc
+	fi
+
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
@@ -55,11 +55,11 @@ else
 	echo "[param] FAILED loading $PARAM_FILE"
 fi

-if [ -f /etc/extras/px4io-v2_default.bin ]
+if [ -f /etc/extras/px4io-v2.bin ]
 then
-	set io_file /etc/extras/px4io-v2_default.bin
+	set io_file /etc/extras/px4io-v2.bin
 else
-	set io_file /etc/extras/px4io-v1_default.bin
+	set io_file /etc/extras/px4io-v1.bin
 fi

 if px4io start
@@ -0,0 +1,14 @@
+#!/bin/bash
+cmake_ver=`cmake --version`
+
+if [[ $cmake_ver == "" ]]
+then
+  exit 1;
+fi
+
+if [[ $cmake_ver == *"2.8"* ]] || [[ $cmake_ver == *"2.9"* ]] || [[ $cmake_ver == *"3.0"* ]] || [[ $cmake_ver == *"3.1"* ]]
+then
+  exit 1;
+fi
+
+exit 0;
@@ -4,28 +4,38 @@ failed=0
 for fn in $(find src/examples \
                 src/systemcmds \
                 src/include \
-                 src/drivers/blinkm \
-                 src/drivers/bma180 \
-                 src/drivers/pca9685 \
-                 src/drivers/pca8574 \
-                 src/drivers/md25 \
-                 src/drivers/ms5611 \
-                 src/drivers/stm32 \
-                 src/drivers/px4io \
-                 src/drivers/px4fmu \
+                 src/drivers \
+                 src/platforms \
+                 src/firmware \
                 src/lib/launchdetection \
+                 src/lib/geo \
+                 src/lib/geo_lookup \
+                 src/lib/conversion \
+                 src/lib/rc \
+                 src/lib/version \
+                 src/modules/attitude_estimator_q \
+                 src/modules/gpio_led \
+                 src/modules/land_detector \
+                 src/modules/muorb \
+                 src/modules/px4iofirmware \
+                 src/modules/param \
+                 src/modules/sensors \
+                 src/modules/simulator \
+                 src/modules/uORB \
                 src/modules/bottle_drop \
                 src/modules/dataman \
                 src/modules/fixedwing_backside \
                 src/modules/segway \
+                 src/modules/local_position_estimator \
                 src/modules/unit_test \
                 src/modules/systemlib \
+                 src/modules/controllib \
                   -path './Build' -prune -o \
                   -path './mavlink' -prune -o \
                   -path './NuttX' -prune -o \
                   -path './src/lib/eigen' -prune -o \
                   -path './src/lib/mathlib/CMSIS' -prune -o \
-                   -path './src/lib/uavcan' -prune -o \
+                   -path './src/modules/uavcan/libuavcan' -prune -o \
                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
                   -path './src/modules/sdlog2' -prune -o \
@@ -1,144 +0,0 @@
-#!/bin/sh
-
-[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
-    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
-    exit 0
-}
-
-if [ -d NuttX/nuttx ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "NuttX" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked NuttX submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "   NuttX sub repo not at correct version. Try 'git submodule update'"
-		echo "   or follow instructions on http://pixhawk.org/dev/git/submodules"
-		echo ""
-		echo "   DO NOT FORGET TO RUN 'make distclean && make archives' AFTER EACH NUTTX UPDATE!"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d mavlink/include/mavlink/v1.0 ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "mavlink/include/mavlink/v1.0" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked mavlink submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "mavlink sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d uavcan ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i uavcan | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked uavcan submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "uavcan sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d src/lib/eigen ]
-then
-	echo "ARG = $1"
-	if [ $1 = "qurt" ]
-	then
-		# QuRT needs to use Eigen 3.2 because the toolchain doews not support C++11
-		STATUSRETVAL=$(true)
-	else
-		STATUSRETVAL=$(git submodule summary | grep -A20 -i eigen | grep "<")
-		if [ -z "$STATUSRETVAL" ]
-		then
-			echo "Checked Eigen submodule, correct version found"
-		else
-			echo ""
-			echo ""
-			echo "New commits required:"
-			echo "$(git submodule summary)"
-			echo ""
-			echo ""
-			echo "eigen sub repo not at correct version. Try 'git submodule update'"
-			echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-			exit 1
-		fi
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/gencpp ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i gencpp | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked gencpp submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "gencpp sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/genmsg ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i genmsg | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked genmsg submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "genmsg sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-exit 0
@@ -1,6 +1,7 @@
 #!/usr/bin/python

 import glob
+import os
 import sys

 # This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
@@ -20,20 +21,42 @@ for index,m in enumerate(raw_messages):
 		temp_list = []
 		f = open(m,'r')
 		for line in f.readlines():
-			if(line.split(' ')[0] == "float32"):
+			if ('float32[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('float64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("double_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('uint64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif(line.split(' ')[0] == "float32"):
 				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "uint64"):
+			elif(line.split(' ')[0] == "float64"):
+				temp_list.append(("double",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
 				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif (line.split(' ')[0] == "bool"):
+			elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
+				temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
+				temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
+				temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
+				temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
+				temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
 				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
 			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
 				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif ('float32[' in line.split(' ')[0]):
-				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
-				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
+				temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))

 		f.close()
-		messages.append(m.split('/')[-1].split('.')[0])
+		(m_head, m_tail) = os.path.split(m)
+		messages.append(m_tail.split('.')[0])
+		#messages.append(m.split('/')[-1].split('.')[0])
 		message_elements.append(temp_list)

 num_messages = len(messages);
@@ -74,24 +97,32 @@ print("""
 ****************************************************************************/

 /**
- * @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
+ * @file topic_listener.cpp
+ *
+ * Autogenerated by Tools/generate_listener.py
 *
 * Tool for listening to topics when running flight stack on linux.
 */
+
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
-#include <iostream>
-#include <fstream>
-#include <string>
-#include <sstream>
-#include <vector>
-#include <cstring>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
+
+#ifndef PRIu64
+#define PRIu64 "llu"
+#endif
+
+#ifndef PRId64
+#define PRId64 "lld"
+#endif
+
 """)
 for m in messages:
 	print("#include <uORB/topics/%s.h>" % m)
@@ -108,39 +139,60 @@ int listener_main(int argc, char *argv[]) {
 		return 1;
 	}
 """)
-print("\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);")
-print("\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0])
+print("\tunsigned num_msgs = atoi(argv[2]);")
+print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
 print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
 print("\t\tID = ORB_ID(%s);" % messages[0])
 print("\t\tstruct %s_s container;" % messages[0])
 print("\t\tmemset(&container, 0, sizeof(container));")
 for index,m in enumerate(messages[1:]):
-	print("\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m)
+	print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % m)
 	print("\t\tsub = orb_subscribe(ORB_ID(%s));" % m)
 	print("\t\tID = ORB_ID(%s);" % m)
 	print("\t\tstruct %s_s container;" % m)
 	print("\t\tmemset(&container, 0, sizeof(container));")
 	print("\t\tbool updated;")
-	print("\t\tfor(uint32_t i = 0;i<num_msgs;i++) {")
+	print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
 	print("\t\t\torb_check(sub,&updated);")
 	print("\t\t\tupdated = true;")
-	print("\t\t\tif(updated) {")
+	print("\t\t\tif (updated) {")
+	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
-			print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
 		elif item[0] == "float_array":
-			print("\t\t\tprintf(\"%s:\");" % item[1])
-			print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2])
-			print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "double":
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
+		elif item[0] == "double_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
 			print("\t\t\t}")
 			print("\t\t\tprintf(\"\\n\");")
 		elif item[0] == "uint64":
-			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
+			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint64_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%\" PRIu64 \"\",container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "int64":
+			print("\t\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "int32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "uint8":
-			print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
+			print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":
-			print("\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
+			print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
 	print("\t\t\t}")
 	print("\t\t}")
 print("\t} else {")
@@ -1,2 +1,2 @@
-handle SIGCONT nostop
+handle SIGCONT nostop noprint nopass
 run
@@ -98,7 +98,9 @@ static void list_builtins(void)

 static int shutdown_main(int argc, char *argv[])
 {
-	cout << "Shutting down" << endl;
+	cout.flush();
+	cout << endl << "Shutting down" << endl;
+	cout.flush();
 	exit(0);
 }

@@ -133,5 +135,14 @@ static int sleep_main(int argc, char *argv[])
 	sleep(atoi(argv[1]));
 	return 0;
 }
+static int usleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: usleep <microseconds>" << endl;
+		return 1;
+	}
+	usleep(atoi(argv[1]));
+	return 0;
+}
 """)

@@ -0,0 +1,3 @@
+run
+pro hand -p true -s false -n false SIGCONT
+continue
@@ -1,5 +1,6 @@
 from xml.sax.saxutils import escape
 import codecs
+import os

 class RCOutput():
    def __init__(self, groups, board):
@@ -30,7 +31,7 @@ class RCOutput():
        for group in groups:
            result += "# GROUP: %s\n\n" % group.GetName()
            for param in group.GetParams():
-                path = param.GetPath().rsplit('/', 1)[1]
+                path = os.path.split(param.GetPath())[1]
                id_val = param.GetId()
                name = param.GetFieldValue("short_desc")
                long_desc = param.GetFieldValue("long_desc")
@@ -1,5 +1,6 @@
 import sys
 import re
+import os

 class ParameterGroup(object):
    """
@@ -151,7 +152,7 @@ class SourceParser(object):
        Returns list of supported file extensions that can be parsed by this
        parser. The parser uses any extension.
        """
-        return [""]
+        return ["", ".hil"]

    def Parse(self, path, contents):
        """
@@ -160,7 +161,7 @@ class SourceParser(object):
        """

        airframe_id = None
-        airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
+        airframe_id = os.path.split(path)[1].split('_',1)[0]

        # Skip if not numeric
        if (not self.IsNumber(airframe_id)):
@@ -16,9 +16,11 @@ class SourceScanner(object):
        extensions = tuple(parser.GetSupportedExtensions())
        for dirname, dirnames, filenames in os.walk(srcdir):
            for filename in filenames:
-                path = os.path.join(dirname, filename)
-                if not self.ScanFile(path, parser):
-                    return False
+                extension = os.path.splitext(filename)[1]
+                if extension in extensions:
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
        return True

    def ScanFile(self, path, parser):
@@ -72,9 +72,13 @@ class XMLOutput():
                            xml_field.text = value
                    for code in param.GetOutputCodes():
                        value = param.GetOutputValue(code)
+                        valstrs = value.split(";")
                        xml_field = ET.SubElement(xml_param, "output")
                        xml_field.attrib["name"] = code
-                        xml_field.text = value
+                        for attrib in valstrs[1:]:
+                            attribstrs = attrib.split(":")
+                            xml_field.attrib[attribstrs[0].strip()] = attribstrs[1].strip()
+                        xml_field.text = valstrs[0]
                if last_param_name != param.GetName():
                    board_specific_param_set = False
        indent(xml_parameters)
@@ -45,6 +45,7 @@ class Parameter(object):
        "min": 5,
        "max": 4,
        "unit": 3,
+        "decimal": 2,
        # all others == 0 (sorted alphabetically)
    }

@@ -106,7 +107,7 @@ class SourceParser(object):
    re_remove_dots = re.compile(r'\.+$')
    re_remove_carriage_return = re.compile('\n+')

-    valid_tags = set(["group", "board", "min", "max", "unit"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])

    # Order of parameter groups
    priority = {
@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+import xml.etree.ElementTree as ET
+import os
+
+if len(os.sys.argv) != 2:
+	print("Error in %s" % os.sys.argv[0])
+	print("Usage: %s <parameters.xml>" % os.sys.argv[0])
+	raise SystemExit
+
+fp_header = open("px4_parameters.h", "w")
+fp_src = open("px4_parameters.c", "w")
+
+tree = ET.parse(os.sys.argv[1])
+root = tree.getroot()
+
+# Generate the header file content
+header = """
+#include <stdint.h>
+#include <systemlib/param/param.h>
+
+// DO NOT EDIT
+// This file is autogenerated from parameters.xml
+
+__BEGIN_DECLS
+
+struct px4_parameters_t {
+"""
+start_name = ""
+end_name = ""
+
+for group in root:
+	if group.tag == "group":
+		header += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			header += """
+	const struct param_info_s __param__%s;""" % param.attrib["name"]
+header += """
+	const unsigned int param_count;
+};
+
+extern const struct px4_parameters_t px4_parameters;
+"""
+
+# Generate the C file content
+src = """
+#include <px4_parameters.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+const
+#ifndef __PX4_DARWIN
+__attribute__((used, section("__param")))
+#endif
+struct px4_parameters_t px4_parameters = {
+"""
+i=0
+for group in root:
+	if group.tag == "group":
+		src += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
+			if (param.attrib["type"] == "FLOAT"):
+				val_str = ".val.f = "
+			elif (param.attrib["type"] == "INT32"):
+				val_str = ".val.i = "
+			i+=1
+			src += """
+	{
+		"%s",
+		PARAM_TYPE_%s,
+		%s%s
+	},
+""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
+src += """
+	%d
+};
+
+//extern const struct px4_parameters_t px4_parameters;
+
+__END_DECLS
+
+""" % i
+
+fp_header.write(header)
+fp_src.write(src)
+
@@ -43,6 +43,11 @@ import shutil
 import filecmp
 import argparse

+import sys
+px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(px4_tools_dir + "/genmsg/src")
+sys.path.append(px4_tools_dir + "/gencpp/src")
+
 try:
        import genmsg.template_tools
 except ImportError as e:
@@ -79,7 +84,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
        """
        Converts a single .msg file to a uorb header
        """
-        print("Generating headers from {0}".format(filename))
+        #print("Generating headers from {0}".format(filename))
        genmsg.template_tools.generate_from_file(filename,
                                                 package,
                                                 outputdir,
@@ -136,7 +141,7 @@ def convert_dir(inputdir, outputdir, templatedir):
        return True


-def copy_changed(inputdir, outputdir, prefix=''):
+def copy_changed(inputdir, outputdir, prefix='', quiet=False):
        """
        Copies files from inputdir to outputdir if they don't exist in
        ouputdir or if their content changed
@@ -153,7 +158,8 @@ def copy_changed(inputdir, outputdir, prefix=''):
                        fno = os.path.join(outputdir, prefix + f)
                        if not os.path.isfile(fno):
                                shutil.copy(fni, fno)
-                                print("{0}: new header file".format(f))
+                                if not quiet:
+                                    print("{0}: new header file".format(f))
                                continue

                        if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -161,13 +167,15 @@ def copy_changed(inputdir, outputdir, prefix=''):
                                # only copy if contents do not match
                                if not filecmp.cmp(fni, fno):
                                        shutil.copy(fni, fno)
-                                        print("{0}: updated".format(f))
+                                        if not quiet:
+                                            print("{0}: updated".format(f))
                                        continue

-                        #print("{0}: unchanged".format(f))
+                        if not quiet:
+                            print("{0}: unchanged".format(f))


-def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
        """
        Converts all .msg files in inputdir to uORB header files
        Unchanged existing files are not overwritten.
@@ -175,7 +183,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
        # Create new headers in temporary output directory
        convert_dir(inputdir, temporarydir, templatedir)
        # Copy changed headers from temporary dir to output dir
-        copy_changed(temporarydir, outputdir, prefix)
+        copy_changed(temporarydir, outputdir, prefix, quiet)

 if __name__ == "__main__":
        parser = argparse.ArgumentParser(
@@ -193,6 +201,9 @@ if __name__ == "__main__":
        parser.add_argument('-p', dest='prefix', default='',
                            help='string added as prefix to the output file '
                            ' name when converting directories')
+        parser.add_argument('-q', dest='quiet', default=False, action='store_true',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
        args = parser.parse_args()

        if args.file is not None:
@@ -208,4 +219,5 @@ if __name__ == "__main__":
                    args.outputdir,
                    args.templatedir,
                    args.temporarydir,
-                    args.prefix)
+                    args.prefix,
+                    args.quiet)
@@ -57,7 +57,7 @@ def main():
        for (root, dirs, files) in os.walk(args.folder):
                for file in files:
                        # only prune text files
-                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file:
+                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file or ".DS_Store" in file:
                                continue

                        file_path = os.path.join(root, file)
@@ -74,10 +74,9 @@ def main():
                                        else:
                                                if not line.isspace() and not line.strip().startswith("#"):
                                                        pruned_content += line
-
-                        # overwrite old scratch file
+                       # overwrite old scratch file
                        with open(file_path, "wb") as f:
-                                f.write(pruned_content)
+                                f.write(pruned_content.encode("ascii", errors='strict'))


 if __name__ == '__main__':
@@ -1,5 +1,97 @@
 #!/bin/bash

-mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
-mkdir -p Build/posix_sitl.build/rootfs/eeprom
-cd Build/posix_sitl.build && ./mainapp ../../$1
+rc_script=$1
+debugger=$2
+program=$3
+model=$4
+build_path=$5
+curr_dir=`pwd`
+
+echo SITL ARGS
+echo rc_script: $rc_script
+echo debugger: $debugger
+echo program: $program
+echo model: $model
+echo build_path: $build_path
+
+if [ "$model" == "" ] || [ "$model" == "none" ]
+then
+	echo "empty model, setting iris as default"
+	model="iris"
+fi
+
+if [ "$#" != 5 ]
+then
+	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo ""
+	exit 1
+fi
+
+# kill process names that might stil
+# be running from last time
+pkill gazebo
+pkill mainapp
+jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+if [ -n "$jmavsim_pid" ]
+then
+	kill $jmavsim_pid
+fi
+
+cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
+cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
+
+SIM_PID=0
+
+if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
+then
+	cd Tools/jMAVSim
+	ant
+	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	SIM_PID=`echo $!`
+elif [ "$3" == "gazebo" ] && [ "$no_sim" == "" ]
+then
+	if [ -x "$(command -v gazebo)" ]
+	then
+		# Set the plugin path so Gazebo finds our model and sim
+		export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$curr_dir/Tools/sitl_gazebo/Build
+		# Set the model path so Gazebo finds the airframes
+		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
+		# Disable online model lookup since this is quite experimental and unstable
+		export GAZEBO_MODEL_DATABASE_URI=""
+		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
+		mkdir -p Tools/sitl_gazebo/Build
+		cd Tools/sitl_gazebo/Build
+		cmake ..
+		make -j4
+		gzserver ../worlds/${model}.world &
+		SIM_PID=`echo $!`
+		gzclient &
+		GUI_PID=`echo $!`
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
+fi
+cd $build_path/src/firmware/posix
+mkdir -p rootfs/fs/microsd
+mkdir -p rootfs/eeprom
+touch rootfs/eeprom/parameters
+# Start Java simulator
+if [ "$debugger" == "lldb" ]
+then
+	lldb -- mainapp ../../../../${rc_script}_${program}
+elif [ "$debugger" == "gdb" ]
+then
+	gdb --args mainapp ../../../../${rc_script}_${program}
+else
+	./mainapp ../../../../${rc_script}_${program}
+fi
+
+if [ "$program" == "jmavsim" ]
+then
+	kill -9 $SIM_PID
+elif [ "$program" == "gazebo" ]
+then
+	kill -9 $SIM_PID
+	kill -9 $GUI_PID
+fi
@@ -26,7 +26,7 @@ Vagrant.configure(2) do |config|

  # Create a private network, which allows host-only access to the machine
  # using a specific IP.
-  # config.vm.network "private_network", ip: "192.168.33.10"
+  config.vm.network "private_network", ip: "192.168.33.10"

  # Create a public network, which generally matched to bridged network.
  # Bridged networks make the machine appear as another physical device on
@@ -37,7 +37,7 @@ Vagrant.configure(2) do |config|
  # the path on the host to the actual folder. The second argument is
  # the path on the guest to mount the folder. And the optional third
  # argument is a set of non-required options.
-  config.vm.synced_folder ".", "/Firmware"
+  config.vm.synced_folder ".", "/Firmware", type: "nfs"

  # Provider-specific configuration so you can fine-tune various
  # backing providers for Vagrant. These expose provider-specific options.
@@ -77,14 +77,18 @@ Vagrant.configure(2) do |config|
    # Ensure we start in the Firmware folder
    echo "cd /Firmware" >> ~/.bashrc
    # Install software
+    sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
+    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
    sudo apt-get update
-    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip
+    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
    pushd .
    cd ~
    wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
    tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
    exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
    if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+    exportline2="export HEXAGON_TOOLS_ROOT=$HOME/Qualcomm/HEXAGON_Tools/7.2.10/Tools"
+    if grep -Fxq "$exportline2" ~/.profile; then echo nothing to do ; else echo $exportline2 >> ~/.profile; fi
    . ~/.profile
    popd
    # setup ccache
@@ -0,0 +1,871 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	utility functions
+#
+#		* px4_parse_function_args
+#		* px4_add_git_submodule
+#		* px4_prepend_string
+#		* px4_join
+#		* px4_add_module
+#		* px4_generate_messages
+#		* px4_add_upload
+#		* px4_add_common_flags
+#
+
+include(CMakeParseArguments)
+
+#=============================================================================
+#
+#	px4_parse_function_args
+#
+#	This function simpliies usage of the cmake_parse_arguments module.
+#	It is inteded to be called by other functions.
+#
+#	Usage:
+#		px4_parse_function_args(
+#			NAME <name>
+#			[ OPTIONS <list> ]
+#			[ ONE_VALUE <list> ]
+#			[ MULTI_VALUE <list> ]
+#			REQUIRED <list>
+#			ARGN <ARGN>)
+#
+#	Input:
+#		NAME		: the name of the calling function
+#		OPTIONS		: boolean flags
+#		ONE_VALUE	: single value variables
+#		MULTI_VALUE	: multi value variables
+#		REQUIRED	: required arguments
+#		ARGN		: the function input arguments, typically ${ARGN}
+#
+#	Output:
+#		The function arguments corresponding to the following are set:
+#		${OPTIONS}, ${ONE_VALUE}, ${MULTI_VALUE}
+#
+#	Example:
+#		function test()
+#			px4_parse_function_args(
+#				NAME TEST
+#				ONE_VALUE NAME
+#				MULTI_VALUE LIST
+#				REQUIRED NAME LIST
+#				ARGN ${ARGN})
+#			message(STATUS "name: ${NAME}")
+#			message(STATUS "list: ${LIST}")
+#		endfunction()
+#
+#		test(NAME "hello" LIST a b c)
+#		
+#		OUTPUT:
+#			name: hello
+#			list: a b c
+#
+function(px4_parse_function_args)
+	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
+	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
+	if (OUT_UNPARSED_ARGUMENTS)
+		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
+	endif()
+	foreach(arg ${IN_REQUIRED})
+		if (NOT OUT_${arg})
+			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
+		endif()
+	endforeach()
+	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
+		set(${arg} ${OUT_${arg}} PARENT_SCOPE)
+	endforeach()
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_git_submodule
+#
+#	This function add a git submodule target.
+#
+#	Usage:
+#		px4_add_git_submodule(TARGET <target> PATH <path>)
+#
+#	Input:
+#		PATH		: git submodule path
+#
+#	Output:
+#		TARGET		: git target
+#
+#	Example:
+#		px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+#
+function(px4_add_git_submodule)
+	px4_parse_function_args(
+		NAME px4_add_git_submodule
+		ONE_VALUE TARGET PATH
+		REQUIRED TARGET PATH
+		ARGN ${ARGN})
+	string(REPLACE "/" "_" NAME ${PATH})
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND git submodule init ${PATH}
+		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+		)
+	add_custom_target(${TARGET}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND git submodule update --recursive ${PATH}
+		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		)
+endfunction()
+
+#=============================================================================
+#
+#	px4_prepend_string
+#
+#	This function prepends a string to a list
+#
+#	Usage:
+#		px4_prepend_string(OUT <output-list> STR <string> LIST <list>)
+#
+#	Input:
+#		STR			: string to prepend
+#		LIST		: list to prepend to
+#
+#	Output:
+#		${OUT}		: prepended list
+#
+#	Example:
+#		px4_prepend_string(OUT test_str STR "path/to/" LIST src/file1.cpp src/file2.cpp)
+#		test_str would then be:
+#			path/to/src/file1.cpp
+#			path/to/src/file2.cpp
+#
+function(px4_prepend_string)
+	px4_parse_function_args(
+		NAME px4_prepend_string
+		ONE_VALUE OUT STR
+		MULTI_VALUE LIST
+		REQUIRED OUT STR LIST
+		ARGN ${ARGN})
+	set(${OUT})
+	foreach(file ${LIST})
+		list(APPEND ${OUT} ${STR}${file})
+	endforeach()
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_join
+#
+#	This function joins a list with a given separator. If list is not
+#	passed, or is sent "", this will return the empty string.
+#
+#	Usage:
+#		px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
+#
+#	Input:
+#		LIST		: list to join
+#		GLUE		: separator to use
+#
+#	Output:
+#		OUT			: joined list
+#
+#	Example:
+#		px4_join(OUT test_join LIST a b c GLUE ";")
+#		test_join would then be:
+#			"a;b;c"
+#
+function(px4_join)
+	px4_parse_function_args(
+		NAME px4_join
+		ONE_VALUE OUT GLUE
+		MULTI_VALUE LIST
+		REQUIRED GLUE OUT
+		ARGN ${ARGN})
+	string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
+	set(${OUT} ${_TMP_STR} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_module
+#
+#	This function builds a static library from a module description.
+#
+#	Usage:
+#		px4_add_module(MODULE <string>
+#			[ MAIN <string> ]
+#			[ STACK <string> ]
+#			[ COMPILE_FLAGS <list> ]
+#			[ INCLUDES <list> ]
+#			[ DEPENDS <string> ]
+#			)
+#
+#	Input:
+#		MODULE			: unique name of module
+#		MAIN			: entry point, if not given, assumed to be library
+#		STACK			: size of stack
+#		COMPILE_FLAGS	: compile flags
+#		LINK_FLAGS		: link flags
+#		SRCS			: source files
+#		INCLUDES		: include directories
+#		DEPENDS			: targets which this module depends on
+#
+#	Output:
+#		Static library with name matching MODULE.
+#
+#	Example:
+#		px4_add_module(MODULE test
+#			SRCS
+#				file.cpp
+#			STACK 1024
+#			DEPENDS
+#				git_nuttx
+#			)
+#
+function(px4_add_module)
+
+	px4_parse_function_args(
+		NAME px4_add_module
+		ONE_VALUE MODULE MAIN STACK PRIORITY
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
+		REQUIRED MODULE
+		ARGN ${ARGN})
+
+	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+
+	if(MAIN)
+		set_target_properties(${MODULE} PROPERTIES
+			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
+	endif()
+
+	if(INCLUDES)
+		target_include_directories(${MODULE} ${INCLUDES})
+	endif()
+
+	if(DEPENDS)
+		add_dependencies(${MODULE} ${DEPENDS})
+	endif()
+
+	# join list variables to get ready to send to compiler
+	foreach(prop LINK_FLAGS COMPILE_FLAGS)
+		if(${prop})
+			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
+		endif()
+	endforeach()
+
+	# store module properties in target
+	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
+	# STACK, MAIN, PRIORITY are PX4 specific
+	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
+		if (${prop})
+			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
+		endif()
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_messages
+#
+#	This function generates source code from ROS msg definitions.
+#
+#	Usage:
+#		px4_generate_messages(TARGET <target> MSGS <msg-files>)
+#
+#	Input:
+#		MSG_FILES	: the ROS msgs to generate files from
+#		OS			: the operating system selected
+#		DEPENDS		: dependencies
+#
+#	Output:
+#		TARGET		: the message generation target
+#
+#	Example:
+#		px4_generate_messages(TARGET <target>
+#			MSG_FILES <files> OS <operating-system>
+#			[ DEPENDS <dependencies> ]
+#			)
+#
+function(px4_generate_messages)
+	px4_parse_function_args(
+		NAME px4_generate_messages
+		OPTIONS VERBOSE
+		ONE_VALUE OS TARGET
+		MULTI_VALUE MSG_FILES DEPENDS
+		REQUIRED MSG_FILES OS TARGET
+		ARGN ${ARGN})
+	set(QUIET)
+	if(NOT VERBOSE)
+		set(QUIET "-q")
+	endif()
+	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_list)
+	foreach(msg_file ${MSG_FILES})
+		get_filename_component(msg ${msg_file} NAME_WE)
+		list(APPEND msg_list ${msg})
+	endforeach()
+	set(msg_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_headers.py
+			${QUIET}
+			-d msg
+			-o ${msg_out_path} 
+			-e msg/templates/uorb
+			-t ${CMAKE_BINARY_DIR}/topics_temporary
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic headers"
+		VERBATIM
+		)
+
+	# multi messages for target OS
+	set(msg_multi_out_path
+		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+	set(msg_multi_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_multi_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_headers.py
+			${QUIET}
+			-d msg
+			-o ${msg_multi_out_path} 
+			-e msg/templates/px4/uorb
+			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+			-p "px4_"
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic multi headers for ${OS}"
+		VERBATIM
+		)
+	add_custom_target(${TARGET}
+		DEPENDS ${msg_multi_files_out} ${msg_files_out})
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_upload
+#
+#	This function generates source code from ROS msg definitions.
+#
+#	Usage:
+#		px4_add_upload(OUT <target> BUNDLE <file.px4>)
+#
+#	Input:
+#		BUNDLE		: the firmware.px4 file
+#		OS			: the operating system
+#		BOARD		: the board
+#
+#	Output:
+#		OUT			: the firmware target
+#
+#	Example:
+#		px4_add_upload(OUT upload
+#			BUNDLE main.px4
+#			)
+#
+function(px4_add_upload)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT BUNDLE
+		REQUIRED OS BOARD OUT BUNDLE
+		ARGN ${ARGN})
+	set(serial_ports)
+	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
+		list(APPEND serial_ports
+			/dev/serial/by-id/usb-3D_Robotics*
+			/dev/serial/by-id/pci-3D_Robotics*
+			)
+	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
+		list(APPEND serial_ports
+			/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
+			)
+	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
+		foreach(port RANGE 32 0)
+			list(APPEND serial_ports
+				"COM${port}")
+		endforeach()
+	endif()
+	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
+	add_custom_target(${OUT}
+		COMMAND ${PYTHON_EXECUTABLE}
+			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+		DEPENDS ${BUNDLE}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_common_flags
+#
+#	Set ths default build flags.
+#
+#	Usage:
+#		px4_add_common_flags(
+#			BOARD <in-string>
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: board
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_add_common_flags(
+#			BOARD px4fmu-v2
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_add_common_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_common_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	set(warnings
+		-Wall
+		-Werror
+		-Wno-sign-compare
+		-Wextra
+		#-Wshadow # very verbose due to eigen
+		-Wfloat-equal
+		-Wpointer-arith
+		-Wmissing-declarations
+		-Wno-unused-parameter
+		-Werror=format-security
+		-Werror=array-bounds
+		-Wfatal-errors
+		-Werror=unused-variable
+		-Werror=reorder
+		-Werror=uninitialized
+		-Werror=init-self
+		#-Wcast-qual  - generates spurious noreturn attribute warnings,
+		#               try again later
+		#-Wconversion - would be nice, but too many "risky-but-safe"
+		#               conversions in the code
+		#-Wcast-align - would help catch bad casts in some cases,
+		#               but generates too many false positives
+		)
+
+	if (${OS} STREQUAL "nuttx")
+		list(APPEND warnings -Wframe-larger-than=1024)
+	endif()
+
+	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
+		if (NOT ${OS} STREQUAL "qurt")
+			list(APPEND warnings
+				-Wno-unused-const-variable
+				-Wno-varargs
+			)
+		endif()
+	else()
+		list(APPEND warnings
+			-Werror=unused-but-set-variable
+			-Wformat=1
+			#-Wlogical-op # very verbose due to eigen
+			-Wdouble-promotion
+			-Werror=double-promotion
+		)
+	endif()
+
+	set(max_optimization -Os)
+
+	set(optimization_flags
+		-fno-strict-aliasing
+		-fomit-frame-pointer
+		-funsafe-math-optimizations
+		-ffunction-sections
+		-fdata-sections
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		list(APPEND optimization_flags
+			-fno-strength-reduce
+			-fno-builtin-printf
+		)
+	endif()
+
+	set(c_warnings
+		-Wbad-function-cast
+		-Wstrict-prototypes
+		-Wmissing-prototypes
+		-Wnested-externs
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		list(APPEND c_warnings
+			-Wold-style-declaration
+			-Wmissing-parameter-type
+		)
+	endif()
+
+	set(c_compile_flags
+		-g
+		-std=gnu99
+		-fno-common
+		)
+
+	set(cxx_warnings
+		-Wno-missing-field-initializers
+		)
+
+	set(cxx_compile_flags
+		-g
+		-fno-exceptions
+		-fno-rtti
+		-std=gnu++0x
+		-fno-threadsafe-statics
+		-DCONFIG_WCHAR_BUILTIN
+		-D__CUSTOM_FILE_IO__
+		)
+
+	set(visibility_flags
+		-fvisibility=hidden
+		-include visibility.h
+		)
+
+	set(added_c_flags
+		${c_compile_flags}
+		${warnings}
+		${c_warnings}
+		${max_optimization}
+		${optimization_flags}
+		${visibility_flags}
+		)
+
+	set(added_cxx_flags
+		${cxx_compile_flags}
+		${warnings}
+		${cxx_warnings}
+		${max_optimization}
+		${optimization_flags}
+		${visibility_flags}
+		)
+
+	set(added_include_dirs
+		${CMAKE_SOURCE_DIR}/src
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src
+		${CMAKE_SOURCE_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/src/include
+		${CMAKE_SOURCE_DIR}/src/lib
+		${CMAKE_SOURCE_DIR}/src/platforms
+		# TODO Build/versioning was in Makefile,
+		# do we need this, how does it work with cmake
+		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src/modules/px4_messages
+		${CMAKE_BINARY_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
+		)
+
+	list(APPEND added_include_dirs
+		src/lib/eigen
+		)
+
+	set(added_link_dirs) # none used currently
+
+	string(TOUPPER ${BOARD} board_upper)
+	string(REPLACE "-" "_" board_config ${board_upper})
+	set(added_definitions
+		-DCONFIG_ARCH_BOARD_${board_config}
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		set(added_exe_link_flags
+			-Wl,--warn-common
+			-Wl,--gc-sections
+			)
+	else()
+		set(added_exe_link_flags
+			-Wl,--warn-common
+			)
+	endif()
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_mangle_name
+#
+#	Convert a path name to a module name
+#
+#	Usage:
+#		px4_mangle_name(dirname newname)
+#
+#	Input:
+#		dirname					: path to module dir
+#
+#	Output: 
+#		newname					: module name
+#
+#	Example:
+#		px4_mangle_name(${dirpath} mangled_name)
+#		message(STATUS "module name is ${mangled_name}")
+#
+function(px4_mangle_name dirname newname)
+	set(tmp)
+	string(REPLACE "/" "__" tmp ${dirname})
+	set(${newname} ${tmp} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_create_git_hash_header
+#
+#	Create a header file containing the git hash of the current tree
+#
+#	Usage:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+#	Input:
+#		HEADER 		: path of the header file to generate
+#
+#	Example:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+function(px4_create_git_hash_header)
+	px4_parse_function_args(
+		NAME px4_create_git_hash_header
+		ONE_VALUE HEADER 
+		REQUIRED HEADER 
+		ARGN ${ARGN})
+	execute_process(
+		COMMAND git rev-parse HEAD
+		OUTPUT_VARIABLE git_desc
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		)
+	message(STATUS "GIT_DESC = ${git_desc}")
+	set(git_desc_short)
+	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_parameters_xml
+#
+#	Generates a parameters.xml file.
+#
+#	Usage:
+#		px4_generate_parameters_xml(OUT <param-xml_file>)
+#
+#	Input:
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated xml file
+#
+#	Example:
+#		px4_generate_parameters_xml(OUT parameters.xml)
+#
+function(px4_generate_parameters_xml)
+	px4_parse_function_args(
+		NAME px4_generate_parameters_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(path ${CMAKE_SOURCE_DIR}/src)
+	file(GLOB_RECURSE param_src_files
+		${CMAKE_SOURCE_DIR}/src/*params.c
+		)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+			-s ${path} --board CONFIG_ARCH_${BOARD} --xml
+		DEPENDS ${param_src_files}
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_parameters_source
+#
+#	Generates a source file with all parameters.
+#
+#	Usage:
+#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
+#
+#	Input:
+#		XML : the parameters.xml file
+#		DEPS : target dependencies
+#
+#	Output:
+#		OUT	: the generated source files
+#
+#	Example:
+#		px4_generate_parameters_source(OUT param_files XML parameters.xml)
+#
+function(px4_generate_parameters_source)
+	px4_parse_function_args(
+		NAME px4_generate_parameters_source
+		ONE_VALUE OUT XML DEPS
+		REQUIRED OUT XML
+		ARGN ${ARGN})
+	set(generated_files
+		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
+		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
+	set_source_files_properties(${generated_files}
+		PROPERTIES GENERATED TRUE)
+	add_custom_command(OUTPUT ${generated_files}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
+		DEPENDS ${XML} ${DEPS}
+		)
+	set(${OUT} ${generated_files} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_airframes_xml
+#
+#	Generates airframes.xml
+#
+#	Usage:
+#		px4_generate_airframes_xml(OUT <airframe-xml-file>)
+#
+#	Input:
+#		XML : the airframes.xml file
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated source files
+#
+#	Example:
+#		px4_generate_airframes_xml(OUT airframes.xml)
+#
+function(px4_generate_airframes_xml)
+	px4_parse_function_args(
+		NAME px4_generate_airframes_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
+			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			--board CONFIG_ARCH_BOARD_${BOARD} --xml
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_copy_tracked
+#
+#	Copy files to a directory and keep track of dependencies.
+#
+#	Usage:
+#		px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
+#
+#	Input:
+#		FILES	:  the source files
+#		DEST		:  the directory to copy files to
+#		RELATIVE :  relative directory for source files
+#
+#	Output:
+#		OUT	: the copied files
+#
+#	Example:
+#		px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
+#
+function(px4_copy_tracked)
+	px4_parse_function_args(
+		NAME px4_copy_tracked
+		ONE_VALUE DEST OUT RELATIVE
+		MULTI_VALUE FILES
+		REQUIRED DEST OUT FILES
+		ARGN ${ARGN})
+	set(files)
+	# before build, make sure dest directory exists
+	execute_process(
+		COMMAND cmake -E make_directory ${DEST})
+	# create rule to copy each file and set dependency as source file
+	set(_files_out)
+	foreach(_file ${FILES})
+		if (RELATIVE)
+			file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
+		else()
+			set(_file_path ${_file})
+		endif()
+		set(_dest_file ${DEST}/${_file_path})
+		#message(STATUS "copy ${_file} -> ${_dest_file}")
+		add_custom_command(OUTPUT ${_dest_file}
+			COMMAND cmake -E copy ${_file} ${_dest_file}
+			DEPENDS ${_file})
+		list(APPEND _files_out ${_dest_file})
+	endforeach()
+	set(${OUT} ${_files_out} PARENT_SCOPE)
+endfunction()
+
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:
@@ -0,0 +1,177 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v1
+	drivers/ardrone_interface
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v1
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,186 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,5 @@
+include(cmake/configs/nuttx_px4fmu-v2_default.cmake)
+
+list(APPEND config_module_list
+	modules/local_position_estimator
+	)
@@ -0,0 +1,143 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	examples/fixedwing_control
+
+	# Hardware test
+	examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,21 @@
+include(nuttx/px4_impl_nuttx)
+
+message(WARNING "this is a work in progress and doesn't build yet")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	#platforms/nuttx
+	#platforms/nuttx/px4_layer
+	platforms/common
+	#drivers/led
+	drivers/device
+	#modules/systemlib
+	#modules/uORB
+	#examples/px4_simple_app
+	#lib/mathlib/math/filter
+	#lib/conversion
+	)
+
+set(config_extra_builtin_cmds
+	)
@@ -0,0 +1,46 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
+
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+	modules/controllib
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)
+
@@ -0,0 +1,40 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/led
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	modules/muorb/krait
+	)
+
@@ -0,0 +1,15 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	modules/uORB
+
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+
@@ -0,0 +1,44 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+if ("${QRL_SDK_DIR}" STREQUAL "")
+	set(QRL_SDK_DIR /opt/qrlsdk)
+endif()
+
+set(CMAKE_PROGRAM_PATH 
+	"${QRL_SDK_DIR}/gcc-linaro-4.8-2015.06-x86_64_arm-linux-gnueabihf/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/dataman
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+
@@ -0,0 +1,9 @@
+include(cmake/configs/posix_sitl_simple.cmake)
+
+list(APPEND config_module_list
+	modules/local_position_estimator
+	)
+
+set(config_sitl_rcS
+	posix-configs/SITL/init/rcS_lpe
+	)
@@ -0,0 +1,92 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/led
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/rgbled
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	platforms/posix/drivers/adcsim
+	platforms/posix/drivers/gpssim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/airspeedsim
+	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gyrosim
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/simulator
+	modules/mavlink
+	modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+	modules/navigator
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control_multiplatform
+	modules/mc_att_control_multiplatform
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_sitl_rcS
+	posix-configs/SITL/init/rcS
+	CACHE FILEPATH "init script for sitl"
+	)
+
+set(config_sitl_viewer
+	jmavsim
+	CACHE STRING "viewer for sitl"
+	)
+set_property(CACHE config_sitl_viewer
+	PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger
+	disable
+	CACHE STRING "debugger for sitl"
+	)
+set_property(CACHE config_sitl_debugger
+	PROPERTY STRINGS "disable;gdb;lldb")
+
+
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,28 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/uORB
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/hello
+	)
+
@@ -0,0 +1,63 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/led
+	drivers/rgbled
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	modules/controllib
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
@@ -0,0 +1,41 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/muorb
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
@@ -0,0 +1,85 @@
+include(qurt/px4_impl_qurt)
+
+if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+endif()
+
+if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
+	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+endif()
+
+include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+
+# For Actual flight we need to link against the driver dynamic libraries
+set(target_libraries
+	-L${HEXAGON_DRIVERS_ROOT}/libs 
+	mpu9x50
+	uart_esc
+	csr_gps
+	rc_receiver
+	)
+
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	$(EAGLE_DRIVERS_SRC)/mpu9x50
+	$(EAGLE_DRIVERS_SRC)/uart_esc
+	$(EAGLE_DRIVERS_SRC)/rc_receiver
+	$(EAGLE_DRIVERS_SRC)/csr_gps
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
@@ -0,0 +1,39 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/hello
+	platforms/posix/tests/vcdev_test
+	platforms/posix/tests/hrt_test
+	platforms/posix/tests/wqueue
+	)
+
@@ -0,0 +1,68 @@
+include(qurt/px4_impl_qurt)
+
+# Run a full link with build stubs to make sure qurt target isn't broken
+set(QURT_ENABLE_STUBS "1")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/led
+	drivers/rgbled
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/ecl
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
+
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+"""
+This converts a binary imagge to an object file
+"""
+from __future__ import print_function
+import subprocess
+import argparse
+import re
+from subprocess import PIPE
+
+#pylint: disable=invalid-name
+parser = argparse.ArgumentParser(description='Convert bin to obj.')
+parser.add_argument('--c_flags', required=True)
+parser.add_argument('--c_compiler', required=True)
+parser.add_argument('--include_path', required=True)
+parser.add_argument('--nm', required=True)
+parser.add_argument('--ld', required=True)
+parser.add_argument('--objcopy', required=True)
+parser.add_argument('--bin', required=True)
+parser.add_argument('--obj', required=True)
+parser.add_argument('--var', required=True)
+args = parser.parse_args()
+
+in_bin = args.bin
+c_flags = args.c_flags
+c_compiler = args.c_compiler
+include_path = args.include_path
+nm = args.nm
+ld = args.ld
+obj = args.obj
+var = args.var
+objcopy = args.objcopy
+
+sym = "_binary_" + in_bin.replace('/', '_').replace('.', '_').replace('-', '_')
+#print("sym: ", sym)
+
+# write empty file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("")
+
+def run_cmd(cmd, d):
+    cmd = cmd.format(**d)
+    #print(cmd)
+    proc = subprocess.Popen(cmd.split(), stdout=PIPE, stderr=PIPE)
+    stdout, stderr = proc.communicate()
+    if stderr.decode() != "":
+        raise RuntimeError(stderr)
+    return stdout
+
+# do compile
+run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
+        locals())
+
+# get size of image
+stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
+re_string = r"^([0-9A-Fa-f]+) .*{sym:s}_size".format(**locals())
+re_size = re.compile(re_string, re.MULTILINE)
+size_match = re.search(re_size, stdout.decode())
+
+try:
+    size = size_match.group(1)
+except AttributeError as e:
+    raise RuntimeError("{:s}\nre:{:s}\n{:s}".format(
+        e, re_string, stdout))
+except IndexError as e:
+    group0 = size_match.group(0)
+    raise RuntimeError("{:s}\ngroup 0:{:s}\n{:s}".format(
+        e, group0, stdout))
+
+#print("romfs size: ", size)
+
+# write size to file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("const unsigned int {var:s}_len = 0x{size:s};".format(
+        **locals()))
+
+# do compile
+run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s} {obj:s}.c.o {obj:s}.bin.o",
+        locals())
+
+# obj copy
+run_cmd("""
+{objcopy:s} {obj:s}
+    --redefine-sym {sym:s}_start={var:s}
+    --strip-symbol {sym:s}_size
+    --strip-symbol {sym:s}_end
+    --rename-section .data=.rodata
+""", locals())
+
+# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :
@@ -0,0 +1,10 @@
+/* builtin command list - automatically generated, do not edit */
+#include <nuttx/config.h>
+#include <nuttx/binfmt/builtin.h>
+#include <nuttx/config.h>
+${builtin_apps_decl_string}
+const struct builtin_s g_builtins[] = {
+${builtin_apps_string}
+	{NULL, 0, 0, NULL}
+};
+const int g_builtin_count = ${command_count};
@@ -0,0 +1,529 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	OS Specific Functions
+#
+#		* px4_nuttx_add_firmware
+#		* px4_nuttx_generate_builtin_commands
+#		* px4_nuttx_add_export
+#		* px4_nuttx_add_romfs
+#
+# 	Required OS Inteface Functions
+#
+# 		* px4_os_add_flags
+#		* px4_os_prebuild_targets
+#
+
+include(common/px4_base)
+
+#=============================================================================
+#
+#	px4_nuttx_add_firmware
+#
+#	This function adds a nuttx firmware target.
+#
+#	Usage:
+#		px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>
+#			PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>)
+#
+#	Input:
+#		EXE			: the executable to generate the firmware from
+#		BOARD		: the board
+#		PARAM_XML		: param xml file (optional)
+#		AIRFRAMES_XML	: airframes xml file (optional)
+#
+#	Output:
+#		OUT			: the generated firmware target
+#
+#	Example:
+#		px4_nuttx_add_firmware(TARGET fw_test EXE test)
+#
+function(px4_nuttx_add_firmware)
+	px4_parse_function_args(
+		NAME px4_nuttx_add_firmware
+		ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML
+		REQUIRED OUT EXE BOARD
+		ARGN ${ARGN})
+
+	set(extra_args)
+
+	if (PARAM_XML)
+		list(APPEND extra_args
+			--parameter_xml ${PARAM_XML}
+			)
+	endif()
+
+	if (AIRFRAMES_XML)
+		list(APPEND extra_args
+			--airframe_xml ${AIRFRAMES_XML}
+			)
+	endif()
+
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+			--git_identity ${CMAKE_SOURCE_DIR}
+			${extra_args}
+			--image ${EXE}.bin > ${OUT}
+		DEPENDS ${EXE}
+		)
+	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_nuttx_generate_builtin_commands
+#
+#	This function generates the builtin_commands.c src for nuttx
+#
+#	Usage:
+#		px4_nuttx_generate_builtin_commands(
+#			MODULE_LIST <in-list>
+#			OUT <file>)
+#
+#	Input:
+#		MODULE_LIST	: list of modules
+#
+#	Output:
+#		OUT	: generated builtin_commands.c src
+#
+#	Example:
+#		px4_nuttx_generate_builtin_commands(
+#			OUT <generated-src> MODULE_LIST px4_simple_app)
+#
+function(px4_nuttx_generate_builtin_commands)
+	px4_parse_function_args(
+		NAME px4_nuttx_generate_builtin_commands
+		ONE_VALUE OUT
+		MULTI_VALUE MODULE_LIST
+		REQUIRED MODULE_LIST OUT
+		ARGN ${ARGN})
+	set(builtin_apps_string)
+	set(builtin_apps_decl_string)
+	set(command_count 0)
+	foreach(module ${MODULE_LIST})
+		#message("generating builtin for: ${module}")
+		# default
+		set(MAIN_DEFAULT MAIN-NOTFOUND)
+		set(STACK_DEFAULT 1024)
+		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+		foreach(property MAIN STACK PRIORITY) 
+			get_target_property(${property} ${module} ${property})
+			if(NOT ${property})
+				set(${property} ${${property}_DEFAULT})
+			endif()
+		endforeach()
+		if (MAIN)
+			set(builtin_apps_string
+				"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
+			set(builtin_apps_decl_string
+				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
+			math(EXPR command_count "${command_count}+1")
+		endif()
+	endforeach()
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+		${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_nuttx_add_export
+#
+#	This function generates a nuttx export.
+#
+#	Usage:
+#		px4_nuttx_add_export(
+#			OUT <out-target>
+#			CONFIG <in-string>
+#			DEPENDS <in-list>)
+#
+#	Input:
+#		CONFIG	: the board to generate the export for
+#		DEPENDS	: dependencies
+#
+#	Output:
+#		OUT	: the export target
+#
+#	Example:
+#		px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
+#
+function(px4_nuttx_add_export)
+
+	px4_parse_function_args(
+		NAME px4_nuttx_add_export
+		ONE_VALUE OUT CONFIG THREADS
+		MULTI_VALUE DEPENDS
+		REQUIRED OUT CONFIG THREADS
+		ARGN ${ARGN})
+
+	set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
+
+	# patch
+	add_custom_target(__nuttx_patch_${CONFIG})
+	file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
+	    ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
+	foreach(patch ${nuttx_patches})
+		string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
+	    message(STATUS "nuttx-patch: ${patch}")
+		add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
+			COMMAND ${PATCH} -p0 -N  < ${CMAKE_SOURCE_DIR}/${patch}
+			COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
+			DEPENDS ${DEPENDS}
+			)
+	    add_custom_target(nuttx_patch_${patch_name}
+			DEPENDS nuttx_patch_${patch_name}.stamp)
+	    add_dependencies(nuttx_patch nuttx_patch_${patch_name})
+	endforeach()
+
+	# copy
+	add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
+		COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG}
+		COMMAND ${MKDIR} -p ${nuttx_src}
+		COMMAND ${CP} -a ${CMAKE_SOURCE_DIR}/NuttX/. ${nuttx_src}/
+		COMMAND ${RM} -rf ${nuttx_src}/.git
+		COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
+		DEPENDS ${DEPENDS})
+	add_custom_target(__nuttx_copy_${CONFIG}
+		DEPENDS nuttx_copy_${CONFIG}.stamp __nuttx_patch_${CONFIG})
+
+	# export
+	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
+		COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
+		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
+		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh
+		COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
+		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > /dev/null
+		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
+		DEPENDS ${config_files} ${DEPENDS} __nuttx_copy_${CONFIG})
+
+	# extract
+	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
+		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
+		COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
+		DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
+
+	add_custom_target(${OUT}
+		DEPENDS nuttx_export_${CONFIG}.stamp)
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_nuttx_create_bin
+#
+#	The functions generates a bin image for nuttx.
+#
+#	Usage:
+#		px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
+#
+#	Input:
+#		EXE		: the exe file
+#
+#	Output:
+#		OUT		: the binary output file
+#
+#	Example:
+#		px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
+#
+function(px4_nuttx_create_bin)
+
+	px4_parse_function_args(
+		NAME px4_nuttx_create_bin
+		ONE_VALUE EXE OUT
+		REQUIRED EXE OUT
+		ARGN ${ARGN})
+
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+		DEPENDS ${EXE})
+
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+
+endfunction()
+
+
+#=============================================================================
+#
+#	px4_nuttx_add_romfs
+#
+#	The functions creates a  ROMFS filesystem for nuttx.
+#
+#	Usage:
+#		px4_nuttx_add_romfs(
+#			OUT <out-target>
+#			ROOT <in-directory>
+#			EXTRAS <in-list>)
+#
+#	Input:
+#		ROOT	: the root of the ROMFS
+#		EXTRAS 	: list of extra files
+#
+#	Output:
+#		OUT		: the ROMFS library target
+#
+#	Example:
+#		px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
+#
+function(px4_nuttx_add_romfs)
+
+	px4_parse_function_args(
+		NAME px4_nuttx_add_romfs
+		ONE_VALUE OUT ROOT
+		MULTI_VALUE EXTRAS
+		REQUIRED OUT ROOT
+		ARGN ${ARGN})
+
+	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
+	set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
+	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
+
+	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
+
+	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
+
+	
+	set(extras)
+	foreach(extra ${EXTRAS})
+		get_filename_component(file_name ${extra} NAME)
+		set(file_dest ${extras_dir}/${file_name})
+		add_custom_command(OUTPUT ${file_dest}
+			COMMAND cmake -E copy ${extra} ${file_dest}
+			DEPENDS ${extra}
+			)
+		list(APPEND extras ${file_dest})
+	endforeach()
+	add_custom_target(collect_extras DEPENDS ${extras})
+
+	add_custom_command(OUTPUT romfs.o
+		COMMAND cmake -E remove_directory ${romfs_temp_dir}
+		COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
+		COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
+		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
+			-a ${romfs_temp_dir}/init.d
+			-s ${romfs_temp_dir}/init.d/rc.autostart
+		COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
+			--folder ${romfs_temp_dir}
+		COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
+			-d ${romfs_temp_dir} -V "NSHInitVol"
+		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
+		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
+			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
+			--include_path "${CMAKE_SOURCE_DIR}/src/include"
+			--c_compiler ${CMAKE_C_COMPILER}
+			--nm ${NM} --objcopy ${OBJCOPY}
+			--obj romfs.o
+			--var romfs_img
+			--bin romfs.bin
+		DEPENDS ${romfs_src_files} ${extras}
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+		)
+	add_library(${OUT} STATIC romfs.o)
+	set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_add_flags
+#
+#	Set ths nuttx build flags.
+#
+#	Usage:
+#		px4_os_add_flags(
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: flags depend on board/nuttx config
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_os_add_flags(
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_os_add_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	px4_add_common_flags(
+		BOARD ${BOARD}
+		C_FLAGS ${C_FLAGS}
+		CXX_FLAGS ${CXX_FLAGS}
+		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
+		INCLUDE_DIRS ${INCLUDE_DIRS}
+		LINK_DIRS ${LINK_DIRS}
+		DEFINITIONS ${DEFINITIONS})
+
+	set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(added_include_dirs
+		${nuttx_export_dir}/include
+		${nuttx_export_dir}/include/cxx
+		${nuttx_export_dir}/arch/chip
+		${nuttx_export_dir}/arch/common
+		)
+	set(added_link_dirs
+		${nuttx_export_dir}/libs
+		)
+	set(added_definitions
+		-D__PX4_NUTTX
+		)
+	set(added_c_flags
+		-nodefaultlibs
+		-nostdlib
+		)
+	set(added_cxx_flags
+		-nodefaultlibs
+		-nostdlib
+		)
+
+	set(added_exe_linker_flags) # none currently
+
+	set(cpu_flags)
+	if (${BOARD} STREQUAL "px4fmu-v1")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "px4fmu-v2")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "aerocore")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "px4io-v1")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
+	elseif (${BOARD} STREQUAL "px4io-v2")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
+	endif()
+	list(APPEND c_flags ${cpu_flags})
+	list(APPEND cxx_flags ${cpu_flags})
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_prebuild_targets
+#
+#	This function generates os dependent targets
+
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#		THREADS 	: number of threads for building
+#
+#	Output:
+#		OUT	: the target list
+#
+#	Example:
+#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#
+function(px4_os_prebuild_targets)
+	px4_parse_function_args(
+			NAME px4_os_prebuild_targets
+			ONE_VALUE OUT BOARD THREADS
+			REQUIRED OUT BOARD
+			ARGN ${ARGN})
+	px4_nuttx_add_export(OUT nuttx_export_${BOARD}
+		CONFIG ${BOARD}
+		THREADS ${THREADS}
+		DEPENDS git_nuttx)
+	add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
+endfunction()
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:
@@ -0,0 +1,88 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+static map<string,px4_main_t> app_map(void)
+{
+        static map<string,px4_main_t> apps;
+
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+
+	return apps;
+}
+
+map<string,px4_main_t> apps = app_map();
+
+static void list_builtins(void)
+{
+	cout << "Builtin Commands:" << endl;
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		cout << '\t' << it->first << endl;
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+
+static int sleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: sleep <seconds>" << endl;
+		return 1;
+	}
+	sleep(atoi(argv[1]));
+	return 0;
+}
+
@@ -44,3 +44,4 @@ SECTIONS
 		__param_end = .;
 	}
 }
+INSERT AFTER .rodata;
@@ -0,0 +1,236 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	OS Specific Functions
+#
+#		* px4_posix_add_firmware
+#		* px4_posix_generate_builtin_commands
+#		* px4_posix_add_export
+#		* px4_posix_generate_romfs
+#
+# 	Required OS Inteface Functions
+#
+# 		* px4_os_add_flags
+#		* px4_os_prebuild_targets
+#
+
+include(common/px4_base)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
+
+#=============================================================================
+#
+#	px4_posix_generate_builtin_commands
+#
+#	This function generates the builtin_commands.c src for posix
+#
+#	Usage:
+#		px4_posix_generate_builtin_commands(
+#			MODULE_LIST <in-list>
+#			OUT <file>)
+#
+#	Input:
+#		MODULE_LIST	: list of modules
+#
+#	Output:
+#		OUT	: generated builtin_commands.c src
+#
+#	Example:
+#		px4_posix_generate_builtin_commands(
+#			OUT <generated-src> MODULE_LIST px4_simple_app)
+#
+function(px4_posix_generate_builtin_commands)
+	px4_parse_function_args(
+		NAME px4_posix_generate_builtin_commands
+		ONE_VALUE OUT
+		MULTI_VALUE MODULE_LIST
+		REQUIRED MODULE_LIST OUT
+		ARGN ${ARGN})
+	set(builtin_apps_string)
+	set(builtin_apps_decl_string)
+	set(command_count 0)
+	foreach(module ${MODULE_LIST})
+		# default
+		set(MAIN_DEFAULT MAIN-NOTFOUND)
+		set(STACK_DEFAULT 1024)
+		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+		foreach(property MAIN STACK PRIORITY) 
+			get_target_property(${property} ${module} ${property})
+			if(NOT ${property})
+				set(${property} ${${property}_DEFAULT})
+			endif()
+		endforeach()
+		if (MAIN)
+			set(builtin_apps_string
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
+			set(builtin_apps_decl_string
+				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
+			math(EXPR command_count "${command_count}+1")
+		endif()
+	endforeach()
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
+		${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_add_flags
+#
+#	Set ths posix build flags.
+#
+#	Usage:
+#		px4_os_add_flags(
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: flags depend on board/posix config
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_os_add_flags(
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_os_add_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	px4_add_common_flags(
+		BOARD ${BOARD}
+		C_FLAGS ${C_FLAGS}
+		CXX_FLAGS ${CXX_FLAGS}
+		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
+		INCLUDE_DIRS ${INCLUDE_DIRS}
+		LINK_DIRS ${LINK_DIRS}
+		DEFINITIONS ${DEFINITIONS})
+
+        set(PX4_BASE )
+        set(added_include_dirs
+		src/modules/systemlib
+                src/lib/eigen
+                src/platforms/posix/include
+                mavlink/include/mavlink
+                )
+
+if(UNIX AND APPLE)
+        set(added_definitions
+		-D__PX4_POSIX
+		-D__PX4_DARWIN
+		-DCLOCK_MONOTONIC=1
+		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+
+else()
+
+        set(added_definitions
+		-D__PX4_POSIX
+		-D__PX4_LINUX 
+		-DCLOCK_MONOTONIC=1
+		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+endif()
+
+        set(added_exe_linker_flags
+		-lpthread
+		)
+	
+
+	# Add the toolchain specific flags
+        set(added_cflags ${POSIX_CMAKE_C_FLAGS})
+        set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_prebuild_targets
+#
+#	This function generates os dependent targets
+#
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#		THREADS 	: number of threads for building
+#
+#	Output:
+#		OUT	: the target list
+#
+#	Example:
+#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#
+function(px4_os_prebuild_targets)
+	px4_parse_function_args(
+			NAME px4_os_prebuild_targets
+			ONE_VALUE OUT BOARD THREADS
+			REQUIRED OUT BOARD
+			ARGN ${ARGN})
+	add_custom_target(${OUT})
+endfunction()
@@ -0,0 +1,84 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+}
+
+void list_builtins(map<string,px4_main_t> &apps)
+{
+	printf("Builtin Commands:\\n");
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		printf("\\t%s\\n", (it->first).c_str());
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
+
@@ -0,0 +1,229 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	OS Specific Functions
+#
+#		* px4_qurt_add_firmware
+#		* px4_qurt_generate_builtin_commands
+#		* px4_qurt_add_export
+#		* px4_qurt_generate_romfs
+#
+# 	Required OS Inteface Functions
+#
+# 		* px4_os_add_flags
+#		* px4_os_prebuild_targets
+#
+
+include(common/px4_base)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+
+#=============================================================================
+#
+#	px4_qurt_generate_builtin_commands
+#
+#	This function generates the builtin_commands.c src for qurt
+#
+#	Usage:
+#		px4_qurt_generate_builtin_commands(
+#			MODULE_LIST <in-list>
+#			OUT <file>)
+#
+#	Input:
+#		MODULE_LIST	: list of modules
+#
+#	Output:
+#		OUT	: generated builtin_commands.c src
+#
+#	Example:
+#		px4_qurt_generate_builtin_commands(
+#			OUT <generated-src> MODULE_LIST px4_simple_app)
+#
+function(px4_qurt_generate_builtin_commands)
+	px4_parse_function_args(
+		NAME px4_qurt_generate_builtin_commands
+		ONE_VALUE OUT
+		MULTI_VALUE MODULE_LIST
+		REQUIRED MODULE_LIST OUT
+		ARGN ${ARGN})
+	set(builtin_apps_string)
+	set(builtin_apps_decl_string)
+	set(command_count 0)
+	foreach(module ${MODULE_LIST})
+		# default
+		set(MAIN_DEFAULT MAIN-NOTFOUND)
+		set(STACK_DEFAULT 1024)
+		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+		foreach(property MAIN STACK PRIORITY) 
+			get_target_property(${property} ${module} ${property})
+			if(NOT ${property})
+				set(${property} ${${property}_DEFAULT})
+			endif()
+		endforeach()
+		if (MAIN)
+			set(builtin_apps_string
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
+			set(builtin_apps_decl_string
+				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
+			math(EXPR command_count "${command_count}+1")
+		endif()
+	endforeach()
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_add_flags
+#
+#	Set ths qurt build flags.
+#
+#	Usage:
+#		px4_os_add_flags(
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: flags depend on board/qurt config
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_os_add_flags(
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_os_add_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	px4_add_common_flags(
+		BOARD ${BOARD}
+		C_FLAGS ${C_FLAGS}
+		CXX_FLAGS ${CXX_FLAGS}
+		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
+		INCLUDE_DIRS ${INCLUDE_DIRS}
+		LINK_DIRS ${LINK_DIRS}
+		DEFINITIONS ${DEFINITIONS})
+
+        set(DSPAL_ROOT src/lib/dspal)
+        set(added_include_dirs
+                ${DSPAL_ROOT}/include 
+                ${DSPAL_ROOT}/sys 
+                ${DSPAL_ROOT}/sys/sys 
+                ${DSPAL_ROOT}/mpu_spi/inc
+                ${DSPAL_ROOT}/uart_esc/inc
+                src/platforms/qurt/include
+                src/platforms/posix/include
+                )
+
+        set(added_definitions
+                -D__PX4_QURT 
+		-D__PX4_POSIX
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+
+	# Add the toolchain specific flags
+        set(added_cflags ${QURT_CMAKE_C_FLAGS})
+        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
+
+	# FIXME @jgoppert - how to work around issues like this?
+	# Without changing global variables?
+	# Clear -rdynamic flag which fails for hexagon
+	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_prebuild_targets
+#
+#	This function generates os dependent targets
+#
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#		THREADS 	: number of threads for building
+#
+#	Output:
+#		OUT	: the target list
+#
+#	Example:
+#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#
+function(px4_os_prebuild_targets)
+	px4_parse_function_args(
+			NAME px4_os_prebuild_targets
+			ONE_VALUE OUT BOARD THREADS
+			REQUIRED OUT BOARD
+			ARGN ${ARGN})
+	add_custom_target(${OUT} DEPENDS git_dspal)
+
+endfunction()
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:
@@ -0,0 +1,37 @@
+diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
+index 1ca1d66..9bc928b 100644
+--- a/Eigen/src/Core/util/Macros.h
+++ b/Eigen/src/Core/util/Macros.h
+@@ -194,6 +194,12 @@
+   #define EIGEN_ARCH_PPC 0
+ #endif
+ 
+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
+#ifdef __HEXAGON_ARCH__
+  #define EIGEN_ARCH_HEXAGON 1
+#else
+  #define EIGEN_ARCH_HEXAGON 0
+#endif
+ 
+ 
+ // Operating system identification, EIGEN_OS_*
+@@ -334,15 +340,16 @@
+ #endif
+ 
+ // Do we support r-value references?
+-#if (__has_feature(cxx_rvalue_references) || \
+#if ((__has_feature(cxx_rvalue_references) || \
+     (defined(__cplusplus) && __cplusplus >= 201103L) || \
+      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
+-    (EIGEN_COMP_MSVC >= 1600))
+    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
+   #define EIGEN_HAVE_RVALUE_REFERENCES
+ #endif
+ 
+ // Does the compiler support result_of?
+-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
+    (!defined(EIGEN_ARCH_HEXAGON)))
+ #define EIGEN_HAS_STD_RESULT_OF 1
+ #endif
+ 
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,14 +31,18 @@
 #
 ############################################################################

+#=============================================================================
+# FILE: posix/px4_target_impl.cmake
 #
-# Math library
+# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
+# rules for their target that implement the following macros:
 #
-SRCS		 = math/test/test.cpp \
-		   math/Limits.cpp
-
+#	px4_target_set_flags
+#	px4_target_validate_config
+#	px4_target_firmware
+#	px4_target_rules
+#	px4_target_testing
 #
-# In order to include .config we first have to save off the
-# current makefile name, since app.mk needs it.
+# The macros are called from the top level CMakeLists.txt
 #
-APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
@@ -0,0 +1,333 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(px4)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_definitions(-D__PX4_ROS)
+add_definitions(-D__EXPORT=)
+add_definitions(-DMAVLINK_DIALECT=common)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  cmake_modules
+  gazebo_msgs
+  sensor_msgs
+  mav_msgs
+  libmavconn
+  tf
+)
+find_package(Eigen REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  rc_channels.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  manual_control_setpoint.msg
+  actuator_controls.msg
+  actuator_controls_0.msg
+  actuator_controls_virtual_mc.msg
+  vehicle_rates_setpoint.msg
+  mc_virtual_rates_setpoint.msg
+  vehicle_attitude.msg
+  vehicle_control_mode.msg
+  actuator_armed.msg
+  parameter_update.msg
+  vehicle_status.msg
+  vehicle_local_position.msg
+  position_setpoint.msg
+  position_setpoint_triplet.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_global_velocity_setpoint.msg
+  offboard_control_mode.msg
+  vehicle_force_setpoint.msg
+  distance_sensor.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  gazebo_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS src/include
+  LIBRARIES px4
+  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  src/platforms
+  src/platforms/ros/px4_messages
+  src/include
+  src/modules
+  ${CMAKE_BINARY_DIR}/src/modules
+  src/
+  src/lib
+  ${EIGEN_INCLUDE_DIRS}
+  integrationtests
+)
+
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
+	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
+## Declare a cpp library
+add_library(px4
+  src/platforms/ros/px4_ros_impl.cpp
+  src/platforms/ros/perf_counter.cpp
+  src/platforms/ros/geo.cpp
+  src/lib/mathlib/math/Limits.cpp
+  src/modules/systemlib/circuit_breaker.cpp
+)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+
+target_link_libraries(px4
+  ${catkin_LIBRARIES}
+)
+
+## Declare a test publisher
+add_executable(publisher
+	src/examples/publisher/publisher_main.cpp
+	src/examples/publisher/publisher_example.cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(publisher
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Declare a test subscriber
+add_executable(subscriber
+	src/examples/subscriber/subscriber_main.cpp
+	src/examples/subscriber/subscriber_example.cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(subscriber
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Attitude Control
+add_executable(mc_att_control
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Position Control
+add_executable(mc_pos_control
+	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
+	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
+add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_pos_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Position Estimator dummy
+add_executable(position_estimator
+	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Commander dummy
+add_executable(commander
+	src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Mavlink dummy
+add_executable(mavlink
+	src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Position Setpoint Demo
+add_executable(demo_offboard_position_setpoints
+	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
+add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_position_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Attitude Setpoint Demo
+add_executable(demo_offboard_attitude_setpoints
+	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
+add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_attitude_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(integrationtests/demo_tests/direct_tests.launch)
+  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
+endif()
+
+
@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import argparse
+import os
+import sys
+import fnmatch
+import re
+import shutil
+import jinja2
+
+src_path = os.path.join(os.path.curdir, 'src')
+
+parser = argparse.ArgumentParser('converts module.mk to CMakeList.txt, run in root of repo')
+parser.add_argument('path', help='directory of modules to convert')
+parser.add_argument('--overwrite', help='overwrite existing files', dest='overwrite', action='store_true')
+parser.add_argument('--backup', help='create backup of existing files if overwriting', dest='backup', action='store_true')
+parser.set_defaults(overwrite=False, backup=False)
+args = parser.parse_args()
+
+cmake_template = jinja2.Template(open('cmake/scripts/cmake_lists.jinja', 'r').read())
+
+module_files = []
+for root, dirnames, filenames in os.walk(args.path):
+    for filename in fnmatch.filter(filenames, 'module.mk'):
+        module_files.append(os.path.join(root, filename))
+
+
+search_data = [
+    # name             # re string
+    ('command', r'.*MODULE_COMMAND\s*[\+]?=\s*([^\n]+)'),
+    ('stacksize', r'.*MODULE_STACKSIZE\s*[\+]?=([^\n]+)'),
+    ('extracxxflags', r'.*EXTRACXXFLAGS\s*[\+]?=([^\n]+)'),
+    ('extracflags', r'.*EXTRACFLAGS\s*[\+]?=\s*([^\s]+)\s*'),
+    ('priority', r'.*MODULE_PRIORITY\s*[\+]?=\s*([^\s]+)\s*'),
+    ('maxoptimization', r'.*MAXOPTIMIZATION\s*[\+]?=\s*([^\s]+)\s*'),
+    ('srcs', '.*SRCS\s*[\+]?=([^\n\\\]*([\\\]\s*\n[^\n\\\]*)*)'),
+    ('include_dirs', '.*INCLUDE_DIRS\s*[\+]?=([^\n\\\]*([\\\]\s*\n[^\n\\\]*)*)'),
+    ]
+
+progs = {}
+for name, re_str in search_data:
+    progs[name] = re.compile(re_str)
+
+for module_file in module_files:
+
+    data = {}
+    with open(module_file, 'r') as f:
+        module_text = f.read()
+        data['text'] = module_text
+        module_dir = os.path.dirname(module_file)
+        data['module'] = os.path.relpath(module_dir, src_path).replace(
+                os.sep, '__').split('.')[0]
+        #print(module_text)
+        for name, re_str in search_data:
+            result = progs[name].search(module_text)
+            if result is not None:
+                d = result.group(1).strip()
+                if name in ['srcs', 'extracxxflags', 'extracflags']:
+                    d_store = d.replace('\\', '').split()
+                elif name == 'include_dirs':
+                    d_store = d.replace('(', '{').replace(')', '}').split()
+                else:
+                    d_store = d
+                data[name] = d_store
+            else:
+                data[name] = ''
+
+    cmake_file = os.path.join(os.path.dirname(module_file), 'CMakeLists.txt')
+    cmake_file_backup = cmake_file + '.backup'
+
+    if os.path.exists(cmake_file):
+        if args.backup:
+            if os.path.exists(cmake_file_backup):
+                print('error: file already exists:', cmake_file_backup)
+                continue
+            else:
+                shutil.copyfile(cmake_file, cmake_file_backup)
+        if args.overwrite:
+            print('overwriting', cmake_file)
+        else:
+            print('error: file already exists:', cmake_file)
+            continue
+
+    with open(cmake_file, 'w') as f:
+        data_rendered = cmake_template.render(data=data)
+        f.write(data_rendered)
+
+
+# vim: set et fenc= ff=unix sts=4 sw=4 ts=4 : 
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+"""
+This runs a command and compares output to a known file over
+a given line range.
+"""
+from __future__ import print_function
+import subprocess
+import argparse
+import os
+
+
+#pylint: disable=invalid-name
+parser = argparse.ArgumentParser(description='Process some integers.')
+parser.add_argument('--command', required=True)
+parser.add_argument('--stdin', required=True)
+parser.add_argument('--stdout', required=True)
+parser.add_argument('--check', required=True)
+parser.add_argument('--start', default=0)
+parser.add_argument('--stop', default=-1)
+args = parser.parse_args()
+
+d = os.path.dirname(args.stdout)
+if not os.path.exists(d):
+    os.makedirs(d)
+
+with open(args.stdout, 'w') as outfile:
+    with open(args.stdin, 'r') as infile:
+        proc = subprocess.Popen(
+            args.command, stdout=outfile, stdin=infile)
+proc.communicate()
+
+i_start = int(args.start)
+i_stop = int(args.stop)
+
+with open(args.stdout, 'r') as outfile:
+    out_contents = file.readlines(outfile)
+out_contents = "".join(out_contents[i_start:i_stop])
+
+with open(args.check, 'r') as checkfile:
+    check_contents = file.readlines(checkfile)
+check_contents = "".join(check_contents[i_start:i_stop])
+
+if (out_contents != check_contents):
+    print("output:\n", out_contents)
+    print("check:\n", check_contents)
+    exit(1)
+
+exit(0)
+
+# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :
@@ -0,0 +1,4 @@
+/* Auto Magically Generated file */
+/* Do not edit! */
+#define PX4_GIT_VERSION_STR  "@git_desc@"
+#define PX4_GIT_VERSION_BINARY 0x@git_desc_short@
@@ -0,0 +1,73 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE {{data.module}}
+{%- if data.command != '' %}
+	MAIN {{data.command}}
+{%- endif %}
+{%- if data.priority != '' %}
+	PRIORITY {{data.priority}}
+{%- endif %}
+{%- if data.stacksize != '' %}
+	STACK {{data.stacksize}}
+{%- endif %}
+{%- if (data.extracxxflags|length > 0) or (data.extracflags|length > 0)  or (data.maxoptimization != '') %}
+	COMPILE_FLAGS
+{%- for flag in data.extracxxflags %}
+		{{flag}}
+{%- endfor %}
+{%- for flag in data.extracflags %}
+		{{flag}}
+{%- endfor %}
+		{{data.maxoptimization}}
+{%- endif %}
+{%- if data.srcs|length > 0 %}
+	SRCS
+{%- for src in data.srcs %}
+		{{src}}
+{%- endfor %}
+{%- endif %}
+	DEPENDS
+{%- if data.module != 'platforms__common' %}
+		platforms__common
+{%- else %}
+		msg_gen
+{%- endif %}
+{%- if data.includes|length > 0 %}
+	INCLUDES {%- for include in data.includes %}
+		{{include}}
+{%- endfor %}
+{%- endif %}
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
+{#  vim: set noet list ft=jinja fenc=utf-8 ff=unix : #}
@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+"""
+The module facilitates testing in cmake.
+It  takes a command and a regex for failure ok passing.
+It passes if:
+    * No stderr output.
+    * Stdout doesn't match failure regex.
+    * Stdout matches ok regex if given.
+"""
+from __future__ import print_function
+import argparse
+import subprocess
+import re
+import sys
+
+#pylint: disable=invalid-name
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument('cmd')
+parser.add_argument('--re-fail')
+parser.add_argument('--re-ok')
+parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
+
+parser.set_defaults(verbose=False)
+args = parser.parse_args()
+
+proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+stdout, stderr = proc.communicate()
+
+if stderr != "":
+    print(stderr)
+    sys.exit(1)
+
+if args.re_fail is not None:
+    fail_match = re.search(args.re_fail, stdout)
+    if fail_match is not None:
+        print(stdout)
+        sys.exit(1)
+
+if args.re_ok is not None:
+    ok_match = re.search(args.re_ok, stdout)
+    if re.match(args.re_ok, stdout) is None:
+        print(stdout)
+        sys.exit(1)
+
+if args.verbose:
+    print(stdout)
+
+sys.exit(0)
+
+# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
@@ -0,0 +1,27 @@
+INFO  Shell id is 47996278451456
+WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
+WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
+WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
+App name: mainapp
+Enter a command and its args:
+----------------------------------
+Running: uorb
+Returning: uorb
+Enter a command and its args:
+----------------------------------
+Running: accelsim
+Returning: accelsim
+Enter a command and its args:
+----------------------------------
+Running: px4_simple_app
+Hello Sky!
+[px4_simple_app] Got no data within a second
+[px4_simple_app] Got no data within a second
+[px4_simple_app] Got no data within a second
+[px4_simple_app] Got no data within a second
+[px4_simple_app] Got no data within a second
+Returning: px4_simple_app
+Enter a command and its args:
+----------------------------------
+Running: shutdown
+Shutting down
@@ -0,0 +1,4 @@
+uorb start
+accelsim start
+px4_simple_app
+shutdown
@@ -0,0 +1,67 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# GENROMFS
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-linux-gnueabihf-gcc)
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,85 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# GENROMFS
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-none-eabi-gcc)
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER arm-none-eabi-g++)
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-none-eabi-${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# optional compiler tools
+foreach(tool gdb gdbtui)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-none-eabi-${tool})
+	if(NOT ${TOOL})
+		message(STATUS "could not find ${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# optional os tools
+foreach(tool ddd)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(STATUS "could not find ${tool}")
+	endif()
+endforeach()
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,254 @@
+#
+# Copyright (C) 2015 Mark Charlebois. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#	notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#	notice, this list of conditions and the following disclaimer in
+#	the documentation and/or other materials provided with the
+#	distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#	used to endorse or promote products derived from this software
+#	without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+include(CMakeForceCompiler)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+include(common/px4_base)
+
+if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR
+		"The HexagonTools version 7.2.10 must be installed and the environment variable HEXAGON_TOOLS_ROOT must be set"
+		"(e.g. export HEXAGON_TOOLS_ROOT=/opt/HEXAGON_Tools/7.2.10/Tools)")
+else()
+	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
+endif()
+
+macro (list2string out in)
+	set(list ${ARGV})
+	list(REMOVE_ITEM list ${out})
+	foreach(item ${list})
+		set(${out} "${${out}} ${item}")
+	endforeach()
+endmacro(list2string)
+
+set(V_ARCH "v5")
+set(CROSSDEV "hexagon-")
+set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/bin)
+set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
+set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
+set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
+
+# Use the HexagonTools compiler (7.2.10)
+set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
+set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
+
+set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
+set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
+set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
+set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
+set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
+set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
+
+list2string(HEXAGON_INCLUDE_DIRS 
+	-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
+	)
+
+#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
+
+#set(MAXOPTIMIZATION -O0)
+
+# Base CPU flags for each of the supported architectures.
+#
+set(ARCHCPUFLAGS
+	-m${V_ARCH}
+	-G0
+	)
+
+add_definitions(
+	-D_PID_T -D_UID_T -D_TIMER_T
+	-Dnoreturn_function= 
+	-D_HAS_C9X
+	-D__EXPORT= 
+	-Drestrict=
+	-D_DEBUG
+	-Wno-error=shadow
+	)
+
+# optimisation flags
+#
+set(ARCHOPTIMIZATION
+	-O0
+	-g
+	-fno-strict-aliasing
+	-fdata-sections
+	-fno-zero-initialized-in-bss
+	)
+
+# Language-specific flags
+#
+set(ARCHCFLAGS
+	-std=gnu99
+	-D__CUSTOM_FILE_IO__
+	)
+set(ARCHCXXFLAGS
+	-fno-exceptions
+	-fno-rtti
+	-std=c++11
+	-fno-threadsafe-statics
+	-DCONFIG_WCHAR_BUILTIN
+	-D__CUSTOM_FILE_IO__
+	)
+
+set(ARCHWARNINGS
+	-Wall
+	-Wextra
+	-Werror
+	-Wno-unused-parameter
+	-Wno-unused-function
+	-Wno-unused-variable
+	-Wno-gnu-array-member-paren-init
+	-Wno-cast-align
+	-Wno-missing-braces
+	-Wno-strict-aliasing
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+	)
+
+# C-specific warnings
+#
+set(ARCHCWARNINGS
+	${ARCHWARNINGS}
+	-Wstrict-prototypes
+	-Wnested-externs
+	)
+
+# C++-specific warnings
+#
+set(ARCHWARNINGSXX
+	${ARCHWARNINGS}
+	-Wno-missing-field-initializers
+	)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
+set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
+
+# Flags we pass to the C compiler
+#
+list2string(CFLAGS 
+	${ARCHCFLAGS}
+	${ARCHCWARNINGS}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the C++ compiler
+#
+list2string(CXXFLAGS
+	${ARCHCXXFLAGS}
+	${ARCHWARNINGSXX}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHXXINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACXXFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the assembler
+#
+list2string(AFLAGS
+	${CFLAGS} 
+	-D__ASSEMBLY__
+	${EXTRADEFINES}
+	${EXTRAAFLAGS}
+	)
+
+# Set cmake flags
+#
+list2string(CMAKE_C_FLAGS
+	${CMAKE_C_FLAGS}
+	${CFLAGS}
+	)
+
+set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
+
+message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
+
+list2string(CMAKE_CXX_FLAGS
+	${CMAKE_CXX_FLAGS}
+	${CXXFLAGS}
+	)
+
+set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
+
+message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
+
+# Flags we pass to the linker
+#
+list2string(CMAKE_EXE_LINKER_FLAGS
+	-g 
+	-mv5 
+	-mG0lib 
+	-G0 
+	-fpic 
+	-shared
+	-Wl,-Bsymbolic
+	-Wl,--wrap=malloc
+	-Wl,--wrap=calloc
+	-Wl,--wrap=free
+	-Wl,--wrap=realloc
+	-Wl,--wrap=memalign
+	-Wl,--wrap=__stack_chk_fail
+	-lc
+	${EXTRALDFLAGS}
+	)
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+set(CMAKE_C_COMPILER_ID, "Clang")
+set(CMAKE_CXX_COMPILER_ID, "Clang")
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# The Hexagon compiler doesn't support the -rdynamic flag and this is set
+# in the base cmake scripts. We have to redefine the __linux_compiler_gnu
+# macro for cmake 2.8 to work
+set(__LINUX_COMPILER_GNU 1)
+macro(__linux_compiler_gnu lang)
+  set(CMAKE_SHARED_LIBRARY_LINK_${lang}_FLAGS "")
+endmacro()
+
@@ -0,0 +1,249 @@
+#
+# Copyright (C) 2015 Mark Charlebois. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#	notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#	notice, this list of conditions and the following disclaimer in
+#	the documentation and/or other materials provided with the
+#	distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#	used to endorse or promote products derived from this software
+#	without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+include(CMakeForceCompiler)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+include(common/px4_base)
+
+if(NOT HEXAGON_TOOLS_ROOT)
+	set(HEXAGON_TOOLS_ROOT /opt/6.4.05)
+endif()
+
+if(NOT HEXAGON_SDK_ROOT)
+	set(HEXAGON_SDK_ROOT /opt/Hexagon_SDK)
+endif()
+
+macro (list2string out in)
+	set(list ${ARGV})
+	list(REMOVE_ITEM list ${out})
+	foreach(item ${list})
+		set(${out} "${${out}} ${item}")
+	endforeach()
+endmacro(list2string)
+
+set(V_ARCH "v5")
+set(CROSSDEV "hexagon-")
+set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/gnu/bin)
+set(HEXAGON_CLANG_BIN ${HEXAGON_TOOLS_ROOT}/qc/bin)
+set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
+set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/qc/lib/iss)
+set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/dinkumware/lib/$(V_ARCH)/G0)
+set(QCTOOLSLIB ${HEXAGON_TOOLS_ROOT}/qc/lib/$(V_ARCH)/G0)
+
+# Use the HexagonTools compiler (6.4.05)
+set(CMAKE_C_COMPILER	${HEXAGON_CLANG_BIN}/${CROSSDEV}clang)
+set(CMAKE_CXX_COMPILER  ${HEXAGON_CLANG_BIN}/${CROSSDEV}clang++)
+
+set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
+set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
+set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld)
+set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
+set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
+set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
+
+list2string(HEXAGON_INCLUDE_DIRS 
+	-I${HEXAGON_TOOLS_ROOT}/gnu/hexagon/include
+	-I${HEXAGON_SDK_ROOT}/inc
+	-I${HEXAGON_SDK_ROOT}/inc/stddef
+	)
+
+#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
+
+#set(MAXOPTIMIZATION -O0)
+
+# Base CPU flags for each of the supported architectures.
+#
+set(ARCHCPUFLAGS
+	-m${V_ARCH}
+	-G0
+	)
+
+add_definitions(
+	-D_PID_T -D_UID_T -D_TIMER_T
+	-Dnoreturn_function= 
+	-D__EXPORT= 
+	-Drestrict=
+	-D_DEBUG
+	-Wno-error=shadow
+	)
+
+# optimisation flags
+#
+set(ARCHOPTIMIZATION
+	-O0
+	-g
+	-fno-strict-aliasing
+	-fdata-sections
+	-fpic
+	-fno-zero-initialized-in-bss
+	)
+
+# Language-specific flags
+#
+set(ARCHCFLAGS
+	-std=gnu99
+	-D__CUSTOM_FILE_IO__
+	)
+set(ARCHCXXFLAGS
+	-fno-exceptions
+	-fno-rtti
+	-std=c++11
+	-fno-threadsafe-statics
+	-DCONFIG_WCHAR_BUILTIN
+	-D__CUSTOM_FILE_IO__
+	)
+
+set(ARCHWARNINGS
+	-Wall
+	-Wextra
+	-Werror
+	-Wno-unused-parameter
+	-Wno-unused-function
+	-Wno-unused-variable
+	-Wno-gnu-array-member-paren-init
+	-Wno-cast-align
+	-Wno-missing-braces
+	-Wno-strict-aliasing
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+	)
+
+# C-specific warnings
+#
+set(ARCHCWARNINGS
+	${ARCHWARNINGS}
+	-Wstrict-prototypes
+	-Wnested-externs
+	)
+
+# C++-specific warnings
+#
+set(ARCHWARNINGSXX
+	${ARCHWARNINGS}
+	-Wno-missing-field-initializers
+	)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
+set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
+
+# Flags we pass to the C compiler
+#
+list2string(CFLAGS 
+	${ARCHCFLAGS}
+	${ARCHCWARNINGS}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the C++ compiler
+#
+list2string(CXXFLAGS
+	${ARCHCXXFLAGS}
+	${ARCHWARNINGSXX}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHXXINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACXXFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the assembler
+#
+list2string(AFLAGS
+	${CFLAGS} 
+	-D__ASSEMBLY__
+	${EXTRADEFINES}
+	${EXTRAAFLAGS}
+	)
+
+# Set cmake flags
+#
+list2string(CMAKE_C_FLAGS
+	${CMAKE_C_FLAGS}
+	${CFLAGS}
+	)
+
+set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
+
+message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
+
+list2string(CMAKE_CXX_FLAGS
+	${CMAKE_CXX_FLAGS}
+	${CXXFLAGS}
+	)
+
+set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
+
+message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
+
+# Flags we pass to the linker
+#
+list2string(CMAKE_EXE_LINKER_FLAGS
+	-g 
+	-mv5 
+	-mG0lib 
+	-G0 
+	-fpic 
+	-shared
+	-Wl,-Bsymbolic
+	-Wl,--wrap=malloc
+	-Wl,--wrap=calloc
+	-Wl,--wrap=free
+	-Wl,--wrap=realloc
+	-Wl,--wrap=memalign
+	-Wl,--wrap=__stack_chk_fail
+	-lc
+	${EXTRALDFLAGS}
+	)
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+set(CMAKE_C_COMPILER_ID, "Clang")
+set(CMAKE_CXX_COMPILER_ID, "Clang")
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -0,0 +1,17 @@
+# compiler tools
+foreach(tool nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
@@ -1,86 +0,0 @@
-PX4 Build System
-================
-
-The files in this directory implement the PX4 runtime firmware build system
-and configuration for the standard PX4 boards and software, in conjunction
-with Makefile in the parent directory.
-
-../Makefile
-
-	Top-level makefile for the PX4 build system. 
-	This makefile supports building NuttX archives for the NuttX based
-	configurations, as well as supervising the building of all
-	of the defined PX4 firmware configurations.
-
-	Try 'make help' in the parent directory for documentation.
-
-firmware.mk
-
-	Manages the build for one specific firmware configuration. 
-	See the comments at the top of this file for detailed documentation.
-
-	Builds modules, builtin command lists and the ROMFS (if configured).
-
-	This is the makefile directly used by external build systems; it can
-	be configured to compile modules both inside and outside the PX4
-	source tree. When used in this mode, at least BOARD, MODULES and 
-	CONFIG_FILE must be set.
-
-firmware_nuttx.mk
-
-	Called by firmware.mk to build NuttX based firmware.
-
-firmware_posix.mk
-
-	Called by firmware.mk to build POSIX (non-ROS) based firmware.
-
-module.mk
-
-	Called by firmware.mk to build individual modules.
-	See the comments at the top of this file for detailed documentation.
-
-	Not normally used other than by firmware.mk.
-
-nuttx.mk
-
-	Called by ../Makefile to build or download the NuttX archives if 
-	PX4_TARGET_OS is set to "nuttx".
-
-posix.mk
-
-	Called by ../Makefile to set POSIX specific parameters if 
-	PX4_TARGET_OS is set to "posix".
-
-upload.mk
-
-	Called by ../Makefile to upload files to a target board. Can be used
-	by external build systems as well. (NuttX targets only)
-
-setup.mk
-
-	Provides common path and tool definitions. Implements host 
-	system-specific compatibility hacks. Sets PX4_TARGET_OS.
-
-board_<boardname>.mk
-
-	Board-specific configuration for <boardname>. Typically sets 
-	CONFIG_ARCH and then includes the toolchain definition for the board.
-
-config_<boardname>_<configname>.mk
-
-	Parameters for a specific configuration on a specific board.
-	The board name is derived from the filename.  Sets MODULES to select
-	source modules to be included in the configuration, may also set
-	ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
-	commands (e.g. from NuttX)
-
-toolchain_<toolchainname>.mk
-
-	Provides macros used to compile and link source files.
-	Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
-	EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
-	additional flags to the C compiler, C++ compiler, assembler and linker
-	respectively.
-
-	Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
-	macros that are used elsewhere in the build system.
@@ -1,381 +0,0 @@
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Generic Makefile for PX4 firmware images.
-#
-# Requires:
-#
-# BOARD
-#	Must be set to a board name known to the PX4 distribution (as
-#	we need a corresponding NuttX export archive to link with).
-#
-# Optional:
-#
-# MODULES
-#	Contains a list of module paths or path fragments used
-#	to find modules. The names listed here are searched in
-#	the following directories:
-#		<absolute path>
-#		$(MODULE_SEARCH_DIRS)
-#		WORK_DIR
-#		MODULE_SRC
-#		PX4_MODULE_SRC
-#
-#	Application directories are expected to contain a module.mk
-#	file which provides build configuration for the module. See
-#	makefiles/module.mk for more details.
-#
-# BUILTIN_COMMANDS
-#	Contains a list of built-in commands not explicitly provided
-#	by modules / libraries. Each entry in this list is formatted
-#	as <command>.<priority>.<stacksize>.<entrypoint>
-#
-# PX4_BASE:
-#	Points to a PX4 distribution. Normally determined based on the
-#	path to this file.
-#
-# CONFIG:
-#	Used when searching for the configuration file, and available
-#	to module Makefiles to select optional features.
-#	If not set, CONFIG_FILE must be set and CONFIG will be derived
-#	automatically from it.
-#
-# CONFIG_FILE:
-#	If set, overrides the configuration file search logic. Sets
-#	CONFIG to the name of the configuration file, strips any
-#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
-#	results in CONFIG being set to 'board_foo'.
-#
-# WORK_DIR:
-#	Sets the directory in which the firmware will be built. Defaults
-#	to the directory 'build' under the directory containing the
-#	parent Makefile.
-#
-#
-# MODULE_SEARCH_DIRS:
-#	Extra directories to search first for MODULES before looking in the
-#	usual places.
-#
-
-################################################################################
-# Paths and configuration
-################################################################################
-
-#
-# Work out where this file is, so we can find other makefiles in the
-# same directory.
-#
-# If PX4_BASE wasn't set previously, work out what it should be
-# and set it here now.
-#
-MK_DIR			?= $(dir $(firstword $(MAKEFILE_LIST)))
-ifeq ($(PX4_BASE),)
-export PX4_BASE		:= $(abspath $(MK_DIR)/..)
-endif
-$(info %  PX4_BASE            = $(PX4_BASE))
-ifneq ($(words $(PX4_BASE)),1)
-$(error Cannot build when the PX4_BASE path contains one or more space characters.)
-endif
-
-#
-# Set a default target so that included makefiles or errors here don't
-# cause confusion.
-#
-# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
-#     of the maintenance targets and set CONFIG based on it.
-#
-all:		firmware
-
-#
-# Get path and tool config
-#
-include $(MK_DIR)/setup.mk
-
-#
-# Locate the configuration file
-#
-ifneq ($(CONFIG_FILE),)
-CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
-else
-CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_$(CONFIG).mk)
-endif
-ifeq ($(CONFIG),)
-$(error Missing configuration name or file (specify with CONFIG=<config>))
-endif
-export CONFIG
-include $(CONFIG_FILE)
-$(info %  CONFIG              = $(CONFIG))
-
-#
-# Sanity-check the BOARD variable and then get the board config.
-# If BOARD was not set by the configuration, extract it automatically.
-#
-# The board config in turn will fetch the toolchain configuration.
-#
-ifeq ($(BOARD),)
-BOARD			:= $(firstword $(subst _, ,$(CONFIG)))
-endif
-BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk)
-ifeq ($(BOARD_FILE),)
-$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
-endif
-export BOARD
-export BOARD_FILE
-include $(BOARD_FILE)
-$(info %  BOARD               = $(BOARD))
-
-#
-# If WORK_DIR is not set, create a 'build' directory next to the
-# parent Makefile.
-#
-PARENT_MAKEFILE		:= $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
-ifeq ($(WORK_DIR),)
-export WORK_DIR		:= $(dir $(PARENT_MAKEFILE))build/
-endif
-$(info %  WORK_DIR            = $(WORK_DIR))
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-#
-# Extra things we should clean
-#
-EXTRA_CLEANS		 =
-
-
-#
-# Append the per-board driver directory to the header search path.
-#
-INCLUDE_DIRS		+= $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
-
-################################################################################
-# External library includes
-################################################################################
-
-INCLUDE_DIRS		+= $(PX4_BASE)src/lib/eigen/
-
-################################################################################
-# OS specific libraries and paths
-################################################################################
-
-include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/$(PX4_TARGET_OS).mk
-
-################################################################################
-# Modules
-################################################################################
-
-# where to look for modules
-MODULE_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
-
-# sort and unique the modules list
-MODULES			:= $(sort $(MODULES))
-
-# locate the first instance of a module by full path or by looking on the
-# module search path
-define MODULE_SEARCH
-	$(firstword $(abspath $(wildcard $(1)/module.mk)) \
-		$(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \
-		MISSING_$1)
-endef
-
-# make a list of module makefiles and check that we found them all
-MODULE_MKFILES		:= $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
-MISSING_MODULES		:= $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
-ifneq ($(MISSING_MODULES),)
-$(error Cant find module(s): $(MISSING_MODULES))
-endif
-
-# Make a list of the object files we expect to build from modules
-# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
-# preserved as it is used below to get the absolute path for the module.mk file correct.
-#
-MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o)
-
-# rules to build module objects
-.PHONY: $(MODULE_OBJS)
-$(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
-$(MODULE_OBJS):		workdir = $(@D)
-$(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-		--no-print-directory -C $(workdir) \
-		MODULE_WORK_DIR=$(workdir) \
-		MODULE_OBJ=$@ \
-		MODULE_MK=$(mkfile) \
-		MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
-		module
-
-# make a list of phony clean targets for modules
-MODULE_CLEANS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean)
-
-# rules to clean modules
-.PHONY: $(MODULE_CLEANS)
-$(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
-$(MODULE_CLEANS):
-	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-	MODULE_WORK_DIR=$(dir $@) \
-	MODULE_MK=$(mkfile) \
-	clean
-
-################################################################################
-# Libraries
-################################################################################
-
-# where to look for libraries
-LIBRARY_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
-
-# sort and unique the library list
-LIBRARIES		:= $(sort $(LIBRARIES))
-
-# locate the first instance of a library by full path or by looking on the
-# library search path
-define LIBRARY_SEARCH
-	$(firstword $(abspath $(wildcard $(1)/library.mk)) \
-		$(abspath $(foreach search_dir,$(LIBRARY_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/library.mk))) \
-		MISSING_$1)
-endef
-
-# make a list of library makefiles and check that we found them all
-LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
-MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
-ifneq ($(MISSING_LIBRARIES),)
-$(error Cant find library(s): $(MISSING_LIBRARIES))
-endif
-
-# Make a list of the archive files we expect to build from libraries
-# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
-# preserved as it is used below to get the absolute path for the library.mk file correct.
-#
-LIBRARY_LIBS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)library.a)
-
-# rules to build module objects
-.PHONY: $(LIBRARY_LIBS)
-$(LIBRARY_LIBS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(LIBRARY_LIBS):	mkfile = $(patsubst %library.a,%library.mk,$(relpath))
-$(LIBRARY_LIBS):	workdir = $(@D)
-$(LIBRARY_LIBS):	$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
-		--no-print-directory -C $(workdir) \
-		LIBRARY_WORK_DIR=$(workdir) \
-		LIBRARY_LIB=$@ \
-		LIBRARY_MK=$(mkfile) \
-		LIBRARY_NAME=$(lastword $(subst /, ,$(workdir))) \
-		library
-
-# make a list of phony clean targets for modules
-LIBRARY_CLEANS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)/clean)
-
-# rules to clean modules
-.PHONY: $(LIBRARY_CLEANS)
-$(LIBRARY_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(LIBRARY_CLEANS):	mkfile = $(patsubst %clean,%library.mk,$(relpath))
-$(LIBRARY_CLEANS):
-	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
-	LIBRARY_WORK_DIR=$(dir $@) \
-	LIBRARY_MK=$(mkfile) \
-	clean
-
-################################################################################
-# ROMFS generation
-################################################################################
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(MK_DIR)/nuttx/nuttx_romfs.mk
-endif
-
-################################################################################
-# Default SRCS generation
-################################################################################
-
-#
-# If there are no SRCS, the build will fail; in that case, generate an empty
-# source file.
-#
-ifeq ($(SRCS),)
-EMPTY_SRC		 = $(WORK_DIR)empty.c
-$(EMPTY_SRC):
-	$(Q) $(ECHO) '/* this is an empty file */' > $@
-
-SRCS			+= $(EMPTY_SRC)
-endif
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# Object files we will generate from sources
-#
-OBJS			:= $(foreach src,$(SRCS),$(WORK_DIR)$(src).o)
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-# Include the OS specific build rules
-# The rules must define the "firmware" make target
-#
-
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(MK_DIR)/nuttx/nuttx_px4.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix)
-include $(MK_DIR)/posix/posix_elf.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix-arm)
-include $(MK_DIR)/posix/posix_elf.mk
-endif
-ifeq ($(PX4_TARGET_OS),qurt)
-include $(MK_DIR)/qurt/qurt_elf.mk
-endif
-
-#
-# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
-#
-include $(DEP_INCLUDES)
@@ -1,169 +0,0 @@
-#
-#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Framework makefile for PX4 libraries
-#
-# This makefile is invoked by firmware.mk to build each of the linraries
-# that will subsequently be linked into the firmware image.
-#
-# Applications are built as standard ar archives. Unlike modules,
-# all public symbols in library objects are visible across the entire
-# firmware stack.
-#
-# In general, modules should be preferred to libraries when possible.
-# Libraries may also be pre-built.
-#
-# IMPORTANT NOTE:
-#
-# This makefile assumes it is being invoked in the library's output directory.
-#
-
-#
-# Variables that can be set by the library's library.mk:
-#
-#
-# SRCS			(optional)
-#
-#	Lists the .c, cpp and .S files that should be compiled/assembled to
-#	produce the library.
-#
-# PREBUILT_LIB		(optional)
-#
-#	Names the prebuilt library in the source directory that should be
-#	linked into the firmware.
-#
-# INCLUDE_DIRS		(optional, must be appended, ignored if SRCS not set)
-#
-#	The list of directories searched for include files. If non-standard
-#	includes (e.g. those from another module) are required, paths to search
-#	can be added here.
-#
-#
-
-#
-# Variables visible to the library's library.mk:
-#
-# CONFIG
-# BOARD
-# LIBRARY_WORK_DIR
-# LIBRARY_LIB
-# LIBRARY_MK
-# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
-# Anything exported from config_$(CONFIG).mk
-#
-
-################################################################################
-# No user-serviceable parts below.
-################################################################################
-
-ifeq ($(LIBRARY_MK),)
-$(error No library makefile specified)
-endif
-$(info %% LIBRARY_MK          = $(LIBRARY_MK))
-
-#
-# Get the board/toolchain config
-#
-include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk
-
-#
-# Get the library's config
-#
-include $(LIBRARY_MK)
-LIBRARY_SRC		:= $(dir $(LIBRARY_MK))
-$(info %  LIBRARY_NAME        = $(LIBRARY_NAME))
-$(info %  LIBRARY_SRC         = $(LIBRARY_SRC))
-$(info %  LIBRARY_LIB         = $(LIBRARY_LIB))
-$(info %  LIBRARY_WORK_DIR    = $(LIBRARY_WORK_DIR))
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build
-#
-library:			$(LIBRARY_LIB)
-
-ifneq ($(PREBUILT_LIB),)
-
-VPATH			 = $(LIBRARY_SRC)
-$(LIBRARY_LIB):		$(PREBUILT_LIB) $(GLOBAL_DEPS)
-	@$(ECHO) "PREBUILT: $(PREBUILT_LIB)"
-	$(Q) $(COPY) $< $@
-
-else
-
-##
-## Object files we will generate from sources
-##
-
-OBJS			 = $(addsuffix .o,$(SRCS))
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-vpath %.c $(LIBRARY_SRC)
-$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-vpath %.cpp $(LIBRARY_SRC)
-$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-vpath %.S $(LIBRARY_SRC)
-$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-#
-# Built product rules
-#
-
-$(LIBRARY_LIB):		$(OBJS) $(GLOBAL_DEPS)
-	$(call ARCHIVE,$@,$(OBJS))
-
-endif
-
-#
-# Utility rules
-#
-
-clean:
-	$(Q) $(REMOVE) $(LIBRARY_LIB) $(OBJS)
@@ -1,234 +0,0 @@
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Framework makefile for PX4 modules
-#
-# This makefile is invoked by firmware.mk to build each of the modules
-# that will subsequently be linked into the firmware image.
-#
-# Modules are built as prelinked objects with a limited set of exported
-# symbols, as the global namespace is shared between all modules. Normally an 
-# module will just export one or more <command>_main functions.
-#
-# IMPORTANT NOTE:
-#
-# This makefile assumes it is being invoked in the module's output directory.
-#
-
-#
-# Variables that can be set by the module's module.mk:
-#
-#
-# SRCS			(required)
-#
-#	Lists the .c, cpp and .S files that should be compiled/assembled to
-#	produce the module.
-#
-# MODULE_COMMAND	(optional)
-# MODULE_ENTRYPOINT	(optional if MODULE_COMMAND is set)
-# MODULE_STACKSIZE	(optional if MODULE_COMMAND is set)
-# MODULE_PRIORITY	(optional if MODULE_COMMAND is set)
-#
-#	Defines a single builtin command exported by the module.
-#	MODULE_COMMAND must be unique for any configuration, but need not be the 
-#	same as the module directory name.
-#	
-#	If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
-#	that will be the entrypoint for the builtin command. It defaults to
-#	$(MODULE_COMMAND)_main.
-#
-#	If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
-#	allocated for the builtin command. If it is not set, it defaults
-#	to CONFIG_PTHREAD_STACK_DEFAULT.
-#
-#	If MODULE_PRIORITY is set, it is the thread priority for the builtin
-#	command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
-#
-# MODULE_COMMANDS	(optional if MODULE_COMMAND is not set)
-#
-#	Defines builtin commands exported by the module. Each word in
-#	the list should be formatted as: 
-#		<command>.<priority>.<stacksize>.<entrypoint>
-#
-# INCLUDE_DIRS		(optional, must be appended)
-#
-#	The list of directories searched for include files. If non-standard
-#	includes (e.g. those from another module) are required, paths to search
-#	can be added here.
-#
-# DEFAULT_VISIBILITY	(optional)
-#
-#	If not set, global symbols defined in a module will not be visible 
-#	outside the module. Symbols that should be globally visible must be
-#	marked __EXPORT.
-#	If set, global symbols defined in a module will be globally visible.
-#
-
-#
-# Variables visible to the module's module.mk:
-#
-# CONFIG
-# BOARD
-# BOARD_FILE
-# MODULE_WORK_DIR
-# MODULE_OBJ
-# MODULE_MK
-# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
-# Anything exported from config_$(CONFIG).mk
-#
-
-################################################################################
-# No user-serviceable parts below.
-################################################################################
-
-ifeq ($(MODULE_MK),)
-$(error No module makefile specified)
-endif
-ifeq ($(V),1)
-$(info %% MODULE_MK           = $(MODULE_MK))
-endif
-
-#
-# Get the board/toolchain config
-#
-include $(BOARD_FILE)
-
-#
-# Get the module's config
-#
-include $(MODULE_MK)
-MODULE_SRC		:= $(dir $(MODULE_MK))
-ifeq ($(V),1)
-$(info %  MODULE_NAME         = $(MODULE_NAME))
-$(info %  MODULE_SRC          = $(MODULE_SRC))
-$(info %  MODULE_OBJ          = $(MODULE_OBJ))
-$(info %  MODULE_WORK_DIR     = $(MODULE_WORK_DIR))
-endif
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-################################################################################
-# Builtin command definitions
-################################################################################
-
-ifneq ($(MODULE_COMMAND),)
-MODULE_ENTRYPOINT	?= $(MODULE_COMMAND)_main
-MODULE_STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
-MODULE_PRIORITY		?= SCHED_PRIORITY_DEFAULT
-MODULE_COMMANDS		+= $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
-CXXFLAGS		+= -DPX4_MAIN=$(MODULE_COMMAND)_app_main
-endif
-
-ifneq ($(MODULE_COMMANDS),)
-MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
-
-# Create the command files
-# Ensure that there is only one entry for each command
-#
-.PHONY: $(MODULE_COMMAND_FILES)
-$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
-$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
-$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@$(REMOVE) -f $(exclude)
-	@$(MKDIR) -p $(dir $@)
-	@$(ECHO) "CMD:     $(command)"
-	$(Q) $(TOUCH) $@
-endif
-
-################################################################################
-# Adjust compilation flags to implement EXPORT
-################################################################################
-
-ifeq ($(DEFAULT_VISIBILITY),)
-DEFAULT_VISIBILITY = hidden
-else
-DEFAULT_VISIBILITY = default
-endif
-
-CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
-CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build
-#
-module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
-
-#
-# Object files we will generate from sources
-#
-OBJS			 = $(addsuffix .o,$(SRCS))
-
-#
-# Dependency files that will be auto-generated
-#
-DEPS			 = $(addsuffix .d,$(SRCS))
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-vpath %.c $(MODULE_SRC)
-$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-vpath %.cpp $(MODULE_SRC)
-$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-vpath %.S $(MODULE_SRC)
-$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-#
-# Built product rules
-#
-
-$(MODULE_OBJ):		$(OBJS) $(GLOBAL_DEPS)
-	$(call PRELINK,$@,$(OBJS))
-
-#
-# Utility rules
-#
-
-clean:
-	$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
-
-include $(DEPS)
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the Gumstix AeroCore
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = AEROCORE
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4_STM32F4DISCOVERY
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4_STM32F4DISCOVERY
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4FMU
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4FMU_V1
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4FMUv2
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4FMU_V2
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4IO
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM3
-CONFIG_BOARD			 = PX4IO_V1
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4IOv2
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM3
-CONFIG_BOARD			 = PX4IO_V2
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
@@ -1,126 +0,0 @@
-#
-# Makefile for the AeroCore *default* configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/aerocore
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= modules/sensors
-
-#
-# System commands
-#
-MODULES		+= systemcmds/ver
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF / other filters)
-#
-# Too high RAM usage due to static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-BUILTIN_COMMANDS := \
-    $(call _B, hello, , 2048, hello_main) \
-    $(call _B, i2c, , 2048, i2c_main)
@@ -1,92 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the PX4_STM32F4DISCOVERY firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = 
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/led
-MODULES		+= drivers/boards/px4-stm32f4discovery
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/ver
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/conversion
-MODULES		+= platforms/nuttx
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -1,159 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4io
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/px4fmu-v1
-MODULES		+= drivers/ardrone_interface
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/ll40ls
-MODULES		+= drivers/trone
-MODULES		+= drivers/mb12xx
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/px4flow
-
-#
-# System commands
-#
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-MODULES 	+= modules/land_detector
-
-#
-# Estimation modules (EKF / other filters)
-#
-# Too high RAM usage due to static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Unit tests
-#
-#MODULES 	+= modules/unit_test
-#MODULES 	+= modules/commander/commander_tests
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -1,182 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the px4iov2 firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/px4io
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/mpu9250
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
-MODULES		+= drivers/sf0x
-MODULES		+= drivers/ll40ls
-MODULES		+= drivers/trone
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/hott
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/px4flow
-MODULES		+= drivers/oreoled
-MODULES		+= drivers/gimbal
-MODULES		+= drivers/pwm_input
-MODULES		+= drivers/camera_trigger
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-MODULES		+= modules/uavcan
-MODULES 	+= modules/land_detector
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-# Removed from build due to large static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-MODULES 	+= modules/vtol_att_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# OBC challenge
-#
-MODULES		+= modules/bottle_drop
-
-#
-# PX4 flow estimator, good for indoors
-#
-MODULES		+= examples/flow_position_estimator
-
-#
-# Rover apps
-#
-MODULES		+= examples/rover_steering_control
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://px4.io/dev/px4_simple_app
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://px4.io/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://px4.io/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://px4.io/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -1,168 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the px4iov2 firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/px4io
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
-# MODULES		+= drivers/sf0x
-MODULES		+= drivers/ll40ls
-# MODULES		+= drivers/trone
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/hott
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
-# MODULES		+= drivers/blinkm
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/px4flow
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-# MODULES		+= modules/uavcan
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
-# MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_att_control_multiplatform
-MODULES		+= examples/subscriber
-MODULES		+= examples/publisher
-# MODULES		+= modules/mc_pos_control
-MODULES		+= modules/mc_pos_control_multiplatform
-MODULES 	+= modules/vtol_att_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# OBC challenge
-#
-MODULES		+= modules/bottle_drop
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -1,116 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/px4io
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/pca8574
-MODULES		+= drivers/roboclaw
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/tests
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/ver
-MODULES		+= systemcmds/top
-MODULES		+= modules/sensors
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# Example modules
-#
-MODULES		+= examples/matlab_csv_serial
-MODULES		+= examples/subscriber
-MODULES		+= examples/publisher
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/conversion
-MODULES		+= platforms/nuttx
-
-#
-# Example modules to test-build
-#
-MODULES		+= examples/flow_position_estimator
-MODULES		+= examples/fixedwing_control
-MODULES		+= examples/hwtest
-MODULES		+= examples/matlab_csv_serial
-MODULES		+= examples/px4_daemon_app
-MODULES		+= examples/px4_mavlink_debug
-MODULES		+= examples/px4_simple_app
-
-#
-# Drivers / modules to test build, but not useful for test environment
-#
-MODULES		+= drivers/pca8574
-
-#
-# Tests
-#
-
-MODULES 	+= modules/unit_test
-MODULES		+= modules/mavlink/mavlink_tests
-MODULES 	+= modules/commander/commander_tests
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -1,10 +0,0 @@
-#
-# Makefile for the px4io_default configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/stm32
-MODULES		+= drivers/boards/px4io-v1
-MODULES		+= modules/px4iofirmware
@@ -1,10 +0,0 @@
-#
-# Makefile for the px4iov2_default configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/stm32
-MODULES		+= drivers/boards/px4io-v2
-MODULES		+= modules/px4iofirmware
@@ -1,121 +0,0 @@
-#
-# Built products
-#
-DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
-STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
-FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
-
-all:	$(DESIRED_FIRMWARES)
-
-#
-# Copy FIRMWARES into the image directory.
-#
-# XXX copying the .bin files is a hack to work around the PX4IO uploader
-#     not supporting .px4 files, and it should be deprecated onced that
-#     is taken care of.
-#
-$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@$(ECHO) %% Copying $@
-	$(Q) $(COPY) $< $@
-	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
-
-#
-# Generate FIRMWARES.
-#
-.PHONY: $(FIRMWARES)
-$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
-$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	checkgitversion generateuorbtopicheaders checksubmodules
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-		-f $(PX4_MK_DIR)firmware.mk \
-		CONFIG=$(config) \
-		WORK_DIR=$(work_dir) \
-		$(FIRMWARE_GOAL)
-
-#
-# Make FMU firmwares depend on the corresponding IO firmware.
-#
-# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
-# and forces the _default config in all cases. There has to be a better way to do this...
-#
-FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
-define FMU_DEP
-$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
-endef
-FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
-$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
-
-#
-# Build the NuttX export archives.
-#
-# Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the
-# archives/build area manually. Likewise, when the 'archives' target is
-# invoked, all archives are always rebuilt.
-#
-# XXX Should support fetching/unpacking from a separate directory to permit
-#     downloads of the prebuilt archives as well...
-#
-NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
-.PHONY:			archives
-archives:		checksubmodules $(NUTTX_ARCHIVES)
-
-# We cannot build these parallel; note that we also force -j1 for the
-# sub-make invocations.
-ifneq ($(filter archives,$(MAKECMDGOALS)),)
-.NOTPARALLEL:
-endif
-
-J?=1
-
-$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
-$(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(board)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
-	$(Q) $(MKDIR) -p $(dir $@)
-	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
-	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
-
-#
-# The user can run the NuttX 'menuconfig' tool for a single board configuration with
-# make BOARDS=<boardname> menuconfig
-#
-ifeq ($(MAKECMDGOALS),menuconfig)
-ifneq ($(words $(BOARDS)),1)
-$(error BOARDS must specify exactly one board for the menuconfig goal)
-endif
-BOARD			 = $(BOARDS)
-menuconfig: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(BOARD)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
-	@$(ECHO) %% Running menuconfig for $(BOARD)
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
-	@$(ECHO) %% Saving configuration file
-	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
-else
-menuconfig:
-	@$(ECHO) ""
-	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
-	@$(ECHO) ""
-
-endif
-
-$(NUTTX_SRC): checkgitversion checksubmodules
-
-$(UAVCAN_DIR):
-	$(Q) (./Tools/check_submodules.sh)
-
@@ -1,10 +0,0 @@
-# JTAG for the STM32F4x chip used on the Gumstix AeroCore is available on
-# the first interface of a Quad FTDI chip.  nTRST is bit 4.
-interface ftdi
-ftdi_vid_pid 0x0403 0x6011
-
-ftdi_layout_init 0x0000 0x001b
-ftdi_layout_signal nTRST -data 0x0010
-
-source [find target/stm32f4x.cfg]
-reset_config trst_only
@@ -1,85 +0,0 @@
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Rules and definitions related to handling the NuttX export archives when
-# building firmware.
-#
-
-MODULES += platforms/nuttx/px4_layer platforms/common
-
-#
-# Check that the NuttX archive for the selected board is available.
-#
-NUTTX_ARCHIVE		:= $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
-ifeq ($(NUTTX_ARCHIVE),)
-$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
-endif
-
-#
-# The NuttX config header should always be present in the NuttX archive, and
-# if it changes, everything should be rebuilt. So, use it as the trigger to
-# unpack the NuttX archive.
-#
-NUTTX_EXPORT_DIR	 = $(WORK_DIR)nuttx-export/
-NUTTX_CONFIG_HEADER	 = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
-$(info %  NUTTX_EXPORT_DIR    = $(NUTTX_EXPORT_DIR))
-$(info %  NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
-
-
-GLOBAL_DEPS		+= $(NUTTX_CONFIG_HEADER)
-
-#
-# Use the linker script from the NuttX export
-#
-LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
-
-#
-# Add directories from the NuttX export to the relevant search paths
-#
-INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
-			   $(NUTTX_EXPORT_DIR)include/cxx \
-			   $(NUTTX_EXPORT_DIR)arch/chip \
-			   $(NUTTX_EXPORT_DIR)arch/common
-
-LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
-LIBS			+= -lapps -lnuttx
-NUTTX_LIBS		 = $(NUTTX_EXPORT_DIR)libs/libapps.a \
-			   $(NUTTX_EXPORT_DIR)libs/libnuttx.a
-LINK_DEPS		+= $(NUTTX_LIBS)
-
-$(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
-	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
-	$(Q) $(TOUCH) $@
-
- $(LDSCRIPT): $(NUTTX_CONFIG_HEADER)
- $(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER)
@@ -1,89 +0,0 @@
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# What we're going to build.
-#
-PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
-PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
-PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
-PRODUCT_PARAMXML	 = $(WORK_DIR)/parameters.xml
-PRODUCT_AIRFRAMEXML	 = $(WORK_DIR)/airframes.xml
-
-.PHONY:			firmware
-firmware:		$(PRODUCT_BUNDLE)
-
-#
-# Built product rules
-#
-
-$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
-	@$(ECHO) %% Generating $@
-ifdef GEN_PARAM_XML
-	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
-	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d/ --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
-		--git_identity $(PX4_BASE) \
-		--parameter_xml $(PRODUCT_PARAMXML) \
-		--airframe_xml $(PRODUCT_AIRFRAMEXML) \
-		--image $< > $@
-else
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
-		--git_identity $(PX4_BASE) \
-		--image $< > $@
-endif
-
-$(PRODUCT_BIN):		$(PRODUCT_ELF)
-	$(call SYM_TO_BIN,$<,$@)
-
-$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
-
-#
-# Utility rules
-#
-
-.PHONY: upload
-upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)/nuttx/upload.mk \
-		METHOD=serial \
-		CONFIG=$(CONFIG) \
-		BOARD=$(BOARD) \
-		BUNDLE=$(PRODUCT_BUNDLE) \
-		BIN=$(PRODUCT_BIN)
-
-.PHONY: clean
-clean:			$(MODULE_CLEANS)
-	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
-	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
-	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
-
--- a/Show More
+++ b/Show More