Aero: Update maintainer

This allows to boot a Pixhack 3.0 which is the same as Pixhawk 2.0 / 2.1

.github_changelog_generator

@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+

CMakeLists.txt

@@ -110,7 +110,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 
 #=============================================================================
 # git
@@ -155,6 +155,9 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -243,11 +246,11 @@ set(BUILD_SHARED_LIBS OFF)
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" OFF)
+option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM)
-	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+else()
 endif()
 
 #=============================================================================
@@ -398,7 +401,7 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-add_subdirectory(src/firmware/${OS})
+add_subdirectory(platforms/${OS})
 
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets

Jenkinsfile

@@ -114,7 +114,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -136,7 +136,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -158,7 +158,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -181,7 +181,7 @@ pipeline {
               node {
                 stage("Build Test ${node_name}") {
                   docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                       stage("${node_name}") {
                         checkout scm
                         sh "make clean"
@@ -204,7 +204,7 @@ pipeline {
             builds["${node_name} (GCC7)"] = {
               node {
                 stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -250,7 +250,7 @@ pipeline {
         stage('check style') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
+              image 'px4io/px4-dev-base:2017-12-30'
               args '-e CI=true'
             }
           }
@@ -262,7 +262,7 @@ pipeline {
         stage('clang analyzer') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
+              image 'px4io/px4-dev-clang:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -280,12 +280,19 @@ pipeline {
               reportName: 'Clang Static Analyzer'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('clang tidy') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
+              image 'px4io/px4-dev-clang:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -316,12 +323,19 @@ pipeline {
               reportName: 'Cppcheck'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('tests') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
+              image 'px4io/px4-dev-base:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -332,11 +346,227 @@ pipeline {
           }
         }
 
+        stage('ROS vtol mission new 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission new 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 3') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS MC mission box') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS offboard att') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS offboard pos') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
         // temporarily disabled until stable
         //stage('tests coverage') {
         //  agent {
         //    docker {
-        //      image 'px4io/px4-dev-base:2017-10-23'
+        //      image 'px4io/px4-dev-base:2017-12-30'
         //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
         //    }
         //  }
@@ -364,7 +594,7 @@ pipeline {
 
         stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make airframe_metadata'
@@ -374,7 +604,7 @@ pipeline {
 
         stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make parameters_metadata'
@@ -384,19 +614,32 @@ pipeline {
 
         stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make module_documentation'
             archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
           }
         }
+
+        stage('uorb graphs') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make uorb_graphs'
+            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
+          }
+        }
       }
     }
 
     stage('S3 Upload') {
       agent {
-        docker { image 'px4io/px4-dev-base:2017-10-23' }
+        docker { image 'px4io/px4-dev-base:2017-12-30' }
       }
 
       when {

Makefile

@@ -279,7 +279,7 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -287,9 +287,25 @@ tests:
 	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
 .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack

README.md

@@ -25,7 +25,7 @@ See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
 
 ## PX4 Developers
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, any anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
 Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
 See the [forum and chat](https://dev.px4.io/en/#support) if you need help!

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -8,7 +8,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/rc.mc_defaults
+sh /etc/init.d/4001_quad_x
 
-set MIXER quad_x
 param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -17,7 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4fmu-v1 exclude
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -16,6 +16,8 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13010_claire

@@ -7,6 +7,8 @@
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -11,7 +11,7 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @maintainer Lucas de Marchi
+# @maintainer Beat Kueng <beat@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle

@@ -10,6 +10,8 @@
 #
 # @maintainer
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -14,6 +14,8 @@
 # @output MAIN7 pass-through of control group 0, channel 6
 # @output MAIN8 pass-through of control group 0, channel 7
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.axialracing_ax10_defaults
 

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -12,6 +12,8 @@
 #
 # @maintainer Marco Zorzi
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -69,6 +69,9 @@ fi
 
 if ver hwcmp PX4FMU_V2
 then
+	# V2 build hwtypecmp is always false
+	set BOARD_FMUV3 0
+
 	# External I2C bus
 	hmc5883 -C -T -X start
 	lis3mdl -X start
@@ -79,8 +82,6 @@ then
 	# Internal SPI bus ICM-20608-G
 	mpu6000 -T 20608 start
 
-	# V2 build hwtypecmp is always false
-	set BOARD_FMUV3 0
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ver hwtypecmp V30
 	then
@@ -99,6 +100,26 @@ then
 		fi
 	fi
 
+	# Check if a Pixhack (which reports as V2M) is present
+	if ver hwtypecmp V2M
+	then
+		# Pixhawk Mini doesn't have these sensors,
+		# so if they are found we know its a Pixhack
+
+		# external MPU6K is rotated 180 degrees yaw
+		if mpu6000 -S -R 4 start
+		then
+			set BOARD_FMUV3 20
+		else
+			# Check for Pixhack 3.1
+			# external MPU9250 is rotated 180 degrees yaw
+			if mpu9250 -S -R 4 start
+			then
+				set BOARD_FMUV3 21
+			fi
+		fi
+	fi
+
 	if [ $BOARD_FMUV3 != 0 ]
 	then
 		# sensor heating is available, but we disable it for now
@@ -372,6 +393,12 @@ then
 	teraranger start
 fi
 
+# Benewake TFMini
+if param greater SENS_EN_TFMINI 0
+then
+	tfmini start
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -60,7 +60,6 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[i] microSD mounted: /fs/microsd"
 	if hardfault_log check
 	then
 		tone_alarm error
@@ -79,9 +78,9 @@ else
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "INFO  [init] card formatted"
 		else
-			echo "ERROR [init] Format failed"
+			echo "ERROR [init] format failed"
 			tone_alarm MNBG
 			set LOG_FILE /dev/null
 		fi
@@ -97,7 +96,6 @@ fi
 set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: ${FRC}"
 	sh $FRC
 	set MODE custom
 fi
@@ -194,7 +192,7 @@ then
 	set MAV_TYPE none
 	set FAILSAFE none
 	set USE_IO no
-	set LOGGER_BUF 16
+	set LOGGER_BUF 14
 
 	if ver hwcmp PX4FMU_V4
 	then
@@ -316,8 +314,6 @@ then
 
 			if px4io checkcrc ${IO_FILE}
 			then
-				echo "[init] PX4IO CRC OK" >> $LOG_FILE
-
 				set IO_PRESENT yes
 			else
 				tone_alarm MLL32CP8MB
@@ -464,7 +460,6 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
 				param set UAVCAN_ENABLE 3
 			fi
 		fi
@@ -505,7 +500,6 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -823,7 +817,6 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE ${MAV_TYPE}

Tools/docker_run.sh

@@ -7,22 +7,22 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-10-23"
 	elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-12-30"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-10-23"
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-12-29"
 	elif [[ $@ =~ .*ocpoc.* ]]; then
 		# posix_ocpoc_ubuntu
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-12-30"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then	
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-12-30"
 	elif [[ $@ =~ .*cppcheck.* ]]; then
 		# TODO: remove this once px4io/px4-dev-base updates
 		PX4_DOCKER_REPO="px4io/px4-dev-base:ubuntu17.10"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-12-30"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";

Tools/px_uploader.py

@@ -488,9 +488,18 @@ class uploader(object):
                 print("FORCED WRITE, FLASHING ANYWAY!")
             else:
                 raise IOError(msg)
+
+        # Prevent uploads where the image would overflow the flash
         if self.fw_maxsize < fw.property('image_size'):
             raise RuntimeError("Firmware image is too large for this board")
 
+        # Prevent uploads where the maximum image size of the board config is smaller than the flash
+        # of the board. This is a hint the user chose the wrong config and will lack features
+        # for this particular board.
+        if self.fw_maxsize > fw.property('image_maxsize'):
+            raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
+                % (self.fw_maxsize, fw.property('image_maxsize')))
+
         # OTP added in v4:
         if self.bl_rev > 3:
             for byte in range(0, 32*6, 4):

Vagrantfile

@@ -1,131 +0,0 @@
-# -*- mode: ruby -*-
-# vi: set ft=ruby :
-
-# All Vagrant configuration is done below. The "2" in Vagrant.configure
-# configures the configuration version (we support older styles for
-# backwards compatibility). Please don't change it unless you know what
-# you're doing.
-Vagrant.configure(2) do |config|
-
-  # Every Vagrant development environment requires a box. You can search for
-  # boxes at https://atlas.hashicorp.com/search.
-  config.vm.box = "ubuntu/trusty64"
-
-  # Disable automatic box update checking. If you disable this, then
-  # boxes will only be checked for updates when the user runs
-  # `vagrant box outdated`. This is not recommended.
-  # config.vm.box_check_update = false
-
-  # Create a forwarded port mapping which allows access to a specific port
-  # within the machine from a port on the host machine. In the example below,
-  # accessing "localhost:8080" will access port 80 on the guest machine.
-  # MAVLink telemetry via UDP in SITL mode
-  config.vm.network "forwarded_port", guest: 14556, host: 14556, protocol: "udp"
-  # SITL simulation data
-  config.vm.network "forwarded_port", guest: 14560, host: 14560, protocol: "udp"
-
-  # Create a private network, which allows host-only access to the machine
-  # using a specific IP.
-  config.vm.network "private_network", ip: "192.168.33.10"
-
-  # Create a public network, which generally matched to bridged network.
-  # Bridged networks make the machine appear as another physical device on
-  # your network.
-  # config.vm.network "public_network"
-
-  # Share an additional folder to the guest VM. The first argument is
-  # the path on the host to the actual folder. The second argument is
-  # the path on the guest to mount the folder. And the optional third
-  # argument is a set of non-required options.
-  # NFS should be faster: https://stefanwrobel.com/how-to-make-vagrant-performance-not-suck
-  config.vm.synced_folder ".", "/Firmware", type: "nfs"
-
-  # Provider-specific configuration so you can fine-tune various
-  # backing providers for Vagrant. These expose provider-specific options.
-  # Example for VirtualBox:
-  #
-
-  # This is to configure the machine to be as fast as possible
-  # Alternative: https://github.com/rdsubhas/vagrant-faster
-  config.vm.provider "virtualbox" do |vb|
-    # Display the VirtualBox GUI when booting the machine
-    vb.gui = false
-    vb.customize ["modifyvm", :id, "--ioapic", "on"]
-    #vb.customize ["modifyvm", :id, "--cpus", "2"]
-
-    config.vm.provider "virtualbox" do |v|
-      host = RbConfig::CONFIG['host_os']
-
-      # Give VM 1/4 system memory & access to all cpu cores on the host
-      if host =~ /darwin/
-        cpus = `sysctl -n hw.ncpu`.to_i
-        # sysctl returns Bytes and we need to convert to MB
-        mem = `sysctl -n hw.memsize`.to_i / 1024 / 1024 / 4
-      elsif host =~ /linux/
-        cpus = `nproc`.to_i
-        # meminfo shows KB and we need to convert to MB
-        mem = `grep 'MemTotal' /proc/meminfo | sed -e 's/MemTotal://' -e 's/ kB//'`.to_i / 1024 / 4
-      else # sorry Windows folks, I can't help you
-        cpus = 2
-        mem = 1024
-      end
-
-      v.customize ["modifyvm", :id, "--memory", mem]
-      v.customize ["modifyvm", :id, "--cpus", cpus]
-    end
-
-    # Since make and other tools freak out if they see timestamps
-    # from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 2000]
-    # Do this on start and restore
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
-
-    # Customize the amount of memory on the VM:
-    #vb.memory = "2048"
-  end
-  #
-  # View the documentation for the provider you are using for more
-  # information on available options.
-
-  # Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
-  # such as FTP and Heroku are also available. See the documentation at
-  # https://docs.vagrantup.com/v2/push/atlas.html for more information.
-  # config.push.define "atlas" do |push|
-  #   push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
-  # end
-
-  # Enable provisioning with a shell script. Additional provisioners such as
-  # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
-  # documentation for more information about their specific syntax and use.
-  config.vm.provision "shell", privileged: false, inline: <<-SHELL
-    # Ensure we start in the Firmware folder
-    echo "cd /Firmware" >> ~/.bashrc
-    # Install software
-    sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
-    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
-    sudo apt-get update
-    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
-    pushd .
-    cd ~
-    wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-    tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-    exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
-    if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-    exportline2="export HEXAGON_TOOLS_ROOT=$HOME/Qualcomm/HEXAGON_Tools/7.2.10/Tools"
-    if grep -Fxq "$exportline2" ~/.profile; then echo nothing to do ; else echo $exportline2 >> ~/.profile; fi
-    . ~/.profile
-    popd
-    # setup ccache
-    mkdir -p ~/bin
-    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
-    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
-    ln -s /usr/bin/ccache ~/bin/g++-4.8
-    ln -s /usr/bin/ccache ~/bin/gcc-4.8
-    export PATH=~/bin:$PATH
-
-    # Configure hardware related bits
-    sudo apt-get -y remove modemmanager
-    sudo usermod -a -G dialout $USER
-  SHELL
-end

cmake/configs/nuttx_aerocore2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 

cmake/configs/nuttx_auav-x21_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
@@ -49,6 +48,7 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_crazyflie_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
@@ -28,7 +27,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/esc35-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/esc35-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -52,6 +51,7 @@ set(config_module_list
 	drivers/camera_trigger
 	drivers/bst
 	drivers/snapdragon_rc_pwm
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -59,6 +58,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -48,6 +47,8 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/tfmini
+
 
 	#
 	# System commands
@@ -167,4 +168,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 

cmake/configs/nuttx_px4cannode-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
@@ -26,7 +25,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4cannode-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
@@ -28,7 +27,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4esc-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 #set(config_uavcan_num_ifaces 2)
@@ -59,6 +58,7 @@ set(config_module_list
 	#drivers/ulanding
 	drivers/vmount
 	modules/sensors
+	#drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
 
@@ -48,6 +47,7 @@ set(config_module_list
 	#drivers/bst
 	#drivers/snapdragon_rc_pwm
 	#drivers/lis3mdl
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -2,9 +2,9 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 set(BOARD px4fmu-v2 CACHE string "" FORCE)
 set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
+set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
 set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
 
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 set(config_uavcan_num_ifaces 2)
@@ -64,6 +64,7 @@ set(config_module_list
 	drivers/ulanding
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -56,6 +55,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
@@ -56,6 +55,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -56,6 +55,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4io-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
 

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -50,6 +49,7 @@ set(config_module_list
 	drivers/tap_esc
 	drivers/teraranger
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_s2740vc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
@@ -26,7 +25,7 @@ include(configs/uavcan_board_ident/s2740vc-v1)
 
 # N.B. this would be uncommented when there is an APP
 #px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-# BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/s2740vc-v1.bin
+# BIN ${PX4_BINARY_DIR}/platforms/nuttx/s2740vc-v1.bin
 # HWNAME ${uavcanblid_name}
 # HW_MAJOR ${uavcanblid_hw_version_major}
 # HW_MINOR ${uavcanblid_hw_version_minor}

cmake/configs/nuttx_tap-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
 

cmake/configs/posix_bebop_default.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 

cmake/configs/posix_eagle_hil.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 

cmake/configs/posix_eagle_muorb.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 

cmake/configs/posix_ocpoc_cross.cmake

@@ -6,7 +6,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC

cmake/configs/posix_ocpoc_ubuntu.cmake

@@ -5,7 +5,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC

cmake/configs/posix_rpi_common.cmake

@@ -1,7 +1,6 @@
 # This file is shared between posix_rpi_native.cmake
 # and posix_rpi_cross.cmake.
 
-include(posix/px4_impl_posix)
 
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the RPi.

cmake/configs/posix_sdflight_default.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/posix_sdflight_legacy.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 

cmake/configs/posix_sitl_default.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 

cmake/configs/posix_sitl_replay.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 

cmake/configs/qurt_eagle_hello.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/configs/qurt_eagle_hil.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/configs/qurt_eagle_muorb.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/configs/qurt_eagle_test.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/configs/qurt_eagle_travis.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 set(CONFIG_SHMEM "1")
 

cmake/configs/qurt_sdflight_default.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/configs/qurt_sdflight_legacy.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")

cmake/cygwin_cygpath.cmake

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,16 +32,19 @@
 ############################################################################
 
 #=============================================================================
-# FILE: posix/px4_target_impl.cmake
 #
-# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
-# rules for their target that implement the following macros:
+#	Converts a cygwin path (/cygdrive/c/...) to a mixed windows path (C:/...)
 #
-#	px4_target_set_flags
-#	px4_target_validate_config
-#	px4_target_firmware
-#	px4_target_rules
-#	px4_target_testing
-#
-# The macros are called from the top level CMakeLists.txt
+#	It is called on every platform but only adjusts the output when
+#	called inside the cygwin environment.
 #
+
+macro (CYGPATH _path _cygpath)
+	if (CMAKE_HOST_SYSTEM_NAME STREQUAL CYGWIN)
+		EXECUTE_PROCESS(COMMAND cygpath.exe -m ${${_path}}
+		OUTPUT_VARIABLE ${_cygpath})
+		string (STRIP ${${_cygpath}} ${_cygpath})
+	else()
+		set(${_cygpath} ${${_path}})
+	endif ()
+endmacro (CYGPATH)

cmake/qurt/qurt_eigen.patch

@@ -1,37 +0,0 @@
-diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
-index 1ca1d66..9bc928b 100644
---- a/Eigen/src/Core/util/Macros.h
-+++ b/Eigen/src/Core/util/Macros.h
-@@ -194,6 +194,12 @@
-   #define EIGEN_ARCH_PPC 0
- #endif
- 
-+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
-+#ifdef __HEXAGON_ARCH__
-+  #define EIGEN_ARCH_HEXAGON 1
-+#else
-+  #define EIGEN_ARCH_HEXAGON 0
-+#endif
- 
- 
- // Operating system identification, EIGEN_OS_*
-@@ -334,15 +340,16 @@
- #endif
- 
- // Do we support r-value references?
--#if (__has_feature(cxx_rvalue_references) || \
-+#if ((__has_feature(cxx_rvalue_references) || \
-     (defined(__cplusplus) && __cplusplus >= 201103L) || \
-      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
--    (EIGEN_COMP_MSVC >= 1600))
-+    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
-   #define EIGEN_HAVE_RVALUE_REFERENCES
- #endif
- 
- // Does the compiler support result_of?
--#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
-+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
-+    (!defined(EIGEN_ARCH_HEXAGON)))
- #define EIGEN_HAS_STD_RESULT_OF 1
- #endif
- 

cmake/test/cmake_tester.py

@@ -1,52 +0,0 @@
-#!/usr/bin/env python
-"""
-The module facilitates testing in cmake.
-It  takes a command and a regex for failure ok passing.
-It passes if:
-    * No stderr output.
-    * Stdout doesn't match failure regex.
-    * Stdout matches ok regex if given.
-"""
-from __future__ import print_function
-import argparse
-import subprocess
-import re
-import sys
-
-#pylint: disable=invalid-name
-
-parser = argparse.ArgumentParser()
-
-parser.add_argument('cmd')
-parser.add_argument('--re-fail')
-parser.add_argument('--re-ok')
-parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
-
-parser.set_defaults(verbose=False)
-args = parser.parse_args()
-
-proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-stdout, stderr = proc.communicate()
-
-if stderr != "":
-    print(stderr)
-    sys.exit(1)
-
-if args.re_fail is not None:
-    fail_match = re.search(args.re_fail, stdout)
-    if fail_match is not None:
-        print(stdout)
-        sys.exit(1)
-
-if args.re_ok is not None:
-    ok_match = re.search(args.re_ok, stdout)
-    if re.match(args.re_ok, stdout) is None:
-        print(stdout)
-        sys.exit(1)
-
-if args.verbose:
-    print(stdout)
-
-sys.exit(0)
-
-# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

cmake/test/px4_simple_app_correct.txt

@@ -1,27 +0,0 @@
-INFO  Shell id is 47996278451456
-WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-App name: px4
-Enter a command and its args:
-----------------------------------
-Running: uorb
-Returning: uorb
-Enter a command and its args:
-----------------------------------
-Running: accelsim
-Returning: accelsim
-Enter a command and its args:
-----------------------------------
-Running: px4_simple_app
-Hello Sky!
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-Returning: px4_simple_app
-Enter a command and its args:
-----------------------------------
-Running: shutdown
-Shutting down

cmake/test/px4_simple_app_input.txt

@@ -1,4 +0,0 @@
-uorb start
-accelsim start
-px4_simple_app
-shutdown

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -37,21 +37,19 @@
 #
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
-import rosbag
-import time
-
-from std_msgs.msg import Header
-from std_msgs.msg import Float64
-from geometry_msgs.msg import PoseStamped, Quaternion
+from threading import Thread
 from tf.transformations import quaternion_from_euler
-from mavros_msgs.srv import CommandLong
-from sensor_msgs.msg import NavSatFix
-#from px4_test_helper import PX4TestHelper
+from geometry_msgs.msg import PoseStamped, Quaternion, Vector3
+from mavros_msgs.msg import AttitudeTarget, HomePosition, State
+from mavros_msgs.srv import CommandBool, SetMode
+from std_msgs.msg import Header
+
 
 class MavrosOffboardAttctlTest(unittest.TestCase):
     """
@@ -62,90 +60,212 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
     """
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('mavros/cmd/arming', 30)
-        #self.helper = PX4TestHelper("mavros_offboard_attctl_test")
-        #self.helper.setUp()
-
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
-        self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self.rate = rospy.Rate(10) # 10hz
-        self.has_global_pos = False
         self.local_position = PoseStamped()
+        self.state = State()
+        self.att = AttitudeTarget()
+        self.sub_topics_ready = {
+            key: False
+            for key in ['local_pos', 'home_pos', 'state']
+        }
+
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
+
+        self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
+        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
+                                              PoseStamped,
+                                              self.local_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.att_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=10)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.att_thread = Thread(target=self.send_att, args=())
+        self.att_thread.daemon = True
+        self.att_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
+    def local_position_callback(self, data):
         self.local_position = data
 
-    def global_position_callback(self, data):
-        self.has_global_pos = True
+        if not self.sub_topics_ready['local_pos']:
+            self.sub_topics_ready['local_pos'] = True
 
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
+
+    def state_callback(self, data):
+        self.state = data
+
+        if not self.sub_topics_ready['state']:
+            self.sub_topics_ready['state'] = True
+
+    #
+    # Helper methods
+    #
+    def send_att(self):
+        rate = rospy.Rate(10)  # Hz
+        self.att.body_rate = Vector3()
+        self.att.header = Header()
+        self.att.header.frame_id = "base_footprint"
+        self.att.orientation = Quaternion(*quaternion_from_euler(0.25, 0.25,
+                                                                 0))
+        self.att.thrust = 0.7
+        self.att.type_mask = 7  # ignore body rate
+
+        while not rospy.is_shutdown():
+            self.att.header.stamp = rospy.Time.now()
+            self.att_setpoint_pub.publish(self.att)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, self.state.mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, old_mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, self.state.armed, timeout)))
+
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
+    #
+    # Test method
+    #
     def test_attctl(self):
         """Test offboard attitude control"""
+        # boundary to cross
+        boundary_x = 5
+        boundary_y = 5
+        boundary_z = -5
 
-        # FIXME: hack to wait for simulation to be ready
-        while not self.has_global_pos:
-            self.rate.sleep()
+        # delay starting the mission
+        self.wait_for_topics(30)
 
-        # set some attitude and thrust
-        att = PoseStamped()
-        att.header = Header()
-        att.header.frame_id = "base_footprint"
-        att.header.stamp = rospy.Time.now()
-        quaternion = quaternion_from_euler(0.25, 0.25, 0)
-        att.pose.orientation = Quaternion(*quaternion)
+        rospy.loginfo("seting mission mode")
+        self.set_mode("OFFBOARD", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
-        throttle = Float64()
-        throttle.data = 0.7
-        armed = False
-
-        # does it cross expected boundaries in X seconds?
-        count = 0
-        timeout = 120
-        while count < timeout:
-            # update timestamp for each published SP
-            att.header.stamp = rospy.Time.now()
-
-            self.pub_att.publish(att)
-            #self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
-            self.pub_thr.publish(throttle)
-            #self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
-            self.rate.sleep()
-
-            # FIXME: arm and switch to offboard
-            # (need to wait the first few rounds until PX4 has the offboard stream)
-            if not armed and count > 5:
-                self._srv_cmd_long(False, 176, False,
-                                   1, 6, 0, 0, 0, 0, 0)
-                # make sure the first command doesn't get lost
-                time.sleep(1)
-
-                self._srv_cmd_long(False, 400, False,
-                                   # arm
-                                   1, 0, 0, 0, 0, 0, 0)
-
-                armed = True
-
-            if (self.local_position.pose.position.x > 5
-                    and self.local_position.pose.position.z > 5
-                    and self.local_position.pose.position.y < -5):
+        rospy.loginfo("run mission")
+        rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
+                      format(boundary_x, boundary_y, boundary_z))
+        # does it cross expected boundaries in 'timeout' seconds?
+        timeout = 12  # (int) seconds
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        crossed = False
+        for i in xrange(timeout * loop_freq):
+            if (self.local_position.pose.position.x > boundary_x and
+                    self.local_position.pose.position.z > boundary_y and
+                    self.local_position.pose.position.y < boundary_z):
+                rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                crossed = True
                 break
-            count = count + 1
 
-        self.assertTrue(count < timeout, "took too long to cross boundaries")
+            rate.sleep()
+
+        self.assertTrue(crossed, (
+            "took too long to cross boundaries | current position x: {0}, y: {1}, z: {2} | timeout(seconds): {3}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z, timeout)))
+
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
-    #unittest.main()
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_attctl_test',
+                   MavrosOffboardAttctlTest)

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -37,24 +37,21 @@
 #
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
 import math
-import rosbag
-import time
-
-from numpy import linalg
 import numpy as np
-
-from std_msgs.msg import Header
-from geometry_msgs.msg import PoseStamped, Quaternion
+from threading import Thread
 from tf.transformations import quaternion_from_euler
-from mavros_msgs.srv import CommandLong
-from sensor_msgs.msg import NavSatFix
-#from px4_test_helper import PX4TestHelper
+from geometry_msgs.msg import PoseStamped, Quaternion
+from mavros_msgs.msg import HomePosition, State
+from mavros_msgs.srv import CommandBool, SetMode
+from std_msgs.msg import Header
+
 
 class MavrosOffboardPosctlTest(unittest.TestCase):
     """
@@ -62,115 +59,236 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
     via MAVROS.
 
     For the test to be successful it needs to reach all setpoints in a certain time.
+
     FIXME: add flight path assertion (needs transformation from ROS frame to NED)
     """
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-        #self.helper = PX4TestHelper("mavros_offboard_posctl_test")
-        #self.helper.setUp()
-
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self.rate = rospy.Rate(10) # 10hz
-        self.has_global_pos = False
         self.local_position = PoseStamped()
-        self.armed = False
+        self.state = State()
+        self.pos = PoseStamped()
+        self.sub_topics_ready = {
+            key: False
+            for key in ['local_pos', 'home_pos', 'state']
+        }
+
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
+
+        self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
+        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
+                                              PoseStamped,
+                                              self.local_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.pos_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_position/local', PoseStamped, queue_size=10)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.pos_thread = Thread(target=self.send_pos, args=())
+        self.pos_thread.daemon = True
+        self.pos_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
+    def local_position_callback(self, data):
         self.local_position = data
 
-    def global_position_callback(self, data):
-        self.has_global_pos = True
+        if not self.sub_topics_ready['local_pos']:
+            self.sub_topics_ready['local_pos'] = True
+
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
+
+    def state_callback(self, data):
+        self.state = data
+
+        if not self.sub_topics_ready['state']:
+            self.sub_topics_ready['state'] = True
 
     #
     # Helper methods
     #
+    def send_pos(self):
+        rate = rospy.Rate(10)  # Hz
+        self.pos.header = Header()
+        self.pos.header.frame_id = "base_footprint"
+
+        while not rospy.is_shutdown():
+            self.pos.header.stamp = rospy.Time.now()
+            self.pos_setpoint_pub.publish(self.pos)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, old_mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, self.state.mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, self.state.armed, timeout)))
+
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
     def is_at_position(self, x, y, z, offset):
-        rospy.logdebug("current position %f, %f, %f" %
-                       (self.local_position.pose.position.x,
-                       self.local_position.pose.position.y,
-                       self.local_position.pose.position.z))
+        rospy.logdebug("current position | x:{0}, y:{1}, z:{2}".format(
+            self.local_position.pose.position.x, self.local_position.pose.
+            position.y, self.local_position.pose.position.z))
 
         desired = np.array((x, y, z))
         pos = np.array((self.local_position.pose.position.x,
                         self.local_position.pose.position.y,
                         self.local_position.pose.position.z))
-        return linalg.norm(desired - pos) < offset
+        return np.linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
         # set a position setpoint
-        pos = PoseStamped()
-        pos.header = Header()
-        pos.header.frame_id = "base_footprint"
-        pos.pose.position.x = x
-        pos.pose.position.y = y
-        pos.pose.position.z = z
+        self.pos.pose.position.x = x
+        self.pos.pose.position.y = y
+        self.pos.pose.position.z = z
+        rospy.loginfo("attempting to reach position | x: {0}, y: {1}, z: {2}".
+                      format(x, y, z))
 
         # For demo purposes we will lock yaw/heading to north.
         yaw_degrees = 0  # North
         yaw = math.radians(yaw_degrees)
         quaternion = quaternion_from_euler(0, 0, yaw)
-        pos.pose.orientation = Quaternion(*quaternion)
+        self.pos.pose.orientation = Quaternion(*quaternion)
 
-        # does it reach the position in X seconds?
-        count = 0
-        while count < timeout:
-            # update timestamp for each published SP
-            pos.header.stamp = rospy.Time.now()
-            self.pub_spt.publish(pos)
-            #self.helper.bag_write('mavros/setpoint_position/local', pos)
-
-            # FIXME: arm and switch to offboard
-            # (need to wait the first few rounds until PX4 has the offboard stream)
-            if not self.armed and count > 5:
-                self._srv_cmd_long(False, 176, False,
-                                   1, 6, 0, 0, 0, 0, 0)
-                # make sure the first command doesn't get lost
-                time.sleep(1)
-
-                self._srv_cmd_long(False, 400, False,
-                                   # arm
-                                   1, 0, 0, 0, 0, 0, 0)
-
-                self.armed = True
-
-            if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 1):
+        # does it reach the position in 'timeout' seconds?
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        reached = False
+        for i in xrange(timeout * loop_freq):
+            if self.is_at_position(self.pos.pose.position.x,
+                                   self.pos.pose.position.y,
+                                   self.pos.pose.position.z, 1):
+                rospy.loginfo("position reached | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                reached = True
                 break
-            count = count + 1
-            self.rate.sleep()
 
-        self.assertTrue(count < timeout, "took too long to get to position")
+            rate.sleep()
 
+        self.assertTrue(reached, (
+            "took too long to get to position | current position x: {0}, y: {1}, z: {2} | timeout(seconds): {3}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z, timeout)))
+
+    #
+    # Test method
+    #
     def test_posctl(self):
         """Test offboard position control"""
 
-        # FIXME: hack to wait for simulation to be ready
-        while not self.has_global_pos:
-            self.rate.sleep()
+        # delay starting the mission
+        self.wait_for_topics(30)
 
-        positions = (
-            (0, 0, 0),
-            (2, 2, 2),
-            (2, -2, 2),
-            (-2, -2, 2),
-            (2, 2, 2))
+        rospy.loginfo("seting mission mode")
+        self.set_mode("OFFBOARD", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
-        for i in range(0, len(positions)):
-            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 180)
+        rospy.loginfo("run mission")
+        positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2))
+
+        for i in xrange(len(positions)):
+            self.reach_position(positions[i][0], positions[i][1],
+                                positions[i][2], 18)
+
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
-    #unittest.main()
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_posctl_test',
+                   MavrosOffboardPosctlTest)

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -38,269 +38,399 @@
 
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
-import math
-import rosbag
-import sys
-import os
-import time
 import glob
 import json
-
-import mavros
-from pymavlink import mavutil
-from mavros import mavlink
-
+import math
+import os
 import px4tools
-
-from geometry_msgs.msg import PoseStamped
-from mavros_msgs.srv import CommandLong, WaypointPush
-from mavros_msgs.msg import Mavlink, Waypoint, ExtendedState
-from sensor_msgs.msg import NavSatFix
+import sys
+from mavros import mavlink
 from mavros.mission import QGroundControlWP
-#from px4_test_helper import PX4TestHelper
+from pymavlink import mavutil
+from threading import Thread
+from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, Mavlink, \
+                            State, Waypoint
+from mavros_msgs.srv import CommandBool, SetMode, WaypointPush
+from sensor_msgs.msg import NavSatFix
+
 
 def get_last_log():
     try:
         log_path = os.environ['PX4_LOG_DIR']
     except KeyError:
-        log_path = os.path.join(os.environ['HOME'], 'ros/rootfs/fs/microsd/log')
-    last_log_dir = sorted(
-        glob.glob(os.path.join(log_path, '*')))[-1]
+        log_path = os.path.join(os.environ['HOME'],
+                                '.ros/rootfs/fs/microsd/log')
+    last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
     last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
     return last_log
 
+
 def read_new_mission(f):
     d = json.load(f)
     current = True
     for wp in d['items']:
         yield Waypoint(
-                is_current = current,
-                frame = int(wp['frame']),
-                command = int(wp['command']),
-                param1 = float(wp['param1']),
-                param2 = float(wp['param2']),
-                param3 = float(wp['param3']),
-                param4 = float(wp['param4']),
-                x_lat = float(wp['coordinate'][0]),
-                y_long = float(wp['coordinate'][1]),
-                z_alt = float(wp['coordinate'][2]),
-                autocontinue = bool(wp['autoContinue']))
+            is_current=current,
+            frame=int(wp['frame']),
+            command=int(wp['command']),
+            param1=float(wp['param1']),
+            param2=float(wp['param2']),
+            param3=float(wp['param3']),
+            param4=float(wp['param4']),
+            x_lat=float(wp['coordinate'][0]),
+            y_long=float(wp['coordinate'][1]),
+            z_alt=float(wp['coordinate'][2]),
+            autocontinue=bool(wp['autoContinue']))
         if current:
             current = False
 
+
 class MavrosMissionTest(unittest.TestCase):
     """
     Run a mission
     """
+    # dictionaries correspond to mavros ExtendedState msg
+    LAND_STATES = {
+        0: 'UNDEFINED',
+        1: 'ON_GROUND',
+        2: 'IN_AIR',
+        3: 'TAKEOFF',
+        4: 'LANDING'
+    }
+    VTOL_STATES = {
+        0: 'VTOL UNDEFINED',
+        1: 'VTOL MC->FW',
+        2: 'VTOL FW->MC',
+        3: 'VTOL MC',
+        4: 'VTOL FW'
+    }
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-
-        self.rate = rospy.Rate(10) # 10hz
+        self.rate = rospy.Rate(10)  # 10hz
         self.has_global_pos = False
-        self.local_position = PoseStamped()
         self.global_position = NavSatFix()
         self.extended_state = ExtendedState()
-        self.home_alt = 0
+        self.altitude = Altitude()
+        self.state = State()
         self.mc_rad = 5
         self.fw_rad = 60
         self.fw_alt_rad = 10
-        self.last_alt_d = 9999
-        self.last_pos_d = 9999
+        self.last_alt_d = None
+        self.last_pos_d = None
         self.mission_name = ""
+        self.sub_topics_ready = {
+            key: False
+            for key in ['global_pos', 'home_pos', 'ext_state', 'alt', 'state']
+        }
 
-        # need to simulate heartbeat for datalink loss detection
-        rospy.Timer(rospy.Duration(0.5), self.send_heartbeat)
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/mission/push', 30)
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
 
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self.pub_mavlink = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self._srv_wp_push = rospy.ServiceProxy('mavros/mission/push', WaypointPush, persistent=True)
+        self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
+                                              WaypointPush)
+        self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
+        self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
+                                               NavSatFix,
+                                               self.global_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
+                                              ExtendedState,
+                                              self.extended_state_callback)
+        self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
+                                        self.altitude_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
 
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        rospy.Subscriber("mavros/extended_state", ExtendedState, self.extended_state_callback)
+        # need to simulate heartbeat to prevent datalink loss detection
+        self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
+            mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+        self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+        self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
+        self.hb_thread = Thread(target=self.send_heartbeat, args=())
+        self.hb_thread.daemon = True
+        self.hb_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
-        self.local_position = data
-
     def global_position_callback(self, data):
         self.global_position = data
 
-        if not self.has_global_pos:
-            if data.altitude != 0:
-                self.home_alt = data.altitude
-                self.has_global_pos = True
+        if not self.sub_topics_ready['global_pos']:
+            self.sub_topics_ready['global_pos'] = True
+
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
 
     def extended_state_callback(self, data):
+        if self.extended_state.vtol_state != data.vtol_state:
+            rospy.loginfo("VTOL state changed from {0} to {1}".format(
+                self.VTOL_STATES.get(self.extended_state.vtol_state),
+                self.VTOL_STATES.get(data.vtol_state)))
 
-        prev_state = self.extended_state.vtol_state;
+        if self.extended_state.landed_state != data.landed_state:
+            rospy.loginfo("landed state changed from {0} to {1}".format(
+                self.LAND_STATES.get(self.extended_state.landed_state),
+                self.LAND_STATES.get(data.landed_state)))
 
         self.extended_state = data
-        if (prev_state != self.extended_state.vtol_state):
-            print("VTOL state change: %d" % self.extended_state.vtol_state);
+
+        if not self.sub_topics_ready['ext_state']:
+            self.sub_topics_ready['ext_state'] = True
+
+    def state_callback(self, data):
+        if self.state.armed != data.armed:
+            rospy.loginfo("armed state changed from {0} to {1}".format(
+                self.state.armed, data.armed))
+
+        if self.state.mode != data.mode:
+            rospy.loginfo("mode changed from {0} to {1}".format(
+                self.state.mode, data.mode))
+
+        self.state = data
+
+        # mavros publishes a disconnected state message on init
+        if not self.sub_topics_ready['state'] and data.connected:
+            self.sub_topics_ready['state'] = True
+
+    def altitude_callback(self, data):
+        self.altitude = data
+
+        # amsl has been observed to be nan while other fields are valid
+        if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
+            self.sub_topics_ready['alt'] = True
 
     #
     # Helper methods
     #
+    def send_heartbeat(self):
+        rate = rospy.Rate(2)  # Hz
+        while not rospy.is_shutdown():
+            self.mavlink_pub.publish(self.hb_ros_msg)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, old_mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, old_mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, old_arm, timeout)))
+
     def is_at_position(self, lat, lon, alt, xy_offset, z_offset):
-        R = 6371000 # metres
+        """alt(amsl), xy_offset, z_offset: meters"""
+        R = 6371000  # metres
         rlat1 = math.radians(lat)
         rlat2 = math.radians(self.global_position.latitude)
 
         rlat_d = math.radians(self.global_position.latitude - lat)
         rlon_d = math.radians(self.global_position.longitude - lon)
 
-        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) +
-             math.cos(rlat1) * math.cos(rlat2) *
-             math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
-        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + math.cos(rlat1) *
+             math.cos(rlat2) * math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
+        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
 
         d = R * c
-        alt_d = abs(alt - self.global_position.altitude)
-
-        #rospy.loginfo("d: %f, alt_d: %f", d, alt_d)
+        alt_d = abs(alt - self.altitude.amsl)
 
         # remember best distances
-        if self.last_pos_d > d:
+        if not self.last_pos_d or self.last_pos_d > d:
             self.last_pos_d = d
-        if self.last_alt_d > alt_d:
+        if not self.last_alt_d or self.last_alt_d > alt_d:
             self.last_alt_d = alt_d
 
+        rospy.logdebug("d: {0}, alt_d: {1}".format(d, alt_d))
         return d < xy_offset and alt_d < z_offset
 
     def reach_position(self, lat, lon, alt, timeout, index):
+        """alt(amsl): meters, timeout(int): seconds"""
         # reset best distances
-        self.last_alt_d = 9999
-        self.last_pos_d = 9999
+        self.last_alt_d = None
+        self.last_pos_d = None
 
-        rospy.loginfo("trying to reach waypoint " +
-            "lat: %13.9f, lon: %13.9f, alt: %6.2f, timeout: %d, index: %d" %
-            (lat, lon, alt, timeout, index))
+        rospy.loginfo(
+            "trying to reach waypoint | lat: {0:13.9f}, lon: {1:13.9f}, alt: {2:6.2f}, index: {3}".
+            format(lat, lon, alt, index))
 
-        # does it reach the position in X seconds?
-        count = 0
-        while count < timeout:
+        # does it reach the position in 'timeout' seconds?
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        reached = False
+        for i in xrange(timeout * loop_freq):
             # use MC radius by default
             # FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work
             xy_radius = self.mc_rad
             z_radius = self.mc_rad
 
             # use FW radius if in FW or in transition
-            if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW or
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
+            if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW
+                    or self.extended_state.vtol_state ==
+                    ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
+                    self.extended_state.vtol_state ==
+                    ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
                 xy_radius = self.fw_rad
                 z_radius = self.fw_alt_rad
 
             if self.is_at_position(lat, lon, alt, xy_radius, z_radius):
-                rospy.loginfo("position reached, index: %d, count: %d, pos_d: %f, alt_d: %f" %
-                    (index, count, self.last_pos_d, self.last_alt_d))
+                reached = True
+                rospy.loginfo(
+                    "position reached | pos_d: {0:.2f}, alt_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
+                    format(self.last_pos_d, self.last_alt_d, index, i /
+                           loop_freq, timeout))
                 break
 
-            count = count + 1
-            self.rate.sleep()
+            rate.sleep()
 
-        vtol_state_string = "VTOL undefined"
+        self.assertTrue(reached, (
+            "({0}) took too long to get to position | lat: {1:13.9f}, lon: {2:13.9f}, alt: {3:6.2f}, xy off: {4}, z off: {5}, pos_d: {6:.2f}, alt_d: {7:.2f}, VTOL state: {8}, index: {9} | timeout(seconds): {10}".
+            format(self.mission_name, lat, lon, alt, xy_radius, z_radius,
+                   self.last_pos_d, self.last_alt_d,
+                   self.VTOL_STATES.get(self.extended_state.vtol_state), index,
+                   timeout)))
 
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
-            vtol_state_string = "VTOL MC"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
-            vtol_state_string = "VTOL FW"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC):
-            vtol_state_string = "VTOL FW->MC"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
-            vtol_state_string = "VTOL MC->FW"
-
-        self.assertTrue(count < timeout, (("(%s) took too long to get to position " +
-            "lat: %13.9f, lon: %13.9f, alt: %6.2f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f, VTOL state: %s") %
-            (self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d, vtol_state_string)))
-
-    def run_mission(self):
-	# Hack to wait until vehicle is ready
-	# TODO better integration with pre-flight status reporting
-	time.sleep(5)
-	"""switch mode: auto and arm"""
-        self._srv_cmd_long(False, 176, False,
-                           # custom, auto, mission
-                           1, 4, 4, 0, 0, 0, 0)
-        # make sure the first command doesn't get lost
-        time.sleep(1)
-
-        self._srv_cmd_long(False, 400, False,
-                           # arm
-                           1, 0, 0, 0, 0, 0, 0)
-
-    def wait_until_ready(self):
-        """FIXME: hack to wait for simulation to be ready"""
-        while not self.has_global_pos:
-            self.rate.sleep()
-
-    def wait_on_landing(self, timeout, index):
-        """Wait for landed state"""
-
-        rospy.loginfo("waiting for landing " +
-            "timeout: %d, index: %d" %
-            (timeout, index))
-
-        count = 0
-        while count < timeout:
-            if self.extended_state.landed_state == ExtendedState.LANDED_STATE_ON_GROUND:
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
                 break
 
-            count = count + 1
-            self.rate.sleep()
+            rate.sleep()
 
-        self.assertTrue(count < timeout, ("(%s) landing not detected after landing WP " +
-            "timeout: %d, index: %d") %
-            (self.mission_name, timeout, index))
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
+    def wait_on_landed_state(self, desired_landed_state, timeout, index):
+        rospy.loginfo(
+            "waiting for landed state | state: {0}, index: {1}".format(
+                self.LAND_STATES.get(desired_landed_state), index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        landed_state_confirmed = False
+        for i in xrange(timeout * loop_freq):
+            if self.extended_state.landed_state == desired_landed_state:
+                landed_state_confirmed = True
+                rospy.loginfo(
+                    "landed state confirmed | state: {0}, index: {1}".format(
+                        self.LAND_STATES.get(desired_landed_state), index))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(landed_state_confirmed, (
+            "({0}) landed state not detected | desired: {1}, current: {2} | index: {3}, timeout(seconds): {4}".
+            format(self.mission_name,
+                   self.LAND_STATES.get(desired_landed_state),
+                   self.LAND_STATES.get(self.extended_state.landed_state),
+                   index, timeout)))
 
     def wait_on_transition(self, transition, timeout, index):
-        """Wait for VTOL transition"""
-
-        rospy.loginfo("waiting for VTOL transition " +
-            "transition: %d, timeout: %d, index: %d" %
-            (transition, timeout, index))
-
-        count = 0
-        while count < timeout:
-            # transition to MC
-            if (transition == ExtendedState.VTOL_STATE_MC and
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
+        """Wait for VTOL transition, timeout(int): seconds"""
+        rospy.loginfo(
+            "waiting for VTOL transition | transition: {0}, index: {1}".format(
+                self.VTOL_STATES.get(transition), index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        transitioned = False
+        for i in xrange(timeout * loop_freq):
+            if transition == self.extended_state.vtol_state:
+                rospy.loginfo(
+                    "transitioned | index: {0} | seconds: {1} of {2}".format(
+                        index, i / loop_freq, timeout))
+                transitioned = True
                 break
 
-            # transition to FW
-            if (transition == ExtendedState.VTOL_STATE_FW and
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
-                break
+            rate.sleep()
 
-            count = count + 1
-            self.rate.sleep()
-
-        self.assertTrue(count < timeout, ("(%s) transition not detected " +
-            "timeout: %d, index: %d") %
-            (self.mission_name, timeout, index))
-
-    def send_heartbeat(self, event=None):
-        # mav type gcs
-        mavmsg = mavutil.mavlink.MAVLink_heartbeat_message(6, 0, 0, 0, 0, 0)
-        # XXX: hack: using header object to set mav properties
-        mavmsg.pack(mavutil.mavlink.MAVLink_header(0, 0, 0, 2, 1))
-        rosmsg = mavlink.convert_to_rosmsg(mavmsg)
-        self.pub_mavlink.publish(rosmsg)
+        self.assertTrue(transitioned, (
+            "({0}) transition not detected | index: {1} | timeout(seconds): {2}, ".
+            format(self.mission_name, index, timeout)))
 
+    #
+    # Test method
+    #
     def test_mission(self):
         """Test mission"""
 
@@ -309,11 +439,11 @@ class MavrosMissionTest(unittest.TestCase):
             return
 
         self.mission_name = sys.argv[1]
-        mission_file = os.path.dirname(os.path.realpath(__file__)) + "/" + sys.argv[1]
+        mission_file = os.path.dirname(
+            os.path.realpath(__file__)) + "/" + sys.argv[1]
 
-        rospy.loginfo("reading mission %s", mission_file)
+        rospy.loginfo("reading mission {0}".format(mission_file))
         wps = []
-
         with open(mission_file, 'r') as f:
             mission_ext = os.path.splitext(mission_file)[1]
             if mission_ext == '.mission':
@@ -330,62 +460,79 @@ class MavrosMissionTest(unittest.TestCase):
             else:
                 raise IOError('unknown mission file extension', mission_ext)
 
-        rospy.loginfo("wait until ready")
-        self.wait_until_ready()
-
         rospy.loginfo("send mission")
-        res = self._srv_wp_push(wps)
-        rospy.loginfo(res)
-        self.assertTrue(res.success, "(%s) mission could not be transfered" % self.mission_name)
+        result = False
+        try:
+            res = self.wp_push_srv(start_index=0, waypoints=wps)
+            result = res.success
+        except rospy.ServiceException as e:
+            rospy.logerr(e)
+        self.assertTrue(
+            result,
+            "({0}) mission could not be transfered".format(self.mission_name))
+
+        # delay starting the mission
+        self.wait_for_topics(30)
+
+        # make sure the simulation is ready to start the mission
+        self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND, 10, -1)
+
+        rospy.loginfo("seting mission mode")
+        self.set_mode("AUTO.MISSION", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
         rospy.loginfo("run mission")
-        self.run_mission()
-
-        index = 0
-        for waypoint in wps:
+        for index, waypoint in enumerate(wps):
             # only check position for waypoints where this makes sense
             if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or waypoint.frame == Waypoint.FRAME_GLOBAL:
                 alt = waypoint.z_alt
                 if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
-                    alt += self.home_alt
+                    alt += self.altitude.amsl - self.altitude.relative
 
-                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index)
+                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
+                                    index)
 
             # check if VTOL transition happens if applicable
             if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000:
                 transition = waypoint.param1
 
-                if waypoint.command == 84: # VTOL takeoff implies transition to FW
+                if waypoint.command == 84:  # VTOL takeoff implies transition to FW
                     transition = ExtendedState.VTOL_STATE_FW
 
-                if waypoint.command == 85: # VTOL takeoff implies transition to MC
+                if waypoint.command == 85:  # VTOL takeoff implies transition to MC
                     transition = ExtendedState.VTOL_STATE_MC
 
-                self.wait_on_transition(transition, 600, index)
+                self.wait_on_transition(transition, 60, index)
 
             # after reaching position, wait for landing detection if applicable
             if waypoint.command == 85 or waypoint.command == 21:
-                self.wait_on_landing(600, index)
+                self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND,
+                                          60, index)
 
-            index += 1
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
         rospy.loginfo("mission done, calculating performance metrics")
         last_log = get_last_log()
-        rospy.loginfo("log file %s", last_log)
-        data = px4tools.ulog.read_ulog(last_log).concat(dt=0.1)
-        data = px4tools.ulog.compute_data(data)
+        rospy.loginfo("log file {0}".format(last_log))
+        data = px4tools.read_ulog(last_log).concat(dt=0.1)
+        data = px4tools.compute_data(data)
         res = px4tools.estimator_analysis(data, False)
 
         # enforce performance
-        self.assertTrue(abs(res['roll_error_mean'])  < 5.0, str(res))
+        self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
         self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
         self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
         self.assertTrue(res['roll_error_std'] < 5.0, str(res))
         self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
         self.assertTrue(res['yaw_error_std'] < 5.0, str(res))
 
+
 if __name__ == '__main__':
     import rostest
+    rospy.init_node('test_node', anonymous=True)
+
     name = "mavros_mission_test"
     if len(sys.argv) > 1:
         name += "-%s" % sys.argv[1]

integrationtests/run_container.bash

@@ -1,31 +0,0 @@
-#!/bin/bash
-#
-# Run container and start test execution
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-if [ -z "$WORKSPACE" ]; then
-    echo "\$WORKSPACE not set"
-    exit 1
-fi
-
-IMAGE=px4io/px4-dev-ros:v1.0
-
-# Pulling latest image
-echo "===> pull latest Docker image"
-docker pull $IMAGE
-
-# removing some images might fail
-set +e
-docker rmi $(docker images --filter "dangling=true" -q --no-trunc)
-set -e
-echo "<==="
-
-#
-# Running SITL testing container
-# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
-#
-echo "===> run container"
-docker run --rm -v "$WORKSPACE:/job:rw" $IMAGE bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
-echo "<==="

integrationtests/run_tests.bash

@@ -1,140 +0,0 @@
-#!/bin/bash
-#
-# Starts tests from within the container
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-# TODO move to docker image
-pip install --upgrade numpy -q
-pip install px4tools pymavlink toml -q
-
-# A POSIX variable
-OPTIND=1         # Reset in case getopts has been used previously in the shell.
-
-# Initialize our own variables:
-do_clean=true
-gui=false
-
-while getopts "h?og" opt; do
-    case "$opt" in
-    h|\?)
-		echo """
-		$0 [-h] [-o] [-g]
-		-h show help
-		-o don't clean before building (to save time)
-		-g run gazebo gui
-		"""
-        exit 0
-        ;;
-    o)  do_clean=false
-		echo "not cleaning"
-        ;;
-    g)  gui=true
-        ;;
-    esac
-done
-
-
-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
-
-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
-
-echo setting up ROS paths
-if [ -f /opt/ros/indigo/setup.bash ]
-then
-	source /opt/ros/indigo/setup.bash
-elif [ -f /opt/ros/kinetic/setup.bash ]
-then
-	source /opt/ros/kinetic/setup.bash
-else
-	echo "could not find /opt/ros/{ros-distro}/setup.bash"
-	exit 1
-fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-export PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
-
-if $do_clean
-then
-	echo cleaning
-	rm -rf $CATKIN_DIR
-	rm -rf $ROS_HOME
-	rm -rf $TEST_RESULT_TARGET_DIR
-else
-	echo skipping clean step
-fi
-
-echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
-	ln -s $ORIG_SRC $SRC_DIR
-	ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
-echo "<====="
-
-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
-# don't exit on error anymore (because single tests or exports might fail)
-# however, stop executing tests after the first failure
-set +e
-echo "=====> run tests"
-test $? -eq 0 && rostest px4 mavros_posix_tests_iris.launch gui:=$gui
-
-# commented out optical flow test for now since ci server has
-# an issue producing the simulated flow camera currently
-#test $? -eq 0 && rostest px4 mavros_posix_tests_iris_opt_flow.launch gui:=$gui
-
-test $? -eq 0 && rostest px4 mavros_posix_tests_standard_vtol.launch gui:=$gui
-TEST_RESULT=$?
-echo "<====="
-
-# TODO
-echo "=====> process test results"
-# cd $BAGS
-# for bag in `ls *.bag`
-# do
-# 	echo "processing bag: $bag"
-# 	python $EXPORT_CHARTS $CHARTS $bag
-# done
-
-echo "copy build test results to job directory"
-cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-# cp $BAGS/*.bag ${TEST_RESULT_TARGET_DIR}/
-# cp -r $CHARTS ${TEST_RESULT_TARGET_DIR}/
-echo "<====="
-
-# need to return error if tests failed, else Jenkins won't notice the failure
-exit $TEST_RESULT

integrationtests/upload_test_logs.bash

@@ -1,19 +0,0 @@
-#!/bin/bash
-#
-# Upload SITL CI logs to Flight Review
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ -z "$WORKSPACE" ] || [ -z "${ghprbActualCommitAuthorEmail}" ] || [ -z "${ghprbPullDescription}" ]; then
-    echo "Environment not set. Needs to be called from within Jenkins."
-    exit 1
-fi
-
-echo "Uploading test logs to Flight Review"
-
-CMD="$WORKSPACE/Firmware/Tools/upload_log.py"
-find "$WORKSPACE/test_results" -name \*.ulg -exec "$CMD" -q \
-	--description "${ghprbPullDescription}" --source CI "{}" \;
-
-# XXX: move up if we want email notifications
-#	--email "${ghprbActualCommitAuthorEmail}" \

launch/mavros_posix_sitl.launch

@@ -9,7 +9,7 @@
     <arg name="Y" default="0"/>
 
 
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>

launch/posix_sitl.launch

@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
@@ -40,4 +40,4 @@
 
 </launch>
 
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

launch/single_vehcile_spawn.launch

@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>

msg/estimator_status.msg

@@ -86,6 +86,7 @@ float32 pos_test_ratio # ratio of the largest horizontal position innovation com
 float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
 float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
 float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
+float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
 
 uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
 # 0 - True if the attitude estimate is good

msg/vehicle_status.msg

@@ -63,7 +63,6 @@ uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual co
 bool data_link_lost				# datalink to GCS lost
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
-bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
 bool mission_failure				# Set to true if mission could not continue/finish
 
 # see SYS_STATUS mavlink message for the following

msg/vehicle_status_flags.msg

@@ -43,15 +43,9 @@ uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
 uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
 uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
-uint16 RC_SIGNAL_LOST_CMD_MASK = 128
 uint16 RC_INPUT_BLOCKED_MASK = 256
-uint16 DATA_LINK_LOST_CMD_MASK = 512
 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
-uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
 uint16 GPS_FAILURE_MASK = 4096
-uint16 GPS_FAILURE_CMD_MASK = 8192
-uint16 BAROMETER_FAILURE_MASK = 16384
-uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 
 # 0x0001 usb_connected: status of the USB power supply
 # 0x0002 offboard_control_signal_found_once
@@ -60,14 +54,8 @@ uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 # 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
 # 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
 # 0x0040 rc_signal_found_once
-# 0x0080 rc_signal_lost_cmd: true if RC lost mode is commanded
 # 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
-# 0x0200 data_link_lost_cmd: datalink to GCS lost mode commanded
 # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
-# 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
 # 0x1000 gps_failure: Set to true if a gps failure is detected
-# 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
-# 0x4000 barometer_failure: Set to true if a barometer failure is detected
-# 0x8000 ever_had_barometer_data: Set to true if ever had valid barometer data before
 
 uint16 other_flags

msg/vtol_vehicle_status.msg

@@ -4,11 +4,9 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
-uint8 VEHICLE_VTOL_STATE_EXTERNAL = 5
 
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe	# vtol in transition failsafe mode
 bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot			# Estimated airspeed over control surfaces

nuttx-configs/PX4_Warnings.mk

@@ -1,74 +0,0 @@
-############################################################################
-# nuttx-configs/PX4_Warnings.mk
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-PX4_ARCHWARNINGS = -Wall \
-                   -Wextra \
-                   -Werror \
-                   -Wdouble-promotion \
-                   -Wframe-larger-than=1024 \
-                   -Wlogical-op \
-                   -Wpacked \
-                   -Wpointer-arith \
-                   -Wshadow \
-                   -Wno-sign-compare \
-                   -Wno-unused-parameter \
-                   -Wno-nonnull-compare \
-                   -Wno-implicit-fallthrough
-                   #-Wno-misleading-indentation # re-enable GCC >= 6
-
-#   -Wimplicit-fallthrough - generates compilation errors with GCC >= 7
-#   -Wnonnull-compare      - generates compilation errors with GCC >= 7
-#   -Wcast-qual            - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion           - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align           - would help catch bad casts in some cases, but generates too many false positives
-
-PX4_ARCHCWARNINGS = \
-                   -Wbad-function-cast \
-                   -Wmissing-parameter-type \
-                   -Wnested-externs \
-                   -Wstrict-prototypes \
-                   -Wno-bad-function-cast \
-                   -Wno-cpp \
-                   -Wno-implicit-function-declaration \
-                   -Wno-maybe-uninitialized \
-                   -Wno-missing-field-initializers \
-                   -Wno-nested-externs \
-                   -Wno-old-style-declaration \
-                   -Wno-pointer-sign \
-                   -Wno-type-limits
-
-PX4_ARCHWARNINGSXX = \
-                   -Wno-cpp \
-                   -Wno-psabi

nuttx-configs/aerocore2/nsh/Make.defs

@@ -1,165 +0,0 @@
-############################################################################
-# nuttx-configs/aerocore2/nsh/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =
-

nuttx-configs/aerocore2/src/Makefile

@@ -1,86 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS += -I$(TOPDIR)/sched
-
-ASRCS =
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-
-CSRCS = empty.c
-COBJS = $(CSRCS:.c=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS)
-OBJS = $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep

nuttx-configs/aerocore2/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/aerofc-v1/nsh/Make.defs

@@ -1,164 +0,0 @@
-############################################################################
-# configs/tap-v1/nsh/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =

nuttx-configs/aerofc-v1/src/Makefile

@@ -1,87 +0,0 @@
-############################################################################
-# configs/tap-v1/src/Makefile
-#
-#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS		+= -I$(TOPDIR)/sched
-
-ASRCS		=
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-             -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-             -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep

nuttx-configs/aerofc-v1/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/auav-x21/nsh/Make.defs

@@ -1,164 +0,0 @@
-############################################################################
-# configs/auav_x21/nsh/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =

nuttx-configs/auav-x21/src/Makefile

@@ -1,87 +0,0 @@
-############################################################################
-# configs/auav_x21/src/Makefile
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS		+= -I$(TOPDIR)/sched
-
-ASRCS		=
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep

nuttx-configs/auav-x21/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/crazyflie/nsh/Make.defs

@@ -1,167 +0,0 @@
-############################################################################
-# configs/crazyflie/nsh/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-include $(TOPDIR)/PX4_Warnings.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =
-

nuttx-configs/crazyflie/src/Makefile

@@ -1,88 +0,0 @@
-############################################################################
-# configs/crazyflie/src/Makefile
-#
-#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS		+= -I$(TOPDIR)/sched
-
-ASRCS		= 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep
-

nuttx-configs/crazyflie/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/esc35-v1/nsh/Make.defs

@@ -1,159 +0,0 @@
-############################################################################
-# configs/esc35-v1/nsh/Make.defs
-#
-#   Copyright (C) 2015 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =

nuttx-configs/esc35-v1/src/Makefile

@@ -1,86 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS += -I$(TOPDIR)/sched
-
-ASRCS =
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-
-CSRCS = empty.c
-COBJS = $(CSRCS:.c=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS)
-OBJS = $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep

nuttx-configs/esc35-v1/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/mindpx-v2/nsh/Make.defs

@@ -1,165 +0,0 @@
-############################################################################
-# nuttx-configs/mindpx-v2/nsh/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =
-

nuttx-configs/mindpx-v2/src/Makefile

@@ -1,88 +0,0 @@
-############################################################################
-# configs/px4fmu/src/Makefile
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS		+= -I$(TOPDIR)/sched
-
-ASRCS		= 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep
-

nuttx-configs/mindpx-v2/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/nxphlite-v3/nsh/Make.defs

@@ -1,163 +0,0 @@
-############################################################################
-# nuttx-configs/nxphlite-v3/nsh/Make.defs
-#
-#   Copyright (C) 2011, 2017 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include $(TOPDIR)/PX4_Warnings.mk
-include $(TOPDIR)/PX4_Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 =-Os
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-# Enable precise stack overflow tracking
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
-endif
-
-# Pull in *just* libm from the toolchain ... this is grody
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# Use our linker script
-
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
-endif
-
-# Tool versions
-
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# Optimization flags
-
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
-ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =

nuttx-configs/nxphlite-v3/src/Makefile

@@ -1,86 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2013, 2017 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS		+= -I$(TOPDIR)/sched
-
-ASRCS		=
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
-
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
-
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-	CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
-ifneq ($(BOARD_CONTEXT),y)
-context:
-endif
-
--include Make.dep

nuttx-configs/nxphlite-v3/src/empty.c

@@ -1,4 +0,0 @@
-/*
- * There are no source files here, but libboard.a can't be empty, so
- * we have this empty source file to keep it company.
- */

nuttx-configs/px4-same70xplained-v1/nsh/Make.defs

@@ -1,161 +0,0 @@
-############################################################################
-# configs/same70-xplained/nsh/Make.defs
-#
-#   Copyright (C) 2015 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
-# enable precise stack overflow tracking
-INSTRUMENTATIONDEFINES   = -finstrument-functions \
-                           -ffixed-r10
-endif
-
-ifeq ($(CONFIG_ARMV7M_DTCM),y)
-  LDSCRIPT = flash-dtcm.ld
-else
-  LDSCRIPT = ld.script
-endif
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
-  MKDEP = $(TOPDIR)/tools/mkwindeps.sh
-  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
-else
-  # Linux/Cygwin-native toolchain
-  MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-endif
-
-CC = $(CROSSDEV)gcc
-CXX = $(CROSSDEV)g++
-CPP = $(CROSSDEV)gcc -E
-LD = $(CROSSDEV)ld
-AR = $(CROSSDEV)ar rcs
-NM = $(CROSSDEV)nm
-OBJCOPY = $(CROSSDEV)objcopy
-OBJDUMP = $(CROSSDEV)objdump
-
-ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-    -fno-strict-aliasing \
-    -fno-strength-reduce \
-    -fomit-frame-pointer \
-    -funsafe-math-optimizations \
-    -fno-builtin-printf \
-    -ffunction-sections \
-    -fdata-sections
-
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  ARCHOPTIMIZATION += -g
-endif
-
-ifneq ($(CONFIG_DEBUG_NOOPT),y)
-  ARCHOPTIMIZATION += $(MAXOPTIMIZATION)
-endif
-
-ARCHCFLAGS = -fno-builtin
-ARCHCFLAGS += -std=gnu99
-
-ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -fno-strict-aliasing
-ARCHWARNINGS += -Wno-sign-compare \
-    -Wextra \
-    -Wdouble-promotion \
-    -Wshadow \
-    -Wfloat-equal \
-    -Wframe-larger-than=1024 \
-    -Wpointer-arith \
-    -Wlogical-op \
-    -Wmissing-declarations \
-    -Wpacked \
-    -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-ARCHCWARNINGS = $(ARCHWARNINGS) \
-    -Wbad-function-cast \
-    -Wstrict-prototypes \
-    -Wold-style-declaration \
-    -Wmissing-parameter-type \
-    -Wmissing-prototypes \
-    -Wnested-externs
-ARCHWARNINGSXX = -Wall -Wshadow -Wundef
-ARCHWARNINGSXX += $(ARCHWARNINGS) \
-    -Wno-psabi
-ARCHDEFINES =
-ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
-
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS += --warn-common \
-    --gc-sections
-
-CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1 = -r -d -warn-common
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
-LDNXFLATFLAGS = -e main -s 2048
-
-ASMEXT = .S
-OBJEXT = .o
-LIBEXT = .a
-EXEEXT =
-
-ifneq ($(CROSSDEV),arm-nuttx-elf-)
-  LDFLAGS += -nostartfiles -nodefaultlibs
-endif
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  LDFLAGS += -g
-endif
-
-
-HOSTCC = gcc
-HOSTINCLUDES = -I.
-HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -g -pipe
-HOSTLDFLAGS =

nuttx-configs/px4-same70xplained-v1/src/Makefile

@@ -1,83 +0,0 @@
-############################################################################
-# configs/px4fmu-v2_upstream/src/Makefile
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-CFLAGS += -I$(TOPDIR)/sched
-
-ASRCS =
-AOBJS = $(ASRCS:.S=$(OBJEXT))
-
-CSRCS = empty.c
-COBJS = $(CSRCS:.c=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS)
-OBJS = $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(WINTOOL),y)
-  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
-else
-  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
-
-all: libboard$(LIBEXT)
-
-$(AOBJS): %$(OBJEXT): %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
-	$(call COMPILE, $<, $@)
-
-libboard$(LIBEXT): $(OBJS)
-	$(call ARCHIVE, $@, $(OBJS))
-
-.depend: Makefile $(SRCS)
-	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, libboard$(LIBEXT))
-	$(call CLEAN)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-
--include Make.dep