mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
fa614a3cc1
The reason for this change is that RPi2 and RPi3 are compatible, and hopefully all differences coming up can be resolved without ifdefs but at runtime.
357 lines
11 KiB
Makefile
357 lines
11 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
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ifneq ($(CMAKE_VER),0)
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$(warning Not a valid CMake version or CMake not installed.)
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$(warning On Ubuntu, install or upgrade via:)
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$(warning )
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$(warning 3rd party PPA:)
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$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
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$(warning sudo apt-get update)
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$(warning sudo apt-get install cmake)
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$(warning )
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$(warning Official website:)
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$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
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$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
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$(warning sudo mkdir /opt/cmake-3.4.3)
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$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
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$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
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$(warning )
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$(error Fatal)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4fmu-v2_default (builds)
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# make px4fmu-v2_default upload (builds and uploads)
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# make px4fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4fmu-v2 default config in the
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# directory build_nuttx_px4fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: px4fmu-v2_default
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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j ?= 4
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NINJA_BUILD := $(shell ninja --version 2>/dev/null)
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR ?= "Ninja"
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PX4_MAKE = ninja
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PX4_MAKE_ARGS =
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
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else
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PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
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endif
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PX4_MAKE = make
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf $(PWD)/build_$@$(BUILD_DIR_SUFFIX); fi
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+@if [ ! -e $(PWD)/build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@$(BUILD_DIR_SUFFIX) && cd $(PWD)/build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@$(BUILD_DIR_SUFFIX)); fi
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+@Tools/check_submodules.sh
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+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd $(PWD)/build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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define cmake-build-other
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
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+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
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+@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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# create empty targets to avoid msgs for targets passed to cmake
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define cmake-targ
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$(1):
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@#
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.PHONY: $(1)
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endef
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define colorecho
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@tput setaf 6
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@echo $1
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@tput sgr0
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endef
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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tap-v1_default:
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$(call cmake-build,nuttx_tap-v1_default)
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px4fmu-v1_default:
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$(call cmake-build,nuttx_px4fmu-v1_default)
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px4fmu-v2_default:
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$(call cmake-build,nuttx_px4fmu-v2_default)
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px4fmu-v2_test:
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$(call cmake-build,nuttx_px4fmu-v2_test)
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px4fmu-v4_default:
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$(call cmake-build,nuttx_px4fmu-v4_default)
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px4-stm32f4discovery_default:
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$(call cmake-build,nuttx_px4-stm32f4discovery_default)
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px4fmu-v2_ekf2:
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$(call cmake-build,nuttx_px4fmu-v2_ekf2)
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mindpx-v2_default:
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$(call cmake-build,nuttx_mindpx-v2_default)
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posix_sitl_default:
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$(call cmake-build,$@)
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posix_sitl_lpe:
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$(call cmake-build,$@)
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posix_sitl_test:
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$(call cmake-build,$@)
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posix_sitl_replay:
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$(call cmake-build,$@)
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posix_sitl_broadcast:
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$(call cmake-build,$@)
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ros_sitl_default:
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@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
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qurt_eagle_travis:
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$(call cmake-build,$@)
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qurt_eagle_default:
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$(call cmake-build,$@)
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posix_eagle_default:
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$(call cmake-build,$@)
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eagle_default: posix_eagle_default qurt_eagle_default
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eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
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qurt_eagle_legacy_driver_default:
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$(call cmake-build,$@)
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posix_eagle_legacy_driver_default:
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$(call cmake-build,$@)
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qurt_excelsior_default:
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$(call cmake-build,$@)
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posix_excelsior_default:
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$(call cmake-build,$@)
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excelsior_default: posix_excelsior_default qurt_excelsior_default
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posix_rpi_native:
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$(call cmake-build,$@)
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posix_rpi_cross:
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$(call cmake-build,$@)
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posix_bebop_default:
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$(call cmake-build,$@)
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posix: posix_sitl_default
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broadcast: posix_sitl_broadcast
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sitl_deprecation:
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@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
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@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
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run_sitl_quad: sitl_deprecation
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run_sitl_plane: sitl_deprecation
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run_sitl_ros: sitl_deprecation
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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gazebo_build:
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@mkdir -p build_gazebo
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@if [ ! -e $(PWD)/build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) $(PWD)/Tools/sitl_gazebo; fi
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@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
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@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
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uavcan_firmware:
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ifeq ($(VECTORCONTROL),1)
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$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
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@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
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endif
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checks_defaults: \
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check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_mindpx-v2_default \
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check_px4-stm32f4discovery_default \
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check_tap-v1_default \
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checks_bootloaders: \
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checks_tests: \
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check_px4fmu-v2_test
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checks_alts: \
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check_px4fmu-v2_ekf2 \
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checks_uavcan: \
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check_px4fmu-v4_default_and_uavcan
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checks_sitls: \
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check_posix_sitl_default \
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check_posix_sitl_test \
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checks_last: \
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check_unittest \
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check_format \
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check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
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check_format:
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$(call colorecho,"Checking formatting with astyle")
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@./Tools/fix_code_style.sh
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@./Tools/check_code_style_all.sh
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check_%:
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@echo
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$(call colorecho,"Building" $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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check_px4fmu-v4_default: uavcan_firmware
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check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
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@echo
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ifeq ($(VECTORCONTROL),1)
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@echo "Cleaning up vectorcontrol firmware"
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@rm -rf vectorcontrol
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@rm -rf ROMFS/px4fmu_common/uavcan
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endif
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unittest: posix_sitl_test
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$(call cmake-build-other,unittest, ../unittests)
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@(cd build_unittest && ctest -j2 --output-on-failure)
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tests: posix_sitl_test unittest
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test_onboard_sitl:
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@HEADLESS=1 make posix_sitl_test gazebo_iris
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# QGroundControl flashable firmware
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qgc_firmware: \
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check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_mindpx-v2_default \
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check_px4fmu-v4_default_and_uavcan \
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check_format
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extra_firmware: \
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check_px4-stm32f4discovery_default \
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check_px4fmu-v2_test \
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check_px4fmu-v2_ekf2
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package_firmware:
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@zip --junk-paths Firmware.zip `find . -name \*.px4`
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clean:
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@rm -rf build_*/
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@(cd NuttX/nuttx && make clean)
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submodulesclean:
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@git submodule sync --recursive
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@git submodule deinit -f .
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@git submodule update --init --recursive --force
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distclean: submodulesclean
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@git clean -ff -x -d -e ".project" -e ".cproject"
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# targets handled by cmake
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cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
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run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
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jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
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gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
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$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
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.PHONY: clean
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CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
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#help:
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# @echo
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# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
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# @echo "build configurations."
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# @echo
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