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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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feat(boards/modalai/voxl2): add Debian packaging framework
Add a scalable .deb packaging framework for VOXL2, built on the existing cmake/package.cmake CPack infrastructure. The framework handles multi-processor boards by having the POSIX (_default) build own the .deb and pull in the companion SLPI build's artifacts. Board-specific files: - cmake/package.cmake: CPack variable overrides (name, deps, version) - cmake/install.cmake: install() rules for all .deb contents - debian/postinst: px4-* symlinks, DSP signature, directory setup - debian/prerm: service stop, symlink cleanup - debian/voxl-px4.service: systemd unit (after sscrpcd) Infrastructure changes: - cmake/package.cmake: hook for board-specific CPack overrides - platforms/posix/CMakeLists.txt: hook for board install.cmake - Makefile: %_deb pattern rule (build _default, then cpack -G DEB) - CI: auto-discover _deb targets, collect .deb artifacts, upload to GitHub Releases Future boards: add cmake/package.cmake + cmake/install.cmake and CI discovers it automatically. No new file formats or tools needed. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
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############################################################################
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#
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# Copyright (c) 2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# VOXL2 board-specific install rules for .deb packaging
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# Included from platforms/posix/CMakeLists.txt where the px4 target exists
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# SLPI companion build output directory
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set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2-slpi_default")
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# Apps processor binary
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install(TARGETS px4 RUNTIME DESTINATION bin)
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# px4-alias.sh (generated during build into bin/ subdirectory)
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install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
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# Startup scripts from board target directory
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install(PROGRAMS
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${PX4_BOARD_DIR}/target/voxl-px4
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${PX4_BOARD_DIR}/target/voxl-px4-start
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${PX4_BOARD_DIR}/target/voxl-px4-hitl
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${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
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DESTINATION bin
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)
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# DSP firmware blob from companion SLPI build
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install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
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DESTINATION lib/rfsa/adsp
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OPTIONAL
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)
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# Configuration files
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install(FILES
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${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
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${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
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DESTINATION ../etc/modalai
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)
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# Systemd service file
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install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
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DESTINATION ../etc/systemd/system
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)
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# Component metadata JSON files
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install(FILES
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${PX4_BINARY_DIR}/actuators.json.xz
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${PX4_BINARY_DIR}/component_general.json.xz
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${PX4_BINARY_DIR}/parameters.json.xz
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DESTINATION ../data/px4/etc/extras
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OPTIONAL
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)
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install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
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DESTINATION ../data/px4/etc/extras
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OPTIONAL
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)
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############################################################################
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#
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# Copyright (c) 2024 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# VOXL2 board-specific CPack overrides
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# Loaded after cmake/package.cmake sets up CPack defaults
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# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
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string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
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string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
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string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
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# VOXL2 is always aarch64 regardless of build host
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set(CPACK_DEBIAN_ARCHITECTURE "arm64")
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set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
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set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
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set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
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set(CPACK_INSTALL_PREFIX "/usr")
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set(CPACK_SET_DESTDIR true)
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set(CPACK_DEBIAN_PACKAGE_DEPENDS "voxl-platform, librc-symlinks")
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set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
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set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
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set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
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# Disable shlibdeps for cross-compiled boards
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
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set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
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"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
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# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
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# included from platforms/posix/CMakeLists.txt where the px4 target exists.
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Executable
+36
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#!/bin/bash
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set -e
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# Create px4-* symlinks from px4-alias.sh
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# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
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# We extract the px4-<module> command name and symlink it to the px4 binary
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if [ -f /usr/bin/px4-alias.sh ]; then
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grep "^alias " /usr/bin/px4-alias.sh | \
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sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
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ln -sf px4 "/usr/bin/${cmd}"
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done
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fi
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# Detect platform and generate DSP test signature if needed
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if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
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echo "[INFO] Generating DSP test signature..."
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if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
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/share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
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elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
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/share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
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else
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echo "[WARNING] Could not find DSP signature generation script"
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fi
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fi
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# Create required data directories
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mkdir -p /data/px4/param
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mkdir -p /data/px4/etc/extras
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chown -R root:root /data/px4
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# Reload systemd if available
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if command -v systemctl > /dev/null 2>&1; then
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systemctl daemon-reload
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fi
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echo "voxl-px4 installed successfully"
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Executable
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#!/bin/bash
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set -e
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# Stop voxl-px4 service if running
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if command -v systemctl > /dev/null 2>&1; then
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systemctl stop voxl-px4 2>/dev/null || true
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fi
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# Remove px4-* symlinks
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for f in /usr/bin/px4-*; do
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if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
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rm -f "$f"
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fi
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done
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[Unit]
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Description=PX4 Autopilot for VOXL2
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After=sscrpcd.service
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Requires=sscrpcd.service
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[Service]
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Type=simple
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ExecStart=/usr/bin/voxl-px4
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ExecStopPost=/usr/bin/voxl-reset-slpi
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Restart=on-failure
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RestartSec=5
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[Install]
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WantedBy=multi-user.target
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