Merge working changes into export-build branch.

.gitignore

@@ -1,4 +1,5 @@
 .built
+.context
 *.context
 *.bdat
 *.pdat
@@ -56,3 +57,6 @@ core
 mkdeps
 Archives
 Build
+!ROMFS/*/*.d
+!ROMFS/*/*/*.d
+!ROMFS/*/*/*/*.d

Makefile

@@ -42,12 +42,12 @@ include $(PX4_BASE)makefiles/setup.mk
 #
 # Canned firmware configurations that we build.
 #
-CONFIGS			?= px4fmu_default px4io_default
+CONFIGS			?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
 
 #
 # Boards that we build NuttX export kits for.
 #
-BOARDS			 = px4fmu px4io
+BOARDS			:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
 
 #
 # Debugging
@@ -62,11 +62,26 @@ MQUIET			 = --no-print-directory
 #
 # If the user has listed a config as a target, strip it out and override CONFIGS.
 #
+FIRMWARE_GOAL		 = firmware
 EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
 ifneq ($(EXPLICIT_CONFIGS),)
 CONFIGS			:= $(EXPLICIT_CONFIGS)
 .PHONY:			$(EXPLICIT_CONFIGS)
 $(EXPLICIT_CONFIGS):	all
+
+#
+# If the user has asked to upload, they must have also specified exactly one
+# config.
+#
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
 endif
 
 #
@@ -95,11 +110,11 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 	@echo %%%% Building $(config) in $(work_dir)
 	@echo %%%%
 	$(Q) mkdir -p $(work_dir)
-	$(Q) make -C $(work_dir) \
+	$(Q) make -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
 		CONFIG=$(config) \
 		WORK_DIR=$(work_dir) \
-		firmware
+		$(FIRMWARE_GOAL)
 
 #
 # Build the NuttX export archives.
@@ -118,15 +133,21 @@ NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		$(NUTTX_ARCHIVES)
 
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif
+
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = $(if $(filter $(board),px4io),io,nsh)
 $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
 	@echo %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@echo %% Exporting NuttX for $(board)
-	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 
@@ -162,9 +183,7 @@ help:
 	@echo ""
 	@echo "  all"
 	@echo "    Build all firmware configs: $(CONFIGS)"
-	@echo "    A limited set of configs can be built with:"
+	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@echo ""
-	@echo "      CONFIGS=<list-of-configs>"
 	@echo ""
 	@for config in $(CONFIGS); do \
 		echo "  $$config"; \

ROMFS/px4fmu_common/init.d/rc.FMU_quad_x

@@ -0,0 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
+echo "[init] startup done, exiting"
+exit

ROMFS/px4fmu_common/init.d/rc.PX4IO

@@ -0,0 +1,80 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE camflyer
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
+#
+# Start the attitude estimator
+#
+kalman_demo start
+ 
+#
+# Start PX4IO interface
+#
+px4io start
+ 
+#
+# Load mixer and start controllers
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi

ROMFS/px4fmu_common/init.d/rc.PX4IOAR

@@ -0,0 +1,98 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Init the parameter storage
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# Start GPS capture
+#
+gps start
+
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+exit

ROMFS/px4fmu_common/init.d/rc.boarddetect

@@ -0,0 +1,66 @@
+#!nsh
+#
+# If we are still in flight mode, work out what airframe 
+# configuration we have and start up accordingly.
+#
+if [ $MODE != autostart ]
+then
+	echo "[init] automatic startup cancelled by user script"
+else
+	echo "[init] detecting attached hardware..."
+
+	#
+	# Assume that we are PX4FMU in standalone mode
+	#
+	set BOARD PX4FMU
+
+	#
+	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
+	#
+	if boardinfo test name PX4IOAR
+	then
+		set BOARD PX4IOAR
+		if [ -f /etc/init.d/rc.PX4IOAR ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IOAR"
+			usleep 500
+			sh /etc/init.d/rc.PX4IOAR
+		fi
+	else
+		echo "[init] PX4IOAR not detected"
+	fi
+
+	#
+	# Are we attached to a PX4IO?
+	#
+	if boardinfo test name PX4IO
+	then
+		set BOARD PX4IO
+		if [ -f /etc/init.d/rc.PX4IO ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IO"
+			usleep 500
+			sh /etc/init.d/rc.PX4IO
+		fi
+	else
+		echo "[init] PX4IO not detected"
+	fi
+
+	#
+	# Looks like we are stand-alone
+	#
+	if [ $BOARD == PX4FMU ]
+	then
+		echo "[init] no expansion board detected"
+		if [ -f /etc/init.d/rc.standalone ]
+		then
+			echo "[init] reading /etc/init.d/rc.standalone"
+			sh /etc/init.d/rc.standalone
+		fi
+	fi
+
+	#
+	# We may not reach here if the airframe-specific script exits the shell.
+	#
+	echo "[init] startup done."
+fi

ROMFS/px4fmu_common/init.d/rc.jig

@@ -0,0 +1,10 @@
+#!nsh
+#
+# Test jig startup script
+#
+
+echo "[testing] doing production test.."
+
+tests jig
+
+echo "[testing] testing done"

ROMFS/px4fmu_common/init.d/rc.logging

@@ -0,0 +1,9 @@
+#!nsh
+#
+# Initialise logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	sdlog start
+fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -0,0 +1,34 @@
+#!nsh
+#
+# Standard startup script for PX4FMU onboard sensor drivers.
+#
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+if mpu6000 start
+then
+	echo "using MPU6000 and HMC5883L"
+	hmc5883 start
+else
+	echo "using L3GD20 and LSM303D"
+	l3gd20 start
+	lsm303 start
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+sensors start
+
+#
+# Check sensors - run AFTER 'sensors start'
+#
+preflight_check

ROMFS/px4fmu_common/init.d/rc.standalone

@@ -0,0 +1,13 @@
+#!nsh
+#
+# Flight startup script for PX4FMU standalone configuration.
+#
+
+echo "[init] doing standalone PX4FMU startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+echo "[init] startup done"

ROMFS/px4fmu_common/init.d/rcS

@@ -0,0 +1,79 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       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
+
+#
+# Start playing the startup tune
+#
+tone_alarm start
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+else
+	echo "[init] no microSD card found"
+fi
+
+#
+# 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.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
+fi
+
+#
+# Check for USB host
+#
+if [ $USB != autoconnect ]
+then
+	echo "[init] not connecting USB"
+else
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
+fi
+
+# if this is an APM build then there will be a rc.APM script
+# from an EXTERNAL_SCRIPTS build option
+if [ -f /etc/init.d/rc.APM ]
+then
+	echo Running rc.APM
+	# if APM startup is successful then nsh will exit
+	sh /etc/init.d/rc.APM
+fi

Tools/px_uploader.py

@@ -54,7 +54,6 @@ import sys
 import argparse
 import binascii
 import serial
-import os
 import struct
 import json
 import zlib
@@ -64,6 +63,7 @@ import array
 
 from sys import platform as _platform
 
+
 class firmware(object):
         '''Loads a firmware file'''
 
@@ -101,7 +101,7 @@ class firmware(object):
             0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
             0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
             0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
+            0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
         crcpad = bytearray('\xff\xff\xff\xff')
 
         def __init__(self, path):
@@ -132,6 +132,7 @@ class firmware(object):
                         state = self.__crc32(self.crcpad, state)
                 return state
 
+
 class uploader(object):
         '''Uploads a firmware file to the PX FMU bootloader'''
 
@@ -167,7 +168,7 @@ class uploader(object):
 
         def __init__(self, portname, baudrate):
                 # open the port, keep the default timeout short so we can poll quickly
-		self.port = serial.Serial(portname, baudrate, timeout=0.25)
+                self.port = serial.Serial(portname, baudrate, timeout=0.5)
 
         def close(self):
                 if self.port is not None:
@@ -177,7 +178,7 @@ class uploader(object):
 #               print("send " + binascii.hexlify(c))
                 self.port.write(str(c))
 
-	def __recv(self, count = 1):
+        def __recv(self, count=1):
                 c = self.port.read(count)
                 if len(c) < 1:
                         raise RuntimeError("timeout waiting for data")
@@ -234,13 +235,13 @@ class uploader(object):
         def __erase(self):
                 self.__send(uploader.CHIP_ERASE
                             + uploader.EOC)
-		# erase is very slow, give it 10s
+                # erase is very slow, give it 20s
-		deadline = time.time() + 10
+                deadline = time.time() + 20
                 while time.time() < deadline:
                         try:
                                 self.__getSync()
                                 return
-			except RuntimeError as ex:
+                        except RuntimeError:
                                 # we timed out, that's OK
                                 continue
 
@@ -262,8 +263,8 @@ class uploader(object):
                 self.port.flush()
                 programmed = self.__recv(len(data))
                 if programmed != data:
-			print(("got    " + binascii.hexlify(programmed)))
+                        print("got    " + binascii.hexlify(programmed))
-			print(("expect " + binascii.hexlify(data)))
+                        print("expect " + binascii.hexlify(data))
                         return False
                 self.__getSync()
                 return True
@@ -307,8 +308,8 @@ class uploader(object):
                 report_crc = self.__recv_int()
                 self.__getSync()
                 if report_crc != expect_crc:
-			print(("Expected 0x%x" % expect_crc))
+                        print("Expected 0x%x" % expect_crc)
-			print(("Got      0x%x" % report_crc))
+                        print("Got      0x%x" % report_crc)
                         raise RuntimeError("Program CRC failed")
 
         # get basic data about the board
@@ -319,7 +320,7 @@ class uploader(object):
                 # get the bootloader protocol ID first
                 self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
                 if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-			print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV))
+                        print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
                         raise RuntimeError("Bootloader protocol mismatch")
 
                 self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
@@ -330,7 +331,7 @@ class uploader(object):
         def upload(self, fw):
                 # Make sure we are doing the right thing
                 if self.board_type != fw.property('board_id'):
-			raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).")
+                        raise RuntimeError("Firmware not suitable for this board")
                 if self.fw_maxsize < fw.property('image_size'):
                         raise RuntimeError("Firmware image is too large for this board")
 
@@ -360,7 +361,7 @@ args = parser.parse_args()
 
 # Load the firmware file
 fw = firmware(args.firmware)
-print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))))
+print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
 
 # Spin waiting for a device to show up
 while True:
@@ -393,7 +394,7 @@ while True:
                 try:
                         # identify the bootloader
                         up.identify()
-			print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)))
+                        print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
 
                 except:
                         # most probably a timeout talking to the port, no bootloader
@@ -406,7 +407,7 @@ while True:
                 except RuntimeError as ex:
 
                         # print the error
-			print(("ERROR: %s" % ex.args))
+                        print("ERROR: %s" % ex.args)
 
                 finally:
                         # always close the port

apps/attitude_estimator_ekf/Makefile

@@ -1,57 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 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
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-APPNAME		 = attitude_estimator_ekf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-CXXSRCS		 = attitude_estimator_ekf_main.cpp
-
-CSRCS		 = attitude_estimator_ekf_params.c \
-		   codegen/eye.c \
-		   codegen/attitudeKalmanfilter.c \
-		   codegen/mrdivide.c \
-		   codegen/rdivide.c \
-		   codegen/attitudeKalmanfilter_initialize.c \
-		   codegen/attitudeKalmanfilter_terminate.c \
-		   codegen/rt_nonfinite.c \
-		   codegen/rtGetInf.c \
-		   codegen/rtGetNaN.c \
-		   codegen/norm.c \
-		   codegen/cross.c 
-
-
-# XXX this is *horribly* broken
-INCLUDES	+= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk

apps/commander/Makefile

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 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
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Commander application
-#
-
-APPNAME		 = commander
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-

apps/drivers/boards/px4fmu/Makefile

@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 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
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Board-specific startup code for the PX4FMU
-#
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-LIBNAME		 = brd_px4fmu
-
-include $(APPDIR)/mk/app.mk

apps/drivers/px4fmu/Makefile

@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 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
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Interface driver for the PX4FMU board
-#
-
-APPNAME		 = fmu
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk

apps/sensors/sensors.cpp

@@ -372,7 +372,9 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
+#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
+#endif
 
 	_fd_adc(-1),
 	_last_adc(0),

apps/systemcmds/eeprom/Makefile

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 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
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = eeprom
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-MAXOPTIMIZATION	 = -Os
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os

makefiles/board_px4fmu.mk

@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4FMU
+# Board-specific definitions for the PX4FMU
 #
 
 #

makefiles/board_px4io.mk

@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4IO
+# Board-specific definitions for the PX4IO
 #
 
 #

makefiles/config_px4fmu_default.mk

@@ -5,7 +5,26 @@
 #
 # Use the configuration's ROMFS.
 #
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/ardrone_interface
+MODULES		+= systemcmds/eeprom
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+
+#
+# Estimation modules (EKF / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -22,25 +41,19 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, ardrone_interface,      SCHED_PRIORITY_MAX-15,     2048,  ardrone_interface_main     ) \
-	$(call _B, attitude_estimator_ekf, ,                          2048,  attitude_estimator_ekf_main) \
 	$(call _B, bl_update,              ,                          4096,  bl_update_main             ) \
 	$(call _B, blinkm,                 ,                          2048,  blinkm_main                ) \
 	$(call _B, bma180,                 ,                          2048,  bma180_main                ) \
 	$(call _B, boardinfo,              ,                          2048,  boardinfo_main             ) \
-	$(call _B, commander,              SCHED_PRIORITY_MAX-30,     2048,  commander_main             ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, delay_test,             ,                          2048,  delay_test_main            ) \
-	$(call _B, eeprom,                 ,                          4096,  eeprom_main                ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, fmu,                    ,                          2048,  fmu_main                   ) \
 	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
 	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
 	$(call _B, hmc5883,                ,                          4096,  hmc5883_main               ) \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
-	$(call _B, l3gd20,                 ,                          2048,  l3gd20_main                ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
 	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
@@ -62,4 +75,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )

makefiles/firmware.mk

@@ -64,7 +64,16 @@
 #	path to this file.
 #
 # CONFIG:
-#	Used to set the output filename; defaults to 'firmware'.
+#	Used when searching for the configuration file, and available
+#	to module Makefiles to select optional features.
+#	If not set, CONFIG_FILE must be set and CONFIG will be derived
+#	automatically from it.
+#
+# CONFIG_FILE:
+#	If set, overrides the configuration file search logic. Sets
+#	CONFIG to the name of the configuration file, strips any
+#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
+#	results in CONFIG being set to 'board_foo'.
 #
 # WORK_DIR:
 #	Sets the directory in which the firmware will be built. Defaults
@@ -97,6 +106,9 @@ ifeq ($(PX4_BASE),)
 export PX4_BASE		:= $(abspath $(MK_DIR)/..)
 endif
 $(info %  PX4_BASE            = $(PX4_BASE))
+ifneq ($(words $(PX4_BASE)),1)
+$(error Cannot build when the PX4_BASE path contains one or more space characters.)
+endif
 
 #
 # Set a default target so that included makefiles or errors here don't 
@@ -115,13 +127,14 @@ include $(MK_DIR)/setup.mk
 #
 # Locate the configuration file
 #
+ifneq ($(CONFIG_FILE),)
+CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
+else
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+endif
 ifeq ($(CONFIG),)
 $(error Missing configuration name or file (specify with CONFIG=<config>))
 endif
-CONFIG_FILE		:= $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk))
-ifeq ($(CONFIG_FILE),)
-$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk)
-endif
 export CONFIG
 include $(CONFIG_FILE)
 $(info %  CONFIG              = $(CONFIG))
@@ -211,10 +224,7 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	@$(ECHO) %%
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-	@$(ECHO) %% Building module using $(mkfile)
-	@$(ECHO) %%
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
 		MODULE_WORK_DIR=$(dir $@) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
@@ -230,7 +240,7 @@ $(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
 $(MODULE_CLEANS):
 	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 	MODULE_WORK_DIR=$(dir $@) \
 	MODULE_MK=$(mkfile) \
 	clean
@@ -246,6 +256,9 @@ include $(PX4_MK_DIR)/nuttx.mk
 ################################################################################
 
 ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
 
 #
 # Note that there is no support for more than one root directory or constructing
@@ -272,7 +285,7 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
 
 # Generate the ROMFS image from the root
 $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	@$(ECHO) %% generating $@
+	@$(ECHO) "ROMFS:   $@"
 	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
 
 EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
@@ -298,10 +311,12 @@ endif
 #
 BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
 
-# add command definitions from modules
+# command definitions from modules (may be empty at Makefile parsing time...)
-BUILTIN_COMMAND_FILES	:= $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
-BUILTIN_COMMANDS	+= $(subst COMMAND.,,$(notdir $(BUILTIN_COMMAND_FILES)))
 
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
 ifneq ($(BUILTIN_COMMANDS),)
 
 # (BUILTIN_PROTO,<cmdspec>,<outputfile>)
@@ -315,17 +330,19 @@ define BUILTIN_DEF
 endef
 
 # Don't generate until modules have updated their command files
-$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(BUILTIN_COMMAND_FILES)
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
-	@$(ECHO) %% generating $@
+	@$(ECHO) "CMDS:    $@"
 	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
 	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
 	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
 	$(Q) $(ECHO) '};' >> $@
-	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
 
 SRCS			+= $(BUILTIN_CSRC)
 
@@ -358,7 +375,7 @@ endif
 #
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
-PRODUCT_SYM		 = $(WORK_DIR)firmware.sym
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
@@ -393,10 +410,10 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 		--git_identity $(PX4_BASE) \
 		--image $< > $@
 
-$(PRODUCT_BIN):		$(PRODUCT_SYM)
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
-$(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
 	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
 
 #
@@ -407,17 +424,19 @@ $(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
 		METHOD=serial \
-		PRODUCT=$(PRODUCT) \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
 		BIN=$(PRODUCT_BIN)
 
 .PHONY: clean
 clean:			$(MODULE_CLEANS)
 	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
 
+
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
 #

makefiles/module.mk

@@ -75,6 +75,18 @@
 #	the list should be formatted as: 
 #		<command>.<priority>.<stacksize>.<entrypoint>
 #
+# INCLUDE_DIRS		(optional, must be appended)
+#
+#	The list of directories searched for include files. If non-standard
+#	includes (e.g. those from another module) are required, paths to search
+#	can be added here.
+#
+# DEFAULT_VISIBILITY	(optional)
+#
+#	If not set, global symbols defined in a module will not be visible 
+#	outside the module. Symbols that should be globally visible must be
+#	marked __EXPORT.
+#	If set, global symbols defined in a module will be globally visible.
 #
 
 #
@@ -96,12 +108,7 @@
 ifeq ($(MODULE_MK),)
 $(error No module makefile specified)
 endif
-$(info %  MODULE_MK           = $(MODULE_MK))
+$(info %% MODULE_MK           = $(MODULE_MK))
-
-#
-# Get path and tool config
-#
-include $(PX4_BASE)/makefiles/setup.mk
 
 #
 # Get the board/toolchain config
@@ -144,12 +151,25 @@ MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU
 $(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
 $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
 $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@$(ECHO) COMMAND:    $(command)
 	@$(REMOVE) -f $(exclude)
 	@$(MKDIR) -p $(dir $@)
+	@echo "CMD:     $(command)"
 	$(Q) $(TOUCH) $@
 endif
 
+################################################################################
+# Adjust compilation flags to implement EXPORT
+################################################################################
+
+ifeq ($(DEFAULT_VISIBILITY),)
+DEFAULT_VISIBILITY = hidden
+else
+DEFAULT_VISIBILITY = default
+endif
+
+CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+
 ################################################################################
 # Build rules
 ################################################################################

makefiles/nuttx.mk

@@ -63,7 +63,10 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 #
 # Add directories from the NuttX export to the relevant search paths
 #
-INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include
+INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)arch/chip \
+			   $(NUTTX_EXPORT_DIR)arch/common
+
 LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
 LIBS			+= -lapps -lnuttx
 LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
@@ -71,5 +74,5 @@ LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
 
 $(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
 	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
 	$(Q) $(TOUCH) $@

makefiles/setup.mk

@@ -41,7 +41,8 @@
 # the number of duplicate slashes we have lying around in paths,
 # and is consistent with joining the results of $(dir) and $(notdir).
 #
-export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src/modules)/
+export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
+export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/nuttx)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/apps)/
@@ -51,24 +52,33 @@ export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
 export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
 export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 
+#
+# Default include paths
+#
+export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
+			   $(PX4_INCLUDE_DIR)
+
+# Include from legacy app/library path
+export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
+
 #
 # Tools
 #
-MKFW			 = $(PX4_BASE)/Tools/px_mkfw.py
+export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
-UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
-COPY			 = cp
+export COPY		 = cp
-REMOVE			 = rm -f
+export REMOVE		 = rm -f
-RMDIR			 = rm -rf
+export RMDIR		 = rm -rf
-GENROMFS		 = genromfs
+export GENROMFS		 = genromfs
-TOUCH			 = touch
+export TOUCH		 = touch
-MKDIR			 = mkdir
+export MKDIR		 = mkdir
-ECHO			 = echo
+export ECHO		 = echo
-UNZIP			 = unzip
+export UNZIP_CMD	 = unzip
 
 #
 # Host-specific paths, hacks and fixups
 #
-SYSTYPE			:= $(shell uname -s)
+export SYSTYPE		:= $(shell uname -s)
 
 ifeq ($(SYSTYPE),Darwin)
 # Eclipse may not have the toolchain on its path.

makefiles/toolchain_gnu-arm-eabi.mk

@@ -157,6 +157,7 @@ CXXFLAGS		 = $(ARCHCXXFLAGS) \
 			   $(INSTRUMENTATIONDEFINES) \
 			   $(ARCHDEFINES) \
 			   $(EXTRADEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
 			   $(addprefix -I,$(INCLUDE_DIRS))
 
 # Flags we pass to the assembler

makefiles/upload.mk

@@ -21,11 +21,11 @@ ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
 endif
 
-.PHONY:	all upload-$(METHOD)-$(PRODUCT)
+.PHONY:	all upload-$(METHOD)-$(BOARD)
-all:	upload-$(METHOD)-$(PRODUCT)
+all:	upload-$(METHOD)-$(BOARD)
 
 upload-serial-px4fmu:	$(BUNDLE) $(UPLOADER)
-	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD

nuttx/configs/px4fmu/include/board.h

@@ -308,6 +308,10 @@
 #define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
 
+#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_2
+#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_2
+#define GPIO_SPI2_SCK	GPIO_SPI2_SCK_2
+
 #define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
 #define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
 #define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
@@ -321,6 +325,8 @@
 #define PX4_SPIDEV_ACCEL	2
 #define PX4_SPIDEV_MPU		3
 
+#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
+
 /*
  * Tone alarm output
  */

nuttx/configs/px4fmu/nsh/appconfig

@@ -65,7 +65,6 @@ CONFIGURED_APPS += systemcmds/perf
 CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/pwm
 CONFIGURED_APPS += systemcmds/bl_update
@@ -110,20 +109,18 @@ endif
 CONFIGURED_APPS += systemcmds/i2c
 
 # Communication and Drivers
-CONFIGURED_APPS += drivers/boards/px4fmu
+#CONFIGURED_APPS += drivers/boards/px4fmu
 CONFIGURED_APPS	+= drivers/device
 CONFIGURED_APPS += drivers/ms5611
 CONFIGURED_APPS += drivers/hmc5883
 CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
-CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
-CONFIGURED_APPS += drivers/led
+#CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/blinkm
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/stm32/adc
-CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
 CONFIGURED_APPS += drivers/mb12xx

nuttx/configs/px4fmu/nsh/defconfig

@@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
-CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_LEDS=n
 CONFIG_ARCH_BUTTONS=n
 CONFIG_ARCH_CALIBRATION=n
 CONFIG_ARCH_DMA=y

src/drivers/ardrone_interface/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Makefile to build the L3GD20 driver.
+# AR.Drone motor driver
 #
 
-APPNAME		 = l3gd20
+MODULE_COMMAND	 = ardrone_interface
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
+SRCS		 = ardrone_interface.c \
-STACKSIZE	 = 2048
+			   ardrone_motor_control.c
-
-include $(APPDIR)/mk/app.mk