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voxl2-slpi: directly bring in mavlink instead of relying on voxl2 build

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This commit is contained in:
Eric Katzfey 2026-02-27 08:30:50 -07:00
parent bd76832f34
commit eba39dee3a
3 changed files with 34 additions and 9 deletions
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32
boards/modalai/voxl2-slpi/src/CMakeLists.txt
View File

@ -36,6 +36,38 @@
# from other modules that are not running on the DSP.
set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
# Generate mavlink headers for SLPI drivers that need them (dsp_hitl, mavlink_rc_in).
# This eliminates the dependency on the voxl2 (apps proc) build having run first.
set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${PX4_SOURCE_DIR} ${MAVLINK_GIT_DIR})
px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
add_custom_command(
OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
COMMAND
${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
--lang C --wire-protocol 2.0
--output ${MAVLINK_LIBRARY_DIR}
${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_common.log
DEPENDS
git_mavlink_v2
${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
COMMENT "Generating Mavlink common headers for SLPI"
)
add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
add_library(mavlink_c INTERFACE)
add_dependencies(mavlink_c mavlink_c_generate)
target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
target_include_directories(mavlink_c
INTERFACE
${MAVLINK_LIBRARY_DIR}
${MAVLINK_LIBRARY_DIR}/common
)
add_library(drivers_board
board_config.h
i2c.cpp

4
boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt
View File

@ -31,14 +31,11 @@
#
############################################################################
message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/common")
px4_add_module(
MODULE drivers__modalai__dsp_hitl
MAIN dsp_hitl
INCLUDES
${PX4_SOURCE_DIR}/src/drivers/dsp_hitl
${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
SRCS
dsp_hitl.cpp
DEPENDS
@ -46,4 +43,5 @@ px4_add_module(
drivers_accelerometer
drivers_gyroscope
drivers_magnetometer
mavlink_c
)

7
boards/modalai/voxl2-slpi/src/drivers/mavlink_rc_in/CMakeLists.txt
View File

@ -31,19 +31,14 @@
#
############################################################################
message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/standard")
px4_add_module(
MODULE drivers__modalai__mavlink_rc_in
MAIN mavlink_rc_in
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
-Wno-address-of-packed-member # TODO: fix in c_library_v2
INCLUDES
${PX4_SOURCE_DIR}/src/drivers/rc_input
${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
SRCS
mavlink_rc_in.cpp
DEPENDS
px4_work_queue
mavlink_c
)