|
|
|
|
|
|
|
|
|
add_subdirectory(src)
|
|
|
|
|
|
|
|
|
|
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|
|
|
|
|
|
|
|
|
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
|
|
|
|
|
|
|
|
|
|
px4_posix_generate_builtin_commands(
|
|
|
|
|
OUT apps
|
|
|
|
|
MODULE_LIST ${module_libraries})
|
|
|
|
|
|
|
|
|
|
if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
|
|
|
|
|
include(fastrpc)
|
|
|
|
|
include(linux_app)
|
|
|
|
|
|
|
|
|
|
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
|
|
|
|
|
|
|
|
|
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
|
|
|
|
|
LINUX_APP(
|
|
|
|
|
APP_NAME px4
|
|
|
|
|
IDL_NAME px4muorb
|
|
|
|
|
APPS_DEST "/home/linaro"
|
|
|
|
|
SOURCES
|
|
|
|
|
px4muorb_stub.c
|
|
|
|
|
src/main.cpp
|
|
|
|
|
apps.cpp
|
|
|
|
|
LINK_LIBS
|
|
|
|
|
-Wl,--start-group
|
|
|
|
|
${module_libraries}
|
|
|
|
|
${df_driver_libs}
|
|
|
|
|
${FASTRPC_ARM_LIBS}
|
|
|
|
|
pthread m rt
|
|
|
|
|
-Wl,--end-group
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
add_custom_target(upload
|
|
|
|
|
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh $<TARGET_FILE:px4> ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config /home/linaro
|
|
|
|
|
DEPENDS px4
|
|
|
|
|
COMMENT "uploading px4"
|
|
|
|
|
USES_TERMINAL
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
else()
|
|
|
|
|
px4_add_executable(px4
|
|
|
|
|
src/main.cpp
|
|
|
|
|
apps.cpp
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
target_link_libraries(px4
|
|
|
|
|
PRIVATE
|
|
|
|
|
${module_libraries}
|
|
|
|
|
df_driver_framework
|
|
|
|
|
${df_driver_libs}
|
|
|
|
|
pthread m
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
if (NOT APPLE)
|
|
|
|
|
target_link_libraries(px4 PRIVATE rt)
|
|
|
|
|
endif()
|
|
|
|
|
|
|
|
|
|
target_link_libraries(px4 PRIVATE modules__uORB)
|
|
|
|
|
endif()
|
|
|
|
|
|
|
|
|
|
if ("${BOARD}" STREQUAL "rpi")
|
|
|
|
|
add_custom_target(upload
|
|
|
|
|
COMMAND scp -r $<TARGET_FILE:px4> ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@navio:/home/pi
|
|
|
|
|
DEPENDS px4
|
|
|
|
|
COMMENT "uploading px4"
|
|
|
|
|
USES_TERMINAL
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
elseif ("${BOARD}" STREQUAL "bebop")
|
|
|
|
|
|
|
|
|
|
add_custom_target(upload
|
|
|
|
|
COMMAND ${CMAKE_STRIP} -R .comment -R .gnu.version -o $<TARGET_FILE:px4>.stripped $<TARGET_FILE:px4>
|
|
|
|
|
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh $<TARGET_FILE:px4>.stripped /usr/bin
|
|
|
|
|
DEPENDS px4
|
|
|
|
|
COMMENT "uploading px4"
|
|
|
|
|
USES_TERMINAL
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
elseif ("${BOARD}" STREQUAL "sitl")
|
|
|
|
|
|
|
|
|
|
include(sitl_target)
|
|
|
|
|
if(BUILD_TESTING)
|
|
|
|
|
include(sitl_tests)
|
|
|
|
|
endif()
|
|
|
|
|
|
|
|
|
|
endif()
|
|
|
|
|
|
|
|
|
|
#=============================================================================
|
|
|
|
|
# install
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
# px4 app
|
|
|
|
|
install(
|
|
|
|
|
TARGETS
|
|
|
|
|
px4
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# px4 dirs
|
|
|
|
|
install(
|
|
|
|
|
DIRECTORY
|
|
|
|
|
${PROJECT_SOURCE_DIR}/integrationtests
|
|
|
|
|
${PROJECT_SOURCE_DIR}/launch
|
|
|
|
|
${PROJECT_SOURCE_DIR}/posix-configs
|
|
|
|
|
${PROJECT_SOURCE_DIR}/ROMFS
|
|
|
|
|
${PROJECT_SOURCE_DIR}/test
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}
|
|
|
|
|
USE_SOURCE_PERMISSIONS
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# px4 files
|
|
|
|
|
install(
|
|
|
|
|
FILES
|
|
|
|
|
${PROJECT_SOURCE_DIR}/CMakeLists.txt
|
|
|
|
|
${PROJECT_SOURCE_DIR}/package.xml
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# px4 Tools dirs
|
|
|
|
|
install(
|
|
|
|
|
DIRECTORY
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}/Tools
|
|
|
|
|
USE_SOURCE_PERMISSIONS
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# px4 Tools files
|
|
|
|
|
install(
|
|
|
|
|
PROGRAMS
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/upload_log.py
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}/Tools
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# sitl_gazebo built plugins
|
|
|
|
|
install(
|
|
|
|
|
DIRECTORY
|
|
|
|
|
${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}/build/posix_sitl_default
|
|
|
|
|
FILES_MATCHING
|
|
|
|
|
PATTERN "CMakeFiles" EXCLUDE
|
|
|
|
|
PATTERN "*.so"
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# sitl_gazebo dirs
|
|
|
|
|
install(
|
|
|
|
|
DIRECTORY
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}/Tools/sitl_gazebo
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
# sitl_gazebo files
|
|
|
|
|
install(
|
|
|
|
|
FILES
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
|
|
|
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
|
|
|
|
|
DESTINATION
|
|
|
|
|
${PROJECT_NAME}/Tools/sitl_gazebo
|
|
|
|
|
)
|
