Merge branch 'master' into seatbelt_multirotor

makefiles/config_px4fmu_default.mk

@@ -62,7 +62,8 @@ MODULES		+= modules/gpio_led
 # Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/attitude_estimator_so3_comp
+#MODULES		+= modules/position_estimator_mc
 MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
@@ -80,6 +81,7 @@ MODULES		+= modules/multirotor_pos_control
 # Logging
 #
 MODULES		+= modules/sdlog
+MODULES		+= modules/sdlog2
 
 #
 # Library modules

makefiles/firmware.mk

@@ -176,6 +176,12 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 #
 EXTRA_CLEANS		 = 
 
+################################################################################
+# NuttX libraries and paths
+################################################################################
+
+include $(PX4_MK_DIR)/nuttx.mk
+
 ################################################################################
 # Modules
 ################################################################################
@@ -296,12 +302,6 @@ $(LIBRARY_CLEANS):
 	LIBRARY_MK=$(mkfile) \
 	clean
 
-################################################################################
-# NuttX libraries and paths
-################################################################################
-
-include $(PX4_MK_DIR)/nuttx.mk
-
 ################################################################################
 # ROMFS generation
 ################################################################################

makefiles/nuttx.mk

@@ -69,10 +69,14 @@ INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
 
 LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
 LIBS			+= -lapps -lnuttx
-LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
+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)

makefiles/toolchain_gnu-arm-eabi.mk

@@ -50,7 +50,7 @@ OBJDUMP			 = $(CROSSDEV)objdump
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 ?= -O3
 
 # Base CPU flags for each of the supported architectures.
 #
@@ -70,6 +70,14 @@ ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
 			   -march=armv7-m \
 			   -mfloat-abi=soft
 
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
+			   -ffixed-r10
+
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
+			   -ffixed-r10
+
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = 
+
 # Pick the right set of flags for the architecture.
 #
 ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
@@ -91,8 +99,8 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 # enable precise stack overflow tracking
 # note - requires corresponding support in NuttX
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
+INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
+
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99