From ab1c8850fe324db5c9d7dd1b3a8cf2de1860440a Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 6 Nov 2019 13:13:37 -0800
Subject: [PATCH] px4:fmu-v2 BSP Updated to NuttX 8.1+

px4/fmu-v2 disable events and work_queue systemcmd
---
 boards/px4/fmu-v2/default.cmake                | 4 ++--
 boards/px4/fmu-v2/nuttx-config/Kconfig         | 6 ++++++
 boards/px4/fmu-v2/nuttx-config/drivers/Kconfig | 0
 boards/px4/fmu-v2/nuttx-config/nsh/defconfig   | 3 +++
 4 files changed, 11 insertions(+), 2 deletions(-)
 create mode 100644 boards/px4/fmu-v2/nuttx-config/drivers/Kconfig

diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
index c6dfa2bb21..ce11a39c3a 100644
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -67,7 +67,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		events
+		#events
 		fw_att_control
 		fw_pos_control_l1
 		#rover_pos_control
@@ -110,7 +110,7 @@ px4_add_board(
 		tune_control
 		#usb_connected
 		ver
-		work_queue
+		#work_queue
 
 	EXAMPLES
 		#bottle_drop # OBC challenge
diff --git a/boards/px4/fmu-v2/nuttx-config/Kconfig b/boards/px4/fmu-v2/nuttx-config/Kconfig
index 6ce42aecf4..9623bd9fc7 100644
--- a/boards/px4/fmu-v2/nuttx-config/Kconfig
+++ b/boards/px4/fmu-v2/nuttx-config/Kconfig
@@ -20,3 +20,9 @@ config BOARD_USE_PROBES
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
 endif
+
+# Hack to ensure ARCH_MATH_H is kept
+config BOARD_HAVE_MATH_H
+	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
+	default y
+	select ARCH_HAVE_MATH_H
diff --git a/boards/px4/fmu-v2/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v2/nuttx-config/drivers/Kconfig
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
index 05d469bf38..81b906eddd 100644
--- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512