From d90ac975a7f461979acc9f3e971007141445a986 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 4 Aug 2018 17:26:05 +0200
Subject: [PATCH] posix shell: required updates for RPi, bepob, ocpoc, eagle &
 exxcelsior

- RPi works
- the rest is not tested, and requires a bit more
  (such as uploading the bin/ directory)
---
 platforms/posix/CMakeLists.txt            |  4 ++--
 posix-configs/bebop/px4.config            | 10 +++++++++-
 posix-configs/eagle/200qx/mainapp.config  |  6 ++++++
 posix-configs/eagle/210qc/mainapp.config  |  6 ++++++
 posix-configs/eagle/flight/mainapp.config |  6 ++++++
 posix-configs/excelsior/mainapp.config    |  5 +++++
 posix-configs/ocpoc/px4.config            | 10 +++++++++-
 posix-configs/rpi/px4.config              | 21 +++++++++++++++++----
 posix-configs/rpi/px4_fw.config           |  5 +++++
 posix-configs/rpi/px4_hil.config          |  5 +++++
 posix-configs/rpi/px4_no_shield.config    |  5 +++++
 11 files changed, 75 insertions(+), 8 deletions(-)

diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 922298980c..25471c07dd 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -46,7 +46,7 @@ if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
 		)
 
 	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
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config /home/linaro
 		DEPENDS px4
 		COMMENT "uploading px4"
 		USES_TERMINAL
@@ -75,7 +75,7 @@ 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@"ENV{AUTOPILOT_HOST}":/home/pi
+		COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
 		DEPENDS px4
 		COMMENT "uploading px4"
 		USES_TERMINAL
diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index 9e20c39ad2..55e4340bc9 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -1,6 +1,14 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 param select /home/root/parameters
-param load
+if [ -f /home/root/parameters ]
+then
+	param load
+fi
 param set SYS_AUTOSTART 4013
 param set MAV_BROADCAST 1
 param set MAV_TYPE 3
diff --git a/posix-configs/eagle/200qx/mainapp.config b/posix-configs/eagle/200qx/mainapp.config
index 94c0fb3f5e..eca8d025ed 100644
--- a/posix-configs/eagle/200qx/mainapp.config
+++ b/posix-configs/eagle/200qx/mainapp.config
@@ -1,3 +1,9 @@
+#!/usr/bin/bash
+
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 muorb start
 logger start -t -b 200
diff --git a/posix-configs/eagle/210qc/mainapp.config b/posix-configs/eagle/210qc/mainapp.config
index 94c0fb3f5e..eca8d025ed 100644
--- a/posix-configs/eagle/210qc/mainapp.config
+++ b/posix-configs/eagle/210qc/mainapp.config
@@ -1,3 +1,9 @@
+#!/usr/bin/bash
+
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 muorb start
 logger start -t -b 200
diff --git a/posix-configs/eagle/flight/mainapp.config b/posix-configs/eagle/flight/mainapp.config
index 94c0fb3f5e..eca8d025ed 100644
--- a/posix-configs/eagle/flight/mainapp.config
+++ b/posix-configs/eagle/flight/mainapp.config
@@ -1,3 +1,9 @@
+#!/usr/bin/bash
+
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 muorb start
 logger start -t -b 200
diff --git a/posix-configs/excelsior/mainapp.config b/posix-configs/excelsior/mainapp.config
index 73833c2a6c..415bc5b420 100644
--- a/posix-configs/excelsior/mainapp.config
+++ b/posix-configs/excelsior/mainapp.config
@@ -1,3 +1,8 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 muorb start
 logger start -e -t
diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config
index 34fb225aa7..af40c1406b 100644
--- a/posix-configs/ocpoc/px4.config
+++ b/posix-configs/ocpoc/px4.config
@@ -1,7 +1,15 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 uorb start
 
 param select /root/rootfs/eeprom/parameters
-param load
+if [ -f /root/rootfs/eeprom/parameters ]
+then
+	param load
+fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
index 0182cce846..cdcfcf9494 100644
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -1,6 +1,14 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 # navio config for a quad
 uorb start
-param load
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
@@ -27,9 +35,14 @@ mc_att_control start
 mavlink start -x -u 14556 -r 1000000
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink start -x -d /dev/ttyUSB0
-mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
-mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+
+if [ -f /dev/ttyUSB0 ]
+then
+	mavlink start -x -d /dev/ttyUSB0
+	mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
+	mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+fi
+
 navio_sysfs_rc_in start
 linux_pwm_out start
 logger start -t -b 200
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 8e7a0269f5..b759ee22f7 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -1,3 +1,8 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 # navio config for FW
 
 uorb start
diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config
index b20f1ec1ba..961a410c9c 100644
--- a/posix-configs/rpi/px4_hil.config
+++ b/posix-configs/rpi/px4_hil.config
@@ -1,3 +1,8 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 # HITL configuration
 # connect to it with jMAVSim:
 # ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
diff --git a/posix-configs/rpi/px4_no_shield.config b/posix-configs/rpi/px4_no_shield.config
index df0274a6f0..75649c3de1 100644
--- a/posix-configs/rpi/px4_no_shield.config
+++ b/posix-configs/rpi/px4_no_shield.config
@@ -1,3 +1,8 @@
+#!/usr/bin/bash
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
 # config for a quad without any shield:
 # - u-blox GPS connected via UART
 # - PWM output using PCA9685 via I2C