Daniel Agar
5 years ago
6 changed files with 368 additions and 202 deletions
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|
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############################################################################ |
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# |
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# Copyright (c) 2019 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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# ccache |
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option(CCACHE "Use ccache if available" ON) |
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find_program(CCACHE_PROGRAM ccache) |
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if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE}) |
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|
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get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH) |
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get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH) |
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get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE) |
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if ("${ccache_real_path}" STREQUAL "${cxx_real_path}") |
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message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})") |
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else() |
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message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)") |
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}") |
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endif() |
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|
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endif() |
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@@ -0,0 +1,62 @@
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############################################################################ |
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# |
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# Copyright (c) 2019 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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|
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# Doxygen |
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option(BUILD_DOXYGEN "Build doxygen documentation" OFF) |
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if (BUILD_DOXYGEN) |
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find_package(Doxygen) |
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if (DOXYGEN_FOUND) |
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# set input and output files |
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set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in) |
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set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile) |
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|
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# request to configure the file |
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configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY) |
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|
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# note the option ALL which allows to build the docs together with the application |
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add_custom_target(doxygen ALL |
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COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT} |
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} |
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COMMENT "Generating documentation with Doxygen" |
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DEPENDS uorb_msgs parameters |
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VERBATIM |
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USES_TERMINAL |
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) |
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else() |
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message("Doxygen needs to be installed to generate documentation") |
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endif() |
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endif() |
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@@ -0,0 +1,79 @@
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############################################################################ |
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# |
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# Copyright (c) 2019 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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# Metadata - helpers for generating documentation |
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add_custom_target(metadata_airframes |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py |
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-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d |
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--markdown ${PX4_BINARY_DIR}/docs/airframes.md |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py |
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-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d |
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--xml ${PX4_BINARY_DIR}/docs/airframes.xml |
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COMMENT "Generating full airframe metadata (markdown and xml)" |
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USES_TERMINAL |
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) |
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file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml |
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${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml) |
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add_custom_target(metadata_parameters |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs |
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COMMAND ${PYTHON_EXECUTABLE} |
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${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py |
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--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` |
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--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml |
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--markdown ${PX4_BINARY_DIR}/docs/parameters.md |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py |
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--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` |
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--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml |
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--xml ${PX4_BINARY_DIR}/docs/parameters.xml |
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COMMENT "Generating full parameter metadata (markdown and xml)" |
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USES_TERMINAL |
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) |
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add_custom_target(metadata_module_documentation |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src |
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--markdown ${PX4_BINARY_DIR}/docs/modules |
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COMMENT "Generating module documentation" |
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USES_TERMINAL |
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) |
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add_custom_target(all_metadata |
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DEPENDS |
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metadata_airframes |
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metadata_parameters |
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metadata_module_documentation |
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) |
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@@ -0,0 +1,60 @@
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############################################################################ |
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# |
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# Copyright (c) 2019 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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|
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# packaging |
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG}) |
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set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG}) |
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set(CPACK_PACKAGE_CONTACT ${package-contact}) |
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards |
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set(CPACK_DEBIAN_PACKAGE_SECTION "devel") |
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set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional") |
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.") |
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}") |
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}") |
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2") |
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set(CPACK_PACKAGING_INSTALL_PREFIX "") |
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set(CPACK_SET_DESTDIR "OFF") |
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if ("${CMAKE_SYSTEM}" MATCHES "Linux") |
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set(CPACK_GENERATOR "TBZ2") |
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find_program(DPKG_PROGRAM dpkg) |
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if (EXISTS ${DPKG_PROGRAM}) |
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list (APPEND CPACK_GENERATOR "DEB") |
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endif() |
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else() |
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set(CPACK_GENERATOR "ZIP") |
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endif() |
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include(CPack) |
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include(bloaty) |
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############################################################################ |
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# |
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# Copyright (c) 2019 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 |
||||
# modification, are permitted provided that the following conditions |
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# are met: |
||||
# |
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# 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 |
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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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|
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# find PX4 config |
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# look for in tree board config that matches CONFIG input |
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if(NOT PX4_CONFIG_FILE) |
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file(GLOB_RECURSE board_configs |
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RELATIVE "${PX4_SOURCE_DIR}/boards" |
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"boards/*.cmake" |
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) |
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set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE) |
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foreach(filename ${board_configs}) |
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# parse input CONFIG into components to match with existing in tree configs |
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# the platform prefix (eg nuttx_) is historical, and removed if present |
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string(REPLACE ".cmake" "" filename_stripped ${filename}) |
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string(REPLACE "/" ";" config ${filename_stripped}) |
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list(LENGTH config config_len) |
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if(${config_len} EQUAL 3) |
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list(GET config 0 vendor) |
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list(GET config 1 model) |
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list(GET config 2 label) |
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set(board "${vendor}${model}") |
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# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default) |
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# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default" |
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if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label |
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted |
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) |
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE) |
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break() |
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endif() |
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# <BOARD>_<LABEL> (eg px4_fmu-v2_default) |
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# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default" |
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if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label |
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted |
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) |
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE) |
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break() |
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endif() |
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# LEGACY form |
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# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default) |
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string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix |
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if ((${config_no_os} MATCHES "${board}_${label}")) |
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE) |
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break() |
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endif() |
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# LEGACY form special case to ease board layout transition (2018-11-18) |
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# match board with model and label only: eg sitl_default -> px4_sitl_default |
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if ((${config_no_os} MATCHES "${model}_${label}")) |
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE) |
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break() |
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endif() |
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endif() |
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endforeach() |
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endif() |
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if(NOT PX4_CONFIG_FILE) |
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message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}") |
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endif() |
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message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}") |
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