boards organization

src/lib/cdev/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 set(SRCS_PLATFORM)
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND SRCS_PLATFORM
 		nuttx/cdev_platform.cpp
 	)

src/lib/controllib/CMakeLists.txt

@@ -42,4 +42,8 @@ px4_add_library(controllib
 	BlockLimitSym.cpp
 	BlockLowPass.cpp
 	BlockLowPass2.cpp
-)
+)
+
+if(PX4_TESTING)
+	add_subdirectory(controllib_test)
+endif()

src/lib/drivers/device/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 set(SRCS_PLATFORM)
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
 	if ("${CONFIG_I2C}" STREQUAL "y")
 		list(APPEND SRCS_PLATFORM nuttx/I2C.cpp)
 	endif()
@@ -53,7 +53,7 @@ px4_add_library(drivers__device
 	${SRCS_PLATFORM}
 	)
 
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
 	target_link_libraries(drivers__device PRIVATE nuttx_arch)
 endif()
 

src/lib/parameters/CMakeLists.txt

@@ -39,6 +39,7 @@ endif()
 
 # get full path for each module
 get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
+
 if (DISABLE_PARAMS_MODULE_SCOPING)
 	# search all directories with .c files (potentially containing parameters)
 	file(GLOB_RECURSE new_list
@@ -49,20 +50,7 @@ if (DISABLE_PARAMS_MODULE_SCOPING)
 		get_filename_component(dir_path ${file_path} PATH)
 		list(APPEND module_list "${dir_path}")
 	endforeach()
-	list(REMOVE_DUPLICATES module_list)
 else()
-	foreach(module ${config_module_list})
-		# include all subdirectories as well
-		file(GLOB children RELATIVE ${PX4_SOURCE_DIR}/src/${module} ${PX4_SOURCE_DIR}/src/${module}/*)
-		foreach(child ${children})
-			if(IS_DIRECTORY ${PX4_SOURCE_DIR}/src/${module}/${child})
-				list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module}/${child})
-			endif()
-		endforeach()
-
-		list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
-	endforeach()
-
 	list(APPEND module_list ${external_module_paths})
 endif()
 
@@ -96,7 +84,7 @@ add_custom_command(OUTPUT ${parameters_xml}
 		--xml ${parameters_xml}
 		--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
-		--board ${BOARD}
+		--board ${PX4_BOARD}
 		#--verbose
 	DEPENDS
 		${param_src_files}
@@ -132,12 +120,12 @@ else()
 	list(APPEND SRCS parameters.cpp)
 endif()
 
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
 	add_subdirectory(flashparams)
 endif()
 
 # TODO: find a better way to do this
-if (NOT "${CONFIG}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4io")
 	add_library(parameters
 		${SRCS}
 		px4_parameters.c
@@ -157,6 +145,6 @@ else()
 endif()
 add_dependencies(parameters prebuild_targets)
 
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
 	target_link_libraries(parameters PRIVATE flashparams tinybson)
 endif()

src/lib/rc/CMakeLists.txt

@@ -41,3 +41,7 @@ add_library(rc
 )
 target_compile_options(rc PRIVATE -Wno-unused-result)
 target_link_libraries(rc PRIVATE prebuild_targets)
+
+if(PX4_TESTING AND (${PX4_PLATFORM} MATCHES "posix"))
+	add_subdirectory(rc_tests)
+endif()

src/lib/rc/rc_tests/RCTest.cpp

@@ -3,6 +3,7 @@
 #include <systemlib/err.h>
 
 #include <stdio.h>
+#include <string.h>
 #include <unistd.h>
 
 #include <drivers/drv_hrt.h>