From 18c34069d5710534077754e537d0e8563190d5f4 Mon Sep 17 00:00:00 2001
From: LukeMike <luca.micheletti.laser@gmail.com>
Date: Fri, 2 Feb 2018 18:17:25 +0100
Subject: [PATCH] VRBRAIN / mk: updated makefiles and ROMFS

---
 mk/VRBRAIN/ROMFS/init.d/rc.APM        |  40 +-------
 mk/VRBRAIN/ROMFS/init.d/rc.error      |  15 ++-
 mk/VRBRAIN/ROMFS/init.d/rcS           |  68 +++----------
 mk/VRBRAIN/config_vrbrain-v51_APM.mk  |   4 +-
 mk/VRBRAIN/config_vrbrain-v52_APM.mk  |   4 +-
 mk/VRBRAIN/config_vrbrain-v54_APM.mk  |   4 +-
 mk/VRBRAIN/config_vrcore-v10_APM.mk   |   4 +-
 mk/VRBRAIN/config_vrubrain-v51_APM.mk |   4 +-
 mk/VRBRAIN/config_vrubrain-v52_APM.mk |   4 +-
 mk/VRBRAIN/vrbrain_common.mk          |  27 +-----
 mk/vrbrain_targets.mk                 | 134 ++++++++++++++++----------
 11 files changed, 125 insertions(+), 183 deletions(-)

diff --git a/mk/VRBRAIN/ROMFS/init.d/rc.APM b/mk/VRBRAIN/ROMFS/init.d/rc.APM
index 00e5a10464..4cd9cb0ca0 100644
--- a/mk/VRBRAIN/ROMFS/init.d/rc.APM
+++ b/mk/VRBRAIN/ROMFS/init.d/rc.APM
@@ -50,7 +50,6 @@ then
     echo "Created APM directory"
 fi
 
-echo "Starting uORB"
 if uorb start
 then
     echo "uorb started OK"
@@ -58,45 +57,11 @@ else
     sh /etc/init.d/rc.error
 fi
 
-echo "Starting ADC"
-if adc start
-then
-    echo "ADC started OK"
-else
-    sh /etc/init.d/rc.error
-fi
-
-echo "Starting MTD driver"
-if mtd start /fs/mtd
-then
-    echo "MTD driver started OK"
-else
-    echo "MTD driver start failed"
-    sh /etc/init.d/rc.error           
-fi
-
-echo "MTD driver read test"
-if mtd readtest /fs/mtd
-then
-    echo "MTD driver readtest OK"
-else
-    echo "MTD driver failed to read"
-    sh /etc/init.d/rc.error           
-fi
-
-echo "FMU mode PWM"
-if fmu mode_pwm
-then
-    echo "Set FMU mode_pwm"
-fi
-
-
-echo "Starting ArduPilot"
+echo Starting ArduPilot
 if ArduPilot start
 then
-    echo "ArduPilot started OK"
+    echo ArduPilot started OK
 else
-    echo "ArduPilot start failed"
     sh /etc/init.d/rc.error
 fi
 
@@ -104,4 +69,3 @@ echo "Exiting from nsh shell"
 exit
 
 echo "rc.APM finished"
-
diff --git a/mk/VRBRAIN/ROMFS/init.d/rc.error b/mk/VRBRAIN/ROMFS/init.d/rc.error
index 9407754d8a..8c82168ba5 100644
--- a/mk/VRBRAIN/ROMFS/init.d/rc.error
+++ b/mk/VRBRAIN/ROMFS/init.d/rc.error
@@ -7,8 +7,15 @@ then
         rgbled rgb 16 0 0
 fi
 
-nshterm /dev/ttyACM0 &
-sleep 1
-nshterm /dev/ttyS0 &
-sleep 1
+if [ $NSH_ERROR_UART1 != none ]
+then
+	nshterm $NSH_ERROR_UART1 &
+	sleep 1
+fi
+if [ $NSH_ERROR_UART2 != none ]
+then
+	nshterm $NSH_ERROR_UART2 &
+	sleep 1
+fi
+
 exit
diff --git a/mk/VRBRAIN/ROMFS/init.d/rcS b/mk/VRBRAIN/ROMFS/init.d/rcS
index 7cd3d8c309..cb2d3f349d 100644
--- a/mk/VRBRAIN/ROMFS/init.d/rcS
+++ b/mk/VRBRAIN/ROMFS/init.d/rcS
@@ -13,26 +13,9 @@
 #       add them to the per-configuration scripts instead.
 #
 
-#
-# Default to auto-start mode.  An init script on the microSD card
-# can change this to prevent automatic startup of the flight script.
-#
-set MODE autostart
 set USB autoconnect
-
-#
-
-#
-
-
-if rgbled start
-then
-    set HAVE_RGBLED 1
-    # show startup white
-    rgbled rgb 16 16 16
-else
-    set HAVE_RGBLED 0
-fi
+set NSH_ERROR_UART1 /dev/ttyACM0
+set NSH_ERROR_UART2 /dev/ttyS0
 
 #
 # Try to mount the microSD card.
@@ -51,45 +34,20 @@ then
     fi
 else
     set HAVE_MICROSD 0
-    echo "Trying format of microSD"
-    tone_alarm MBAGP
-    if mkfatfs /dev/mmcsd0
-    then
-        echo "microSD card formatted"
-            if mount -t vfat /dev/mmcsd0 /fs/microsd
-            then
-                echo "format succeeded"
-                set HAVE_MICROSD 1
-                if [ -f /etc/tones/startup ]
-                then
-                    tone_alarm /etc/tones/startup
-                else
-                    tone_alarm 1
-                fi
-            else
-                echo "mount failed"
-                tone_alarm MNBG
-                if [ $HAVE_RGBLED == 1 ]
-                then
-                    rgbled rgb 16 0 0
-                fi
-            fi
-    else
-        echo "format failed"
-        tone_alarm MNBGG
-        if [ $HAVE_RGBLED == 1 ]
-        then
-                rgbled rgb 16 0 0
-        fi
-    fi
+    tone_alarm MNBGG
 fi
 
+# Look for an additional init script that allows changing the default
+# behavior. Settings may be overriden in the following order:
 #
-# Look for an init script on the microSD card.
-#
-# To prevent automatic startup in the current flight mode,
-# the script should set MODE to some other value.
-#
+# board-specific file
+# etc/rc on microSD card
+# etc/rc.txt on microSD card
+if [ -f /etc/init.d/rc.board ]
+then
+    echo "[init] reading /etc/init.d/rc.board"
+    sh /etc/init.d/rc.board
+fi
 if [ -f /fs/microsd/etc/rc ]
 then
     echo "[init] reading /fs/microsd/etc/rc"
diff --git a/mk/VRBRAIN/config_vrbrain-v51_APM.mk b/mk/VRBRAIN/config_vrbrain-v51_APM.mk
index 825189a0cd..0a34db4a03 100644
--- a/mk/VRBRAIN/config_vrbrain-v51_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v51_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-MODULES		+= drivers/mpu6000
-#MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrbrain-v51
+
+
diff --git a/mk/VRBRAIN/config_vrbrain-v52_APM.mk b/mk/VRBRAIN/config_vrbrain-v52_APM.mk
index 19823ee2e6..c3e12404ae 100644
--- a/mk/VRBRAIN/config_vrbrain-v52_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v52_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-MODULES		+= drivers/mpu6000
-#MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrbrain-v52
+MODULES		+= drivers/pwm_input
+
diff --git a/mk/VRBRAIN/config_vrbrain-v54_APM.mk b/mk/VRBRAIN/config_vrbrain-v54_APM.mk
index 9c7440721f..01e25f5727 100644
--- a/mk/VRBRAIN/config_vrbrain-v54_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v54_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-MODULES		+= drivers/mpu6000
-#MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrbrain-v54
+MODULES		+= drivers/pwm_input
+
diff --git a/mk/VRBRAIN/config_vrcore-v10_APM.mk b/mk/VRBRAIN/config_vrcore-v10_APM.mk
index cf50b90554..0b99861197 100644
--- a/mk/VRBRAIN/config_vrcore-v10_APM.mk
+++ b/mk/VRBRAIN/config_vrcore-v10_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-#MODULES		+= drivers/mpu6000
-MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrcore-v10
+MODULES		+= drivers/pwm_input
+
diff --git a/mk/VRBRAIN/config_vrubrain-v51_APM.mk b/mk/VRBRAIN/config_vrubrain-v51_APM.mk
index 8842f20d10..a986810ad6 100644
--- a/mk/VRBRAIN/config_vrubrain-v51_APM.mk
+++ b/mk/VRBRAIN/config_vrubrain-v51_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-MODULES		+= drivers/mpu6000
-#MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrubrain-v51
+MODULES		+= drivers/pwm_input
+
diff --git a/mk/VRBRAIN/config_vrubrain-v52_APM.mk b/mk/VRBRAIN/config_vrubrain-v52_APM.mk
index a71473e0db..ee5465adf1 100644
--- a/mk/VRBRAIN/config_vrubrain-v52_APM.mk
+++ b/mk/VRBRAIN/config_vrubrain-v52_APM.mk
@@ -3,6 +3,6 @@
 #
 include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk
 
-MODULES		+= drivers/mpu6000
-#MODULES		+= drivers/mpu9250
 MODULES		+= drivers/boards/vrubrain-v52
+
+
diff --git a/mk/VRBRAIN/vrbrain_common.mk b/mk/VRBRAIN/vrbrain_common.mk
index 89ec0e6617..691f473bdb 100644
--- a/mk/VRBRAIN/vrbrain_common.mk
+++ b/mk/VRBRAIN/vrbrain_common.mk
@@ -17,20 +17,11 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/px4fmu
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
-MODULES		+= drivers/ll40ls
-MODULES		+= drivers/trone
 #MODULES	+= drivers/gps
 #MODULES	+= drivers/hil
 #MODULES	+= drivers/hott_telemetry
 #MODULES	+= drivers/blinkm
 #MODULES	+= modules/sensors
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/batt_smbus
-MODULES		+= drivers/pwm_input
-MODULES		+= drivers/px4flow
 
 #
 # System commands
@@ -38,22 +29,15 @@ MODULES		+= drivers/px4flow
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 #MODULES	+= systemcmds/tests
 MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/ver
+MODULES         += systemcmds/mtd
+MODULES         += systemcmds/ver
 
-ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/reflect),)  
-MODULES		+= systemcmds/reflect
-endif
-ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/motor_test),)  
-MODULES		+= systemcmds/motor_test
-endif
 ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/usb_connected),)  
-MODULES		+= systemcmds/usb_connected
+MODULES         += systemcmds/usb_connected
 endif
 
 #
@@ -62,9 +46,6 @@ endif
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/mathlib
-#MODULES		+= modules/uavcan
 
 # Note: auth disabled to keep us under 1MB flash because of STM32 bug
 #ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/auth),)  
@@ -75,8 +56,6 @@ MODULES		+= lib/mathlib
 #MODULES         += modules/libtomcrypt
 #endif
 
-MODULES		+= lib/conversion
-
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/mk/vrbrain_targets.mk b/mk/vrbrain_targets.mk
index e7720388e6..b096fce7dd 100644
--- a/mk/vrbrain_targets.mk
+++ b/mk/vrbrain_targets.mk
@@ -8,9 +8,9 @@ ifneq ($(NUTTX_SRC),)
 $(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
 endif
 
-ifneq ($(UAVCAN_DIR),)
-$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
+#ifneq ($(UAVCAN_DIR),)
+#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
+#endif
 
 # these can be overridden in developer.mk
 VRBRAINFIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
@@ -22,33 +22,27 @@ NUTTX_ROOT := $(shell cd $(VRBRAINNUTTX_DIRECTORY) && pwd)
 NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
 UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
 
-# warn if user has old PX4Firmware or PX4NuttX trees
-ifneq ($(wildcard $(SKETCHBOOK)/../PX4Firmware),)
-$(warning *** You have an old PX4Firmware tree - see http://dev.ardupilot.com/wiki/git-submodules/)
-endif
-ifneq ($(wildcard $(SKETCHBOOK)/../PX4NuttX),)
-$(warning *** You have an old PX4NuttX tree - see http://dev.ardupilot.com/wiki/git-submodules/)
-endif
-ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
-$(warning *** You have an old uavcan tree - see http://dev.ardupilot.com/wiki/git-submodules/)
-endif
-
 NUTTX_GIT_VERSION ?= $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
 PX4_GIT_VERSION   ?= $(shell cd $(VRBRAIN_ROOT) && git rev-parse HEAD | cut -c1-8)
 
 EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
 EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
 EXTRAFLAGS += -DUAVCAN=1
+EXTRAFLAGS += -D__STDC_FORMAT_MACROS
 
 # Add missing parts from libc and libstdc++
 EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
+EXTRAFLAGS += -DHAVE_ENDIAN_H=0
+EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
 EXTRAFLAGS += -DHAVE_OCLOEXEC=0
 
 EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
 
-# we have different config files for vrbrain_v52, vrbrain_v54
 VRBRAIN_MK_DIR=$(MK_DIR)/VRBRAIN
 
+# we have different config files for vrbrain-v51, vrbrain-v52, vrbrain-v54, vrcore-v10, vrubrain-v51, vrubrain-v52
 VRBRAIN_V51_CONFIG_FILE=config_vrbrain-v51_APM.mk
 VRBRAIN_V52_CONFIG_FILE=config_vrbrain-v52_APM.mk
 VRBRAIN_V54_CONFIG_FILE=config_vrbrain-v54_APM.mk
@@ -56,15 +50,17 @@ VRCORE_V10_CONFIG_FILE=config_vrcore-v10_APM.mk
 VRUBRAIN_V51_CONFIG_FILE=config_vrubrain-v51_APM.mk
 VRUBRAIN_V52_CONFIG_FILE=config_vrubrain-v52_APM.mk
 
-SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
+# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
 
-WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Wno-trigraphs
+WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Wno-trigraphs
 OPTFLAGS = -fsingle-precision-constant
 
 # avoid VRBRAIN submodules
 export GIT_SUBMODULES_ARE_EVIL = 1
 
-PYTHONPATH=$(SKETCHBOOK)/mk/VRBRAIN/Tools/genmsg/src:$(SKETCHBOOK)/mk/VRBRAIN/Tools/gencpp/src
+PYTHONPATH=$(VRBRAIN_ROOT)/Tools/genmsg/src:$(VRBRAIN_ROOT)/Tools/gencpp/src
 export PYTHONPATH
 
 VRBRAIN_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) VRBRAIN_ROOT=$(VRBRAIN_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
@@ -73,10 +69,10 @@ VRBRAIN_MAKE_ARCHIVES = $(MAKE) -C $(VRBRAIN_ROOT) -f $(VRBRAIN_ROOT)/Makefile.m
 HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
 
 ifneq ($(wildcard $(VRBRAIN_ROOT)),)
-HASHADDER_FLAGS += --px4 "$(VRBRAIN_ROOT)/"
+HASHADDER_FLAGS += --px4 "$(VRBRAIN_ROOT)"
 endif
 ifneq ($(wildcard $(NUTTX_SRC)/..),)
-HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)../"
+HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
 endif
 HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
 
@@ -86,13 +82,14 @@ module_mk:
 	$(RULEHDR)
 	$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
 	$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "SRCS = $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp)) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
+	$(v) echo "SRCS = $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp)) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
 	$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
 	$(v) rm -f $(SKETCHBOOK)/module.mk.new
 
-vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
+vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrbrain-v51
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -104,7 +101,8 @@ vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v51.vrx" "$(SKETCH)-vrbrain-v51.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx"
 
-vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52.export $(SKETCHCPP) module_mk
+vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrbrain-v52
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -116,7 +114,8 @@ vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52.vrx" "$(SKETCH)-vrbrain-v52.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52.vrx"
 
-vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v54.export $(SKETCHCPP) module_mk
+vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v54.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrbrain-v54
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V54_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -128,7 +127,8 @@ vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v54.vrx" "$(SKETCH)-vrbrain-v54.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v54.vrx"
 
-vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrcore-v10.export $(SKETCHCPP) module_mk
+vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrcore-v10.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrcore-v10
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRCORE_V10_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -140,7 +140,8 @@ vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_R
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrcore-v10.vrx" "$(SKETCH)-vrcore-v10.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrcore-v10.vrx"
 
-vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
+vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrubrain-v51
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -152,7 +153,8 @@ vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v51.vrx" "$(SKETCH)-vrubrain-v51.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx"
 
-vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v52.export $(SKETCHCPP) module_mk
+vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v52.export $(SKETCHCPP) module_mk
+	$(v) echo Building vrubrain-v52
 	$(RULEHDR)
 	$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
 	$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
@@ -163,10 +165,15 @@ vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(VRBRAIN
 	$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v52_APM.px4 $(SKETCH)-vrubrain-v52.vrx
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v52.vrx" "$(SKETCH)-vrubrain-v52.vrx"
 	$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v52.vrx"
-
-
-
-vrbrainStd: vrbrain-v51 vrbrain-v52 vrbrain-v54 vrcore-v10 vrubrain-v51
+	
+# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
+# when these were allowed to happen in parallel
+vrbrainStd:
+	$(MAKE) vrbrain-v51
+	$(MAKE) vrbrain-v52
+	$(MAKE) vrbrain-v54
+	$(MAKE) vrcore-v10
+	$(MAKE) vrubrain-v51
 vrbrainStdP: 
 vrbrainPro: 
 vrbrainProP: 
@@ -176,6 +183,7 @@ vrbrain: vrbrainStd vrbrainStdP vrbrainPro vrbrainProP
 vrbrain-clean: clean CHECK_MODULES vrbrain-archives-clean vrbrain-cleandep
 	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build $(VRBRAIN_ROOT)/Images/*.px4 $(VRBRAIN_ROOT)/Images/*.bin
 	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/src/modules/uORB/topics $(VRBRAIN_ROOT)/src/platforms/nuttx/px4_messages
+	$(v) /bin/rm -f $(SRCROOT)/*.o
 
 vrbrain-cleandep: clean
 	$(v) mkdir -p $(VRBRAIN_ROOT)/Build
@@ -183,35 +191,59 @@ vrbrain-cleandep: clean
 	$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
 	$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
 
-vrbrain-v51-upload: vrbrain-v51
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM upload
 
-vrbrain-v52-upload: vrbrain-v52
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrbrain-v52_APM upload
 
-vrbrain-v54-upload: vrbrain-v54
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrbrain-v54_APM upload
 
-vrcore-v10-upload: vrcore-v10
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrcore-v10_APM upload
 
-vrubrain-v51-upload: vrubrain-v51
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM upload
 
-vrubrain-v52-upload: vrubrain-v52
-	$(RULEHDR)
-	$(v) $(VRBRAIN_MAKE) vrubrain-v52_APM upload
 
-vrbrain-upload: vrbrain-v52-upload
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+	
+
 
 vrbrain-archives-clean:
 	$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
 
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 # These targets can't run in parallel because they all need to generate a tool
 # to generate the config.h inside them. This could trigger races if done in
 # parallel, trying to generate the tool and replacing it while the header is already
@@ -250,6 +282,7 @@ vrbrain-archives:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="vrbrain-v51 vrbrain-v52 vrbrain-v54 vrcore-v10 vrubrain-v51 vrubrain-v52"
 
 vrbrain-info: module_mk
+	@echo "BUILDROOT                    $(BUILDROOT)"
 	@echo "VRBRAINFIRMWARE_DIRECTORY    $(VRBRAINFIRMWARE_DIRECTORY)"
 	@echo "VRBRAINNUTTX_DIRECTORY       $(VRBRAINNUTTX_DIRECTORY)"
 	@echo "NUTTX_ROOT                   $(NUTTX_ROOT)"
@@ -263,4 +296,5 @@ vrbrain-info: module_mk
 	@echo "SKETCHLIBINCLUDES            $(SKETCHLIBINCLUDES)"
 	@echo "SKETCHLIBSRCSRELATIVE        $(SKETCHLIBSRCSRELATIVE)"
 	@echo "SRCS                         $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp))"
+	@echo "SRCS                         $(wildcard $(SRCROOT)/*.cpp)"
 	@echo "HASHADDER_FLAGS              $(HASHADDER_FLAGS)"
\ No newline at end of file