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Uncomment the following line in setup.mk and comment out the line above to enable the Linux build. export PX4_TARGET_OS = linux The build uses the clang compiler by default. The final bundled executable is mainapp located in: Build/linux_default.build/mainapp When you run mainapp it will provide a list of the built-in apps. You can type in the commands to run such as: hello_main start Because the Linux build is threaded and does not support tasks or processes, it cannot call errx, exit() _exit(), etc. It also requires unique scoped variables to test if a thread is running or if an application should exit. The px4::AppMgr class was added in px4_app.h for this purpose. The hello sample app demonstrates how this is used. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
PX4 Build System ================ The files in this directory implement the PX4 runtime firmware build system and configuration for the standard PX4 boards and software, in conjunction with Makefile in the parent directory. ../Makefile Top-level makefile for the PX4 build system. This makefile supports building NuttX archives for the NuttX based configurations, as well as supervising the building of all of the defined PX4 firmware configurations. Try 'make help' in the parent directory for documentation. firmware.mk Manages the build for one specific firmware configuration. See the comments at the top of this file for detailed documentation. Builds modules, builtin command lists and the ROMFS (if configured). This is the makefile directly used by external build systems; it can be configured to compile modules both inside and outside the PX4 source tree. When used in this mode, at least BOARD, MODULES and CONFIG_FILE must be set. firmware_nuttx.mk Called by firmware.mk to build NuttX based firmware. firmware_linux.mk Called by firmware.mk to build Linux (non-ROS) based firmware. module.mk Called by firmware.mk to build individual modules. See the comments at the top of this file for detailed documentation. Not normally used other than by firmware.mk. nuttx.mk Called by ../Makefile to build or download the NuttX archives if PX4_TARGET_OS is set to "nuttx". linux.mk Called by ../Makefile to set Linux specific parameters if PX4_TARGET_OS is set to "linux". upload.mk Called by ../Makefile to upload files to a target board. Can be used by external build systems as well. (NuttX targets only) setup.mk Provides common path and tool definitions. Implements host system-specific compatibility hacks. Sets PX4_TARGET_OS. board_<boardname>.mk Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH and then includes the toolchain definition for the board. config_<boardname>_<configname>.mk Parameters for a specific configuration on a specific board. The board name is derived from the filename. Sets MODULES to select source modules to be included in the configuration, may also set ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module commands (e.g. from NuttX) toolchain_<toolchainname>.mk Provides macros used to compile and link source files. Accepts EXTRADEFINES to add additional pre-processor symbol definitions, EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass additional flags to the C compiler, C++ compiler, assembler and linker respectively. Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK macros that are used elsewhere in the build system.