Merge branch 'master' of github.com:PX4/Firmware

.gitignore

@@ -17,7 +17,9 @@
 .~lock.*
 Archives/*
 Build/*
+Testing/
 build/*
+build_*/
 core
 cscope.out
 Firmware.sublime-workspace
@@ -52,3 +54,4 @@ src/platforms/posix/px4_messages/
 src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
+rootfs/

.gitmodules

@@ -4,8 +4,8 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "src/lib/uavcan"]
+[submodule "src/modules/uavcan/libuavcan"]
-	path = src/lib/uavcan
+	path = src/modules/uavcan/libuavcan
 	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg

.travis.yml

@@ -3,8 +3,12 @@
 
 language: cpp
 
-# use travis-ci docker based infrastructure
+matrix:
+  include:
+    - os: linux
       sudo: false
+    - os: osx
+      osx_image: beta-xcode6.3
 
 cache:
   directories:
@@ -32,17 +36,34 @@ addons:
     - texinfo
     - zlib1g-dev
 
+before_install:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         pushd .
+      && cd ~
+      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+      && . ~/.profile
+      && popd
+      && mkdir -p ~/bin
+      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+      && astyle --version
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+      ;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+         brew tap PX4/homebrew-px4
+      && brew update
+      && brew install genromfs
+      && brew install kconfig-frontends
+      && brew install gcc-arm-none-eabi
+      && brew install astyle
+      && sudo easy_install pip
+      && sudo pip install pyserial empy
+      ;
+    fi
+
 before_script:
-  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
-# General toolchain dependencies
-  - pushd .
-  - cd ~
-  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
-  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-  - . ~/.profile
-  - popd
 # setup ccache
   - mkdir -p ~/bin
   - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
@@ -56,9 +77,6 @@ before_script:
   - ln -s /usr/bin/ccache ~/bin/g++-4.8
   - ln -s /usr/bin/ccache ~/bin/gcc-4.8
   - export PATH=~/bin:$PATH
-# grab astyle 2.05.1
-  - wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
-  - astyle --version
 
 env:
   global:
@@ -70,41 +88,54 @@ env:
 
 script:
   - make check_format
-  - ccache -z
   - arm-none-eabi-gcc --version
   - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
-  - make posix -j4
+  - make posix_sitl_simple
-  - ccache -s
   - echo -en 'travis_fold:end:script.1\\r'
   - echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
-  - make tests
+  - make posix_sitl_simple test
-  - cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
+  - cat build_posix_sitl_simple/src/modules/systemlib/mixer/mixer_multirotor.generated.h
   - echo -en 'travis_fold:end:script.2\\r'
-  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
+  - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.3\\r'
-  - make archives
+  - make px4fmu-v1_default
-  - ccache -s
+  - make px4fmu-v2_default
   - echo -en 'travis_fold:end:script.3\\r'
-  - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.4\\r'
-  - make -j4
+  - make px4fmu-v2_default test
-  - make size
-  - ccache -s
   - echo -en 'travis_fold:end:script.4\\r'
-  - zip Firmware.zip Images/*.px4
+  #- make px4fmu-v2_default package
+  #- make posix -j4
+  #- ccache -s
+  #- echo -en 'travis_fold:end:script.1\\r'
+  #- echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
+  #- make tests
+  #- cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
+  #- echo -en 'travis_fold:end:script.2\\r'
+  #- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
+  #- make archives
+  #- ccache -s
+  #- echo -en 'travis_fold:end:script.3\\r'
+  #- echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
+  #- make -j4
+  #- make size
+  #- ccache -s
+  #- echo -en 'travis_fold:end:script.4\\r'
+  #- zip Firmware.zip Images/*.px4
 
-after_script:
+#after_script:
-  - git clone git://github.com/PX4/CI-Tools.git
+  #- git clone git://github.com/PX4/CI-Tools.git
-  - ./CI-Tools/s3cmd-configure
+  #- ./CI-Tools/s3cmd-configure
-# upload newest build for this branch with s3 index
+## upload newest build for this branch with s3 index
-  - ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+  #- ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
-# archive newest build by date with s3 index
+## archive newest build by date with s3 index
-  - ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+  #- ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
-  - ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+  #- ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
-# upload top level index.html and timestamp.html
+## upload top level index.html and timestamp.html
-  - ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+  #- ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
-  - ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+  #- ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
-  - echo ""
+  #- echo ""
-  - echo "Binaries have been posted to:"
+  #- echo "Binaries have been posted to:"
-  - echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+  #- echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
 
 deploy:
   provider: releases

Makefile

@@ -1,5 +1,6 @@
+############################################################################
 #
-#   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 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
@@ -28,280 +29,170 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
+############################################################################
 
+# Enforce the presence of the GIT repository
 #
-# Top-level Makefile for building PX4 firmware images.
+# We depend on our submodules, so we have to prevent attempts to
-#
+# compile without it being present.
-
+ifeq ($(wildcard .git),)
-TARGETS	:= nuttx posix posix-arm qurt
+	$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
-EXPLICIT_TARGET	:= $(filter $(TARGETS),$(MAKECMDGOALS))
-ifneq ($(EXPLICIT_TARGET),)
-    export PX4_TARGET_OS=$(EXPLICIT_TARGET)
-    export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 endif
 
+# Help
+# --------------------------------------------------------------------
+# Don't be afraid of this makefile, it is just passing
+# arguments to cmake to allow us to keep the wiki pages etc.
+# that describe how to build the px4 firmware
+# the same even when using cmake instead of make.
 #
-# Get path and tool configuration
+# Example usage:
 #
-export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
+# make px4fmu-v2_default 			(builds)
-include $(PX4_BASE)makefiles/setup.mk
+# make px4fmu-v2_default upload 	(builds and uploads)
-
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# Get a version string provided by git
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
-# This assumes that git command is available and that
+# directory build_nuttx_px4fmu-v2_default and then call make
-# the directory holding this file also contains .git directory
+# in that directory with the target upload.
-#
-GIT_DESC := $(shell git log -1 --pretty=format:%H)
-ifneq ($(words $(GIT_DESC)),1)
-    GIT_DESC := "unknown_git_version"
-endif
 
-GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
+#  explicity set default build target
+all: px4fmu-v2_default
 
-#
+# Parsing
-# Canned firmware configurations that we (know how to) build.
+# --------------------------------------------------------------------
-#
+# assume 1st argument passed is the main target, the
-KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
+# rest are arguments to pass to the makefile generated
-CONFIGS			?= $(KNOWN_CONFIGS)
+# by cmake in the subdirectory
+ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+j ?= 4
 
-#
+# disable ninja by default for now because it hides upload progress
-# Boards that we (know how to) build NuttX export kits for.
+#NINJA_BUILD := $(shell ninja --version 2>/dev/null)
-#
+ifdef NINJA_BUILD
-KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
+    PX4_CMAKE_GENERATOR ?= "Ninja"
-BOARDS			?= $(KNOWN_BOARDS)
+    PX4_MAKE = ninja
-
+    PX4_MAKE_ARGS = 
-#
-# Debugging
-#
-MQUIET			 = --no-print-directory
-#MQUIET			 = --print-directory
-
-################################################################################
-# No user-serviceable parts below
-################################################################################
-
-#
-# 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
-
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix)
-include $(PX4_BASE)makefiles/posix/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix-arm)
-include $(PX4_BASE)makefiles/posix/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),qurt)
-include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
-endif
-
-qurt_fixup:
-	makefiles/qurt/setup.sh $(PX4_BASE)
-
-restore:
-	cd src/lib/eigen && git checkout .
-	git submodule update
-	
-#
-# Versioning
-#
-
-GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
-GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
-
-$(GIT_VER_FILE) :
-	$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
-		$(MKDIR) -p $(PX4_VERSIONING_DIR); \
-		$(ECHO) "" > $(GIT_VER_FILE); \
-	fi
-
-.PHONY: checkgitversion
-checkgitversion: $(GIT_VER_FILE)
-	$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
-		$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
-		$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_STR  \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
-		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
-	fi
-#
-# Sizes
-#
-
-.PHONY: size
-size:
-	$(Q) for elfs in Build/*; do if [ -f  $$elfs/firmware.elf ]; then  $(SIZE) $$elfs/firmware.elf; fi done
-
-
-#
-# Submodule Checks
-#
-
-.PHONY: checksubmodules
-checksubmodules:
-	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh $(PX4_TARGET_OS))
-
-.PHONY: updatesubmodules
-updatesubmodules:
-	$(Q) (git submodule init)
-	$(Q) (git submodule update)
-
-MSG_DIR = $(PX4_BASE)msg
-UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
-MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
-TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
-MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
-MULTIPLATFORM_PREFIX = px4_
-TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
-MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
-GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
-GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
-
-.PHONY: generateuorbtopicheaders
-generateuorbtopicheaders: checksubmodules
-	@$(ECHO) "Generating uORB topic headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
-	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
-
-#
-# Testing targets
-#
-testbuild:
-	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
-	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
-
-nuttx posix posix-arm qurt: 
-ifeq ($(GOALS),)
-	$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
 else
-	export PX4_TARGET_OS=$@
+
+ifdef SYSTEMROOT
+	# Windows
+	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
+else
+	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
 endif
+    PX4_MAKE = make
+    PX4_MAKE_ARGS = -j$(j) --no-print-directory
+endif
+
+# Functions
+# --------------------------------------------------------------------
+# describe how to build a cmake config
+define cmake-build
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
+endef
+
+# create empty targets to avoid msgs for targets passed to cmake
+define cmake-targ
+$(1):
+	@#
+.PHONY: $(1)
+endef
+
+# ADD CONFIGS HERE
+# --------------------------------------------------------------------
+#  Do not put any spaces between function arguments.
+
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)
+
+px4fmu-v2_default:
+	$(call cmake-build,nuttx_px4fmu-v2_default)
+
+px4fmu-v2_simple:
+	$(call cmake-build,nuttx_px4fmu-v2_simple)
+
+nuttx_sim_simple:
+	$(call cmake-build,$@)
+
+posix_sitl_simple:
+	$(call cmake-build,$@)
+
+ros_sitl_simple:
+	$(call cmake-build,$@)
+
+qurt_eagle_travis:
+	$(call cmake-build,$@)
+
+posix: posix_sitl_simple
+
+ros: ros_sitl_simple
+
+run_sitl_quad: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rcS
+
+run_sitl_plane: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
+
+run_sitl_ros: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
+
+lldb_sitl_quad: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rcS lldb
+
+lldb_sitl_plane: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing lldb
+
+lldb_sitl_ros: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros lldb
+
+gdb_sitl_quad: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rcS gdb
+
+gdb_sitl_plane: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing lldb
+
+gdb_sitl_ros: posix
+	Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros lldb
 
 sitl_quad:
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
+	@echo "Deprecated. Use 'run_sitl_quad' instead."
-sitl_quad_gazebo:
+
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
 sitl_plane:
-	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
+	@echo "Deprecated. Use 'run_sitl_plane' instead."
 
-qurtrun:
+sitl_ros:
-	$(MAKE) PX4_TARGET_OS=qurt sim
+	@echo "Deprecated. Use 'run_sitl_ros' instead."
 
-#
+# Other targets
-# Unittest targets. Builds and runs the host-level
+# --------------------------------------------------------------------
-# unit tests.
-.PHONY: tests
-tests:	generateuorbtopicheaders
-	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
-
-.PHONY: check_format
 check_format:
-	$(Q) (./Tools/check_code_style.sh)
+	@./Tools/check_code_style.sh
 
-#
-# Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything
-# that's generated leaving only files that are in source control.
-#
-.PHONY:	clean
 clean:
-	@echo > /dev/null
+	@rm -rf build_*/
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
+	@(cd NuttX && git clean -d -f -x)
-	$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
+	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
-	$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
-	$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
 
-.PHONY:	distclean
+# targets handled by cmake
-distclean: clean
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
-	@echo > /dev/null
+$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
 
+.PHONY: clean
+
+CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+
+# Future:
+#$(CONFIGS):
+##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
+#	@cd Build/$@ && make
 #
-# Print some help text
+#clean-all:
+#	@rm -rf Build/*
 #
-.PHONY: help
+#help:
-help:
+#	@echo
-	@$(ECHO) ""
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
-	@$(ECHO) " PX4 firmware builder"
+#	@echo "build configurations."
-	@$(ECHO) " ===================="
+#	@echo
-	@$(ECHO) ""
-	@$(ECHO) "  Available targets:"
-	@$(ECHO) "  ------------------"
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  archives"
-	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
-	@$(ECHO) ""
-endif
-	@$(ECHO) "  all"
-	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
-	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@$(ECHO) ""
-	@for config in $(CONFIGS); do \
-		$(ECHO) "  $$config"; \
-		$(ECHO) "    Build just the $$config firmware configuration."; \
-		$(ECHO) ""; \
-	done
-	@$(ECHO) "  clean"
-	@$(ECHO) "    Remove all firmware build pieces."
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  distclean"
-	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
-	@$(ECHO) ""
-	@$(ECHO) "  upload"
-	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
-	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
-	@$(ECHO) "    all configurations."
-	@$(ECHO) ""
-endif
-	@$(ECHO) "  testbuild"
-	@$(ECHO) "    Perform a complete clean build of the entire tree."
-	@$(ECHO) ""
-	@$(ECHO) "  Common options:"
-	@$(ECHO) "  ---------------"
-	@$(ECHO) ""
-	@$(ECHO) "  V=1"
-	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
-	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
-	@$(ECHO) ""
-ifeq ($(PX4_TARGET_OS),nuttx)
-	@$(ECHO) "  To see help for a specifix target use 'make <target> help' where target is"
-	@$(ECHO) "  one of: "
-	@$(ECHO) "     nuttx"
-	@$(ECHO) "     posix"
-	@$(ECHO) "     qurt"
-	@$(ECHO) ""
-endif
-

README.md

@@ -16,7 +16,7 @@ This repository contains the PX4 Flight Core, with the main applications located
   * [Downloads](http://px4.io/firmware/downloads)
 *   Releases
   * [Downloads](https://github.com/PX4/Firmware/releases)
-*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
+*   Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)
 
 ### Users ###
 
@@ -29,7 +29,7 @@ Contributing guide:
   * [PX4 Contribution Guide](http://px4.io/dev/contributing)
 
 Software in the Loop guide:
-Use software in the loop [to get started with the codebase](https://github.com/PX4/Firmware/tree/master/posix-configs/SITL)
+Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
 
 Developer guide:
 http://px4.io/dev/
@@ -38,8 +38,10 @@ Testing guide:
 http://px4.io/dev/unit_tests
 
 This repository contains code supporting these boards:
+  * [Snapdragon Flight](https://www.intrinsyc.com/qualcomm-snapdragon-flight/)
   * FMUv1.x
-  * FMUv2.x
+  * FMUv2.x (Pixhawk)
+  * FMUv3.x (Pixhawk 2)
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
 

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -20,3 +20,7 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER AERT
+
+# The ESC requires a specific pulse to arm.
+set PWM_OUT 4
+set PWM_DISARMED p:PWM_DISARMED

ROMFS/px4fmu_common/init.d/2104_fw_AETR

@@ -20,3 +20,7 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER AETR
+
+# The ESC requires a specific pulse to arm.
+set PWM_OUT 3
+set PWM_DISARMED p:PWM_DISARMED

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -9,18 +9,7 @@
 # filter by setting INAV_ENABLED = 0
 if param compare INAV_ENABLED 1
 then
-	# The system is defaulting to EKF_ATT_ENABLED = 1
-	# and uses the older EKF filter. However users can
-	# enable the new quaternion based complimentary
-	# filter by setting EKF_ATT_ENABLED = 0.
-	# Note that on FMUv1, the EKF att estimator is not
-	# available and the Q estimator runs instead.
-	if param compare EKF_ATT_ENABLED 1
-	then
-		attitude_estimator_ekf start
-	else
 	attitude_estimator_q start
-	fi
 	position_estimator_inav start
 else
 	ekf_att_pos_estimator start

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -112,4 +112,6 @@ fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
-sensors start
+if sensors start
+then
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -365,11 +365,6 @@ then
 	then
 	fi
 
-	#
-	# UAVCAN
-	#
-	sh /etc/init.d/rc.uavcan
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
@@ -576,6 +571,11 @@ then
 		fi
 	fi
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Logging
 	#

Tools/check_code_style.sh

@@ -25,7 +25,7 @@ for fn in $(find src/examples \
                    -path './NuttX' -prune -o \
                    -path './src/lib/eigen' -prune -o \
                    -path './src/lib/mathlib/CMSIS' -prune -o \
-                   -path './src/lib/uavcan' -prune -o \
+                   -path './src/modules/uavcan/libuavcan' -prune -o \
                    -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
                    -path './src/modules/ekf_att_pos_estimator' -prune -o \
                    -path './src/modules/sdlog2' -prune -o \

Tools/check_submodules.sh

@@ -1,144 +0,0 @@
-#!/bin/sh
-
-[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
-    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
-    exit 0
-}
-
-if [ -d NuttX/nuttx ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "NuttX" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked NuttX submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "   NuttX sub repo not at correct version. Try 'git submodule update'"
-		echo "   or follow instructions on http://pixhawk.org/dev/git/submodules"
-		echo ""
-		echo "   DO NOT FORGET TO RUN 'make distclean && make archives' AFTER EACH NUTTX UPDATE!"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d mavlink/include/mavlink/v1.0 ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "mavlink/include/mavlink/v1.0" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked mavlink submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "mavlink sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d uavcan ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i uavcan | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked uavcan submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "uavcan sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d src/lib/eigen ]
-then
-	echo "ARG = $1"
-	if [ $1 = "qurt" ]
-	then
-		# QuRT needs to use Eigen 3.2 because the toolchain doews not support C++11
-		STATUSRETVAL=$(true)
-	else
-		STATUSRETVAL=$(git submodule summary | grep -A20 -i eigen | grep "<")
-		if [ -z "$STATUSRETVAL" ]
-		then
-			echo "Checked Eigen submodule, correct version found"
-		else
-			echo ""
-			echo ""
-			echo "New commits required:"
-			echo "$(git submodule summary)"
-			echo ""
-			echo ""
-			echo "eigen sub repo not at correct version. Try 'git submodule update'"
-			echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-			exit 1
-		fi
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/gencpp ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i gencpp | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked gencpp submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "gencpp sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/genmsg ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i genmsg | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked genmsg submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "genmsg sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-exit 0

Tools/generate_listener.py

@@ -1,6 +1,7 @@
 #!/usr/bin/python
 
 import glob
+import os
 import sys
 
 # This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
@@ -20,20 +21,42 @@ for index,m in enumerate(raw_messages):
 		temp_list = []
 		f = open(m,'r')
 		for line in f.readlines():
-			if(line.split(' ')[0] == "float32"):
+			if ('float32[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('float64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("double_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('uint64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif(line.split(' ')[0] == "float32"):
 				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "uint64"):
+			elif(line.split(' ')[0] == "float64"):
+				temp_list.append(("double",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
 				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif (line.split(' ')[0] == "bool"):
+			elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
+				temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
+				temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
+				temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
+				temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
+				temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
 				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
 			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
 				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif ('float32[' in line.split(' ')[0]):
+			elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
-				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
 
 		f.close()
-		messages.append(m.split('/')[-1].split('.')[0])
+		(m_head, m_tail) = os.path.split(m)
+		messages.append(m_tail.split('.')[0])
+		#messages.append(m.split('/')[-1].split('.')[0])
 		message_elements.append(temp_list)
 
 num_messages = len(messages);
@@ -74,24 +97,32 @@ print("""
  ****************************************************************************/
 
 /**
- * @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
+ * @file topic_listener.cpp
+ *
+ * Autogenerated by Tools/generate_listener.py
  *
  * Tool for listening to topics when running flight stack on linux.
  */
+
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
-#include <iostream>
-#include <fstream>
-#include <string>
-#include <sstream>
-#include <vector>
-#include <cstring>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
+
+#ifndef PRIu64
+#define PRIu64 "llu"
+#endif
+
+#ifndef PRI64
+#define PRI64 "lld"
+#endif
+
 """)
 for m in messages:
 	print("#include <uORB/topics/%s.h>" % m)
@@ -108,7 +139,7 @@ int listener_main(int argc, char *argv[]) {
 		return 1;
 	}
 """)
-print("\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);")
+print("\tunsigned num_msgs = atoi(argv[2]);")
 print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
 print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
 print("\t\tID = ORB_ID(%s);" % messages[0])
@@ -121,22 +152,43 @@ for index,m in enumerate(messages[1:]):
 	print("\t\tstruct %s_s container;" % m)
 	print("\t\tmemset(&container, 0, sizeof(container));")
 	print("\t\tbool updated;")
-	print("\t\tfor(uint32_t i = 0;i<num_msgs;i++) {")
+	print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
 	print("\t\t\torb_check(sub,&updated);")
 	print("\t\t\tupdated = true;")
 	print("\t\t\tif (updated) {")
+	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
-			print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
 		elif item[0] == "float_array":
 			print("\t\t\tprintf(\"%s: \");" % item[1])
 			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "double":
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
+		elif item[0] == "double_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
 			print("\t\t\t}")
 			print("\t\t\tprintf(\"\\n\");")
 		elif item[0] == "uint64":
 			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint64_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%\" PRIu64 \"\",container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "int64":
+			print("\t\t\tprintf(\"%s: %%\" PRI64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "int32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "uint8":
 			print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":

Tools/posix_apps.py

@@ -98,7 +98,9 @@ static void list_builtins(void)
 
 static int shutdown_main(int argc, char *argv[])
 {
-	cout << "Shutting down" << endl;
+	cout.flush();
+	cout << endl << "Shutting down" << endl;
+	cout.flush();
 	exit(0);
 }
 
@@ -133,5 +135,14 @@ static int sleep_main(int argc, char *argv[])
 	sleep(atoi(argv[1]));
 	return 0;
 }
+static int usleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: usleep <microseconds>" << endl;
+		return 1;
+	}
+	usleep(atoi(argv[1]));
+	return 0;
+}
 """)
 

Tools/posix_lldbinit

@@ -0,0 +1,3 @@
+run
+pro hand -p true -s false -n false SIGCONT
+continue

Tools/px4airframes/rcout.py

@@ -1,5 +1,6 @@
 from xml.sax.saxutils import escape
 import codecs
+import os
 
 class RCOutput():
     def __init__(self, groups, board):
@@ -30,7 +31,7 @@ class RCOutput():
         for group in groups:
             result += "# GROUP: %s\n\n" % group.GetName()
             for param in group.GetParams():
-                path = param.GetPath().rsplit('/', 1)[1]
+                path = os.path.split(param.GetPath())[1]
                 id_val = param.GetId()
                 name = param.GetFieldValue("short_desc")
                 long_desc = param.GetFieldValue("long_desc")

Tools/px4airframes/srcparser.py

@@ -1,5 +1,6 @@
 import sys
 import re
+import os
 
 class ParameterGroup(object):
     """
@@ -151,7 +152,7 @@ class SourceParser(object):
         Returns list of supported file extensions that can be parsed by this
         parser. The parser uses any extension.
         """
-        return [""]
+        return ["", ".hil"]
 
     def Parse(self, path, contents):
         """
@@ -160,7 +161,7 @@ class SourceParser(object):
         """
 
         airframe_id = None
-        airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
+        airframe_id = os.path.split(path)[1].split('_',1)[0]
 
         # Skip if not numeric
         if (not self.IsNumber(airframe_id)):

Tools/px4airframes/srcscanner.py

@@ -16,6 +16,8 @@ class SourceScanner(object):
         extensions = tuple(parser.GetSupportedExtensions())
         for dirname, dirnames, filenames in os.walk(srcdir):
             for filename in filenames:
+                extension = os.path.splitext(filename)[1]
+                if extension in extensions:
                     path = os.path.join(dirname, filename)
                     if not self.ScanFile(path, parser):
                         return False

Tools/px_generate_params.py

@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+import xml.etree.ElementTree as ET
+import os
+
+if len(os.sys.argv) != 2:
+	print("Error in %s" % os.sys.argv[0])
+	print("Usage: %s <parameters.xml>" % os.sys.argv[0])
+	raise SystemExit
+
+fp_header = open("px4_parameters.h", "w")
+fp_src = open("px4_parameters.c", "w")
+
+tree = ET.parse(os.sys.argv[1])
+root = tree.getroot()
+
+# Generate the header file content
+header = """
+#include <stdint.h>
+#include <systemlib/param/param.h>
+
+// DO NOT EDIT
+// This file is autogenerated from parameters.xml
+
+__BEGIN_DECLS
+
+struct px4_parameters_t {
+"""
+start_name = ""
+end_name = ""
+
+for group in root:
+	if group.tag == "group":
+		header += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			header += """
+	const struct param_info_s __param__%s;""" % param.attrib["name"]
+header += """
+	const unsigned int param_count;
+};
+
+extern const struct px4_parameters_t px4_parameters;
+"""
+
+# Generate the C file content
+src = """
+#include <px4_parameters.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+const
+#ifndef __PX4_DARWIN
+__attribute__((used, section("__param")))
+#endif
+struct px4_parameters_t px4_parameters = {
+"""
+i=0
+for group in root:
+	if group.tag == "group":
+		src += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
+			if (param.attrib["type"] == "FLOAT"):
+				val_str = ".val.f = "
+			elif (param.attrib["type"] == "INT32"):
+				val_str = ".val.i = "
+			i+=1
+			src += """
+	{
+		"%s",
+		PARAM_TYPE_%s,
+		%s%s
+	},
+""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
+src += """
+	%d
+};
+
+//extern const struct px4_parameters_t px4_parameters;
+
+__END_DECLS
+
+""" % i
+
+fp_header.write(header)
+fp_src.write(src)
+

Tools/px_generate_uorb_topic_headers.py

@@ -43,6 +43,11 @@ import shutil
 import filecmp
 import argparse
 
+import sys
+px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(px4_tools_dir + "/genmsg/src")
+sys.path.append(px4_tools_dir + "/gencpp/src")
+
 try:
         import genmsg.template_tools
 except ImportError as e:
@@ -79,7 +84,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
         """
         Converts a single .msg file to a uorb header
         """
-        print("Generating headers from {0}".format(filename))
+        #print("Generating headers from {0}".format(filename))
         genmsg.template_tools.generate_from_file(filename,
                                                  package,
                                                  outputdir,
@@ -136,7 +141,7 @@ def convert_dir(inputdir, outputdir, templatedir):
         return True
 
 
-def copy_changed(inputdir, outputdir, prefix=''):
+def copy_changed(inputdir, outputdir, prefix='', quiet=False):
         """
         Copies files from inputdir to outputdir if they don't exist in
         ouputdir or if their content changed
@@ -153,6 +158,7 @@ def copy_changed(inputdir, outputdir, prefix=''):
                         fno = os.path.join(outputdir, prefix + f)
                         if not os.path.isfile(fno):
                                 shutil.copy(fni, fno)
+                                if not quiet:
                                     print("{0}: new header file".format(f))
                                 continue
 
@@ -161,13 +167,15 @@ def copy_changed(inputdir, outputdir, prefix=''):
                                 # only copy if contents do not match
                                 if not filecmp.cmp(fni, fno):
                                         shutil.copy(fni, fno)
+                                        if not quiet:
                                             print("{0}: updated".format(f))
                                         continue
 
-                        #print("{0}: unchanged".format(f))
+                        if not quiet:
+                            print("{0}: unchanged".format(f))
 
 
-def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
         """
         Converts all .msg files in inputdir to uORB header files
         Unchanged existing files are not overwritten.
@@ -175,7 +183,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
         # Create new headers in temporary output directory
         convert_dir(inputdir, temporarydir, templatedir)
         # Copy changed headers from temporary dir to output dir
-        copy_changed(temporarydir, outputdir, prefix)
+        copy_changed(temporarydir, outputdir, prefix, quiet)
 
 if __name__ == "__main__":
         parser = argparse.ArgumentParser(
@@ -193,6 +201,9 @@ if __name__ == "__main__":
         parser.add_argument('-p', dest='prefix', default='',
                             help='string added as prefix to the output file '
                             ' name when converting directories')
+        parser.add_argument('-q', dest='quiet', default=False, action='store_true',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
         args = parser.parse_args()
 
         if args.file is not None:
@@ -208,4 +219,5 @@ if __name__ == "__main__":
                     args.outputdir,
                     args.templatedir,
                     args.temporarydir,
-                    args.prefix)
+                    args.prefix,
+                    args.quiet)

Tools/px_romfs_pruner.py

@@ -76,8 +76,8 @@ def main():
                                                         pruned_content += line
 
                         # overwrite old scratch file
-                        with open(file_path, "w") as f:
+                        with open(file_path, "wb") as f:
-                                f.write(pruned_content)
+                                f.write(pruned_content.encode("ascii", errors='strict'))
 
 
 if __name__ == '__main__':

Tools/sitl_run.sh

@@ -1,5 +1,16 @@
 #!/bin/bash
-
+cp Tools/posix_lldbinit build_posix_sitl_simple/src/firmware/posix/.lldbinit
-mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
+cp Tools/posix.gdbinit build_posix_sitl_simple/src/firmware/posix/.gdbinit
-mkdir -p Build/posix_sitl.build/rootfs/eeprom
+cd build_posix_sitl_simple/src/firmware/posix
-cd Build/posix_sitl.build && ./mainapp ../../$1
+mkdir -p rootfs/fs/microsd
+mkdir -p rootfs/eeprom
+touch rootfs/eeprom/parameters
+if [ "$2" == "lldb" ]
+then
+	lldb -- mainapp ../../../../$1
+elif [ "$2" == "gdb" ]
+then
+	gdb --args mainapp ../../../../$1
+else
+	./mainapp ../../../../$1
+fi

Vagrantfile

@@ -73,12 +73,12 @@ Vagrant.configure(2) do |config|
   # Enable provisioning with a shell script. Additional provisioners such as
   # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
   # documentation for more information about their specific syntax and use.
-  config.vm.provision "shell", inline: <<-SHELL
+  config.vm.provision "shell", privileged: false, inline: <<-SHELL
     # Ensure we start in the Firmware folder
     echo "cd /Firmware" >> ~/.bashrc
     # Install software
     sudo apt-get update
-    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core
+    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb
     pushd .
     cd ~
     wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -0,0 +1,177 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v1
+	drivers/ardrone_interface
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v1
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -0,0 +1,185 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v2_simple.cmake

@@ -0,0 +1,143 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	examples/fixedwing_control
+
+	# Hardware test
+	examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_sim_simple.cmake

@@ -0,0 +1,21 @@
+include(nuttx/px4_impl_nuttx)
+
+message(WARNING "this is a work in progress and doesn't build yet")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	#platforms/nuttx
+	#platforms/nuttx/px4_layer
+	platforms/common
+	#drivers/led
+	drivers/device
+	#modules/systemlib
+	#modules/uORB
+	#examples/px4_simple_app
+	#lib/mathlib/math/filter
+	#lib/conversion
+	)
+
+set(config_extra_builtin_cmds
+	)

cmake/configs/posix_eagle_default.cmake

@@ -0,0 +1,46 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
+
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+	modules/controllib
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)
+

cmake/configs/posix_eagle_hil.cmake

@@ -0,0 +1,40 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/led
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	modules/muorb/krait
+	)
+

cmake/configs/posix_eagle_muorb.cmake

@@ -0,0 +1,15 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	modules/uORB
+
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+

cmake/configs/posix_eagle_release.cmake

@@ -0,0 +1,35 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/dataman
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+

cmake/configs/posix_sitl_simple.cmake

@@ -0,0 +1,71 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/led
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/rgbled
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	platforms/posix/drivers/adcsim
+	platforms/posix/drivers/gpssim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/airspeedsim
+	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gyrosim
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/simulator
+	modules/mavlink
+	modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+	modules/navigator
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control_multiplatform
+	modules/mc_att_control_multiplatform
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

cmake/configs/qurt_eagle_hello.cmake

@@ -0,0 +1,28 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/uORB
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/hello
+	)
+

cmake/configs/qurt_eagle_hil.cmake

@@ -0,0 +1,63 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/led
+	drivers/rgbled
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	modules/controllib
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)

cmake/configs/qurt_eagle_muorb.cmake

@@ -0,0 +1,41 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/muorb
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)

cmake/configs/qurt_eagle_release.cmake

@@ -0,0 +1,85 @@
+include(qurt/px4_impl_qurt)
+
+if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+endif()
+
+if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
+	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+endif()
+
+include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+
+# For Actual flight we need to link against the driver dynamic libraries
+set(target_libraries
+	-L${HEXAGON_DRIVERS_ROOT}/libs 
+	mpu9x50
+	uart_esc
+	csr_gps
+	rc_receiver
+	)
+
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	$(EAGLE_DRIVERS_SRC)/mpu9x50
+	$(EAGLE_DRIVERS_SRC)/uart_esc
+	$(EAGLE_DRIVERS_SRC)/rc_receiver
+	$(EAGLE_DRIVERS_SRC)/csr_gps
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)

cmake/configs/qurt_eagle_test.cmake

@@ -0,0 +1,39 @@
+include(qurt/px4_impl_qurt)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	drivers/device
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+	platforms/qurt/tests/hello
+	platforms/posix/tests/vcdev_test
+	platforms/posix/tests/hrt_test
+	platforms/posix/tests/wqueue
+	)
+

cmake/configs/qurt_eagle_travis.cmake

@@ -0,0 +1,68 @@
+include(qurt/px4_impl_qurt)
+
+# Run a full link with build stubs to make sure qurt target isn't broken
+set(QURT_ENABLE_STUBS "1")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	drivers/led
+	drivers/rgbled
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/ecl
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
+

cmake/nuttx/bin_to_obj.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+"""
+This converts a binary imagge to an object file
+"""
+from __future__ import print_function
+import subprocess
+import argparse
+import re
+from subprocess import PIPE
+
+#pylint: disable=invalid-name
+parser = argparse.ArgumentParser(description='Convert bin to obj.')
+parser.add_argument('--c_flags', required=True)
+parser.add_argument('--c_compiler', required=True)
+parser.add_argument('--include_path', required=True)
+parser.add_argument('--nm', required=True)
+parser.add_argument('--ld', required=True)
+parser.add_argument('--objcopy', required=True)
+parser.add_argument('--bin', required=True)
+parser.add_argument('--obj', required=True)
+parser.add_argument('--var', required=True)
+args = parser.parse_args()
+
+in_bin = args.bin
+c_flags = args.c_flags
+c_compiler = args.c_compiler
+include_path = args.include_path
+nm = args.nm
+ld = args.ld
+obj = args.obj
+var = args.var
+objcopy = args.objcopy
+
+sym = "_binary_" + in_bin.replace('/', '_').replace('.', '_').replace('-', '_')
+#print("sym: ", sym)
+
+# write empty file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("")
+
+def run_cmd(cmd, d):
+    cmd = cmd.format(**d)
+    #print(cmd)
+    proc = subprocess.Popen(cmd.split(), stdout=PIPE, stderr=PIPE)
+    stdout, stderr = proc.communicate()
+    if stderr.decode() != "":
+        raise RuntimeError(stderr)
+    return stdout
+
+# do compile
+run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
+        locals())
+
+# get size of image
+stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
+re_string = r"^([0-9A-Fa-f]+) .*{sym:s}_size".format(**locals())
+re_size = re.compile(re_string, re.MULTILINE)
+size_match = re.search(re_size, stdout.decode())
+
+try:
+    size = size_match.group(1)
+except AttributeError as e:
+    raise RuntimeError("{:s}\nre:{:s}\n{:s}".format(
+        e, re_string, stdout))
+except IndexError as e:
+    group0 = size_match.group(0)
+    raise RuntimeError("{:s}\ngroup 0:{:s}\n{:s}".format(
+        e, group0, stdout))
+
+#print("romfs size: ", size)
+
+# write size to file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("const unsigned int {var:s}_len = 0x{size:s};".format(
+        **locals()))
+
+# do compile
+run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s} {obj:s}.c.o {obj:s}.bin.o",
+        locals())
+
+# obj copy
+run_cmd("""
+{objcopy:s} {obj:s}
+    --redefine-sym {sym:s}_start={var:s}
+    --strip-symbol {sym:s}_size
+    --strip-symbol {sym:s}_end
+    --rename-section .data=.rodata
+""", locals())
+
+# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :

cmake/nuttx/builtin_commands.c.in

@@ -0,0 +1,10 @@
+/* builtin command list - automatically generated, do not edit */
+#include <nuttx/config.h>
+#include <nuttx/binfmt/builtin.h>
+#include <nuttx/config.h>
+${builtin_apps_decl_string}
+const struct builtin_s g_builtins[] = {
+${builtin_apps_string}
+	{NULL, 0, 0, NULL}
+};
+const int g_builtin_count = ${command_count};

cmake/posix/apps.h_in

@@ -0,0 +1,88 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+static map<string,px4_main_t> app_map(void)
+{
+        static map<string,px4_main_t> apps;
+
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+
+	return apps;
+}
+
+map<string,px4_main_t> apps = app_map();
+
+static void list_builtins(void)
+{
+	cout << "Builtin Commands:" << endl;
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		cout << '\t' << it->first << endl;
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+
+static int sleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: sleep <seconds>" << endl;
+		return 1;
+	}
+	sleep(atoi(argv[1]));
+	return 0;
+}
+

cmake/posix/ld.script

@@ -44,3 +44,4 @@ SECTIONS
 		__param_end = .;
 	}
 }
+INSERT AFTER .rodata;

cmake/posix/px4_impl_posix.cmake

@@ -0,0 +1,236 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	OS Specific Functions
+#
+#		* px4_posix_add_firmware
+#		* px4_posix_generate_builtin_commands
+#		* px4_posix_add_export
+#		* px4_posix_generate_romfs
+#
+# 	Required OS Inteface Functions
+#
+# 		* px4_os_add_flags
+#		* px4_os_prebuild_targets
+#
+
+include(common/px4_base)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
+
+#=============================================================================
+#
+#	px4_posix_generate_builtin_commands
+#
+#	This function generates the builtin_commands.c src for posix
+#
+#	Usage:
+#		px4_posix_generate_builtin_commands(
+#			MODULE_LIST <in-list>
+#			OUT <file>)
+#
+#	Input:
+#		MODULE_LIST	: list of modules
+#
+#	Output:
+#		OUT	: generated builtin_commands.c src
+#
+#	Example:
+#		px4_posix_generate_builtin_commands(
+#			OUT <generated-src> MODULE_LIST px4_simple_app)
+#
+function(px4_posix_generate_builtin_commands)
+	px4_parse_function_args(
+		NAME px4_posix_generate_builtin_commands
+		ONE_VALUE OUT
+		MULTI_VALUE MODULE_LIST
+		REQUIRED MODULE_LIST OUT
+		ARGN ${ARGN})
+	set(builtin_apps_string)
+	set(builtin_apps_decl_string)
+	set(command_count 0)
+	foreach(module ${MODULE_LIST})
+		# default
+		set(MAIN_DEFAULT MAIN-NOTFOUND)
+		set(STACK_DEFAULT 1024)
+		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+		foreach(property MAIN STACK PRIORITY) 
+			get_target_property(${property} ${module} ${property})
+			if(NOT ${property})
+				set(${property} ${${property}_DEFAULT})
+			endif()
+		endforeach()
+		if (MAIN)
+			set(builtin_apps_string
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
+			set(builtin_apps_decl_string
+				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
+			math(EXPR command_count "${command_count}+1")
+		endif()
+	endforeach()
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
+		${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_add_flags
+#
+#	Set ths posix build flags.
+#
+#	Usage:
+#		px4_os_add_flags(
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: flags depend on board/posix config
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_os_add_flags(
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_os_add_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	px4_add_common_flags(
+		BOARD ${BOARD}
+		C_FLAGS ${C_FLAGS}
+		CXX_FLAGS ${CXX_FLAGS}
+		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
+		INCLUDE_DIRS ${INCLUDE_DIRS}
+		LINK_DIRS ${LINK_DIRS}
+		DEFINITIONS ${DEFINITIONS})
+
+        set(PX4_BASE )
+        set(added_include_dirs
+		src/modules/systemlib
+                src/lib/eigen
+                src/platforms/posix/include
+                mavlink/include/mavlink
+                )
+
+if(UNIX AND APPLE)
+        set(added_definitions
+		-D__PX4_POSIX
+		-D__PX4_DARWIN
+		-DCLOCK_MONOTONIC=1
+		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+
+else()
+
+        set(added_definitions
+		-D__PX4_POSIX
+		-D__PX4_LINUX 
+		-DCLOCK_MONOTONIC=1
+		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+endif()
+
+        set(added_exe_linker_flags
+		-lpthread
+		)
+	
+
+	# Add the toolchain specific flags
+        set(added_cflags ${POSIX_CMAKE_C_FLAGS})
+        set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_prebuild_targets
+#
+#	This function generates os dependent targets
+#
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#		THREADS 	: number of threads for building
+#
+#	Output:
+#		OUT	: the target list
+#
+#	Example:
+#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#
+function(px4_os_prebuild_targets)
+	px4_parse_function_args(
+			NAME px4_os_prebuild_targets
+			ONE_VALUE OUT BOARD THREADS
+			REQUIRED OUT BOARD
+			ARGN ${ARGN})
+	add_custom_target(${OUT})
+endfunction()

cmake/qurt/apps.h_in

@@ -0,0 +1,84 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+}
+
+void list_builtins(map<string,px4_main_t> &apps)
+{
+	printf("Builtin Commands:\\n");
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		printf("\\t%s\\n", (it->first).c_str());
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
+

cmake/qurt/px4_impl_qurt.cmake

@@ -0,0 +1,236 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	OS Specific Functions
+#
+#		* px4_qurt_add_firmware
+#		* px4_qurt_generate_builtin_commands
+#		* px4_qurt_add_export
+#		* px4_qurt_generate_romfs
+#
+# 	Required OS Inteface Functions
+#
+# 		* px4_os_add_flags
+#		* px4_os_prebuild_targets
+#
+
+include(common/px4_base)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+
+#=============================================================================
+#
+#	px4_qurt_generate_builtin_commands
+#
+#	This function generates the builtin_commands.c src for qurt
+#
+#	Usage:
+#		px4_qurt_generate_builtin_commands(
+#			MODULE_LIST <in-list>
+#			OUT <file>)
+#
+#	Input:
+#		MODULE_LIST	: list of modules
+#
+#	Output:
+#		OUT	: generated builtin_commands.c src
+#
+#	Example:
+#		px4_qurt_generate_builtin_commands(
+#			OUT <generated-src> MODULE_LIST px4_simple_app)
+#
+function(px4_qurt_generate_builtin_commands)
+	px4_parse_function_args(
+		NAME px4_qurt_generate_builtin_commands
+		ONE_VALUE OUT
+		MULTI_VALUE MODULE_LIST
+		REQUIRED MODULE_LIST OUT
+		ARGN ${ARGN})
+	set(builtin_apps_string)
+	set(builtin_apps_decl_string)
+	set(command_count 0)
+	foreach(module ${MODULE_LIST})
+		# default
+		set(MAIN_DEFAULT MAIN-NOTFOUND)
+		set(STACK_DEFAULT 1024)
+		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+		foreach(property MAIN STACK PRIORITY) 
+			get_target_property(${property} ${module} ${property})
+			if(NOT ${property})
+				set(${property} ${${property}_DEFAULT})
+			endif()
+		endforeach()
+		if (MAIN)
+			set(builtin_apps_string
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
+			set(builtin_apps_decl_string
+				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
+			math(EXPR command_count "${command_count}+1")
+		endif()
+	endforeach()
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_add_flags
+#
+#	Set ths qurt build flags.
+#
+#	Usage:
+#		px4_os_add_flags(
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: flags depend on board/qurt config
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_os_add_flags(
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_os_add_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	px4_add_common_flags(
+		BOARD ${BOARD}
+		C_FLAGS ${C_FLAGS}
+		CXX_FLAGS ${CXX_FLAGS}
+		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
+		INCLUDE_DIRS ${INCLUDE_DIRS}
+		LINK_DIRS ${LINK_DIRS}
+		DEFINITIONS ${DEFINITIONS})
+
+        set(DSPAL_ROOT src/lib/dspal)
+        set(added_include_dirs
+                ${DSPAL_ROOT}/include 
+                ${DSPAL_ROOT}/sys 
+                ${DSPAL_ROOT}/sys/sys 
+                ${DSPAL_ROOT}/mpu_spi/inc
+                ${DSPAL_ROOT}/uart_esc/inc
+                src/platforms/qurt/include
+                src/platforms/posix/include
+                )
+
+        set(added_definitions
+                -D__PX4_QURT 
+		-D__PX4_POSIX
+		-include ${PX4_INCLUDE_DIR}visibility.h
+                )
+
+	# Add the toolchain specific flags
+        set(added_cflags ${QURT_CMAKE_C_FLAGS})
+        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
+
+	# FIXME @jgoppert - how to work around issues like this?
+	# Without changing global variables?
+	# Clear -rdynamic flag which fails for hexagon
+	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_os_prebuild_targets
+#
+#	This function generates os dependent targets
+#
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#		THREADS 	: number of threads for building
+#
+#	Output:
+#		OUT	: the target list
+#
+#	Example:
+#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#
+function(px4_os_prebuild_targets)
+	px4_parse_function_args(
+			NAME px4_os_prebuild_targets
+			ONE_VALUE OUT BOARD THREADS
+			REQUIRED OUT BOARD
+			ARGN ${ARGN})
+	add_custom_target(git_eigen_patched
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen
+		COMMAND git checkout .
+		COMMAND git checkout master
+		COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
+		DEPENDS git_eigen)
+	add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
+	add_custom_target(ALL DEPENDS git_eigen_patched)
+
+endfunction()
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/qurt/qurt_eigen.patch

@@ -0,0 +1,37 @@
+diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
+index 1ca1d66..9bc928b 100644
+--- a/Eigen/src/Core/util/Macros.h
++++ b/Eigen/src/Core/util/Macros.h
+@@ -194,6 +194,12 @@
+   #define EIGEN_ARCH_PPC 0
+ #endif
+ 
++/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
++#ifdef __HEXAGON_ARCH__
++  #define EIGEN_ARCH_HEXAGON 1
++#else
++  #define EIGEN_ARCH_HEXAGON 0
++#endif
+ 
+ 
+ // Operating system identification, EIGEN_OS_*
+@@ -334,15 +340,16 @@
+ #endif
+ 
+ // Do we support r-value references?
+-#if (__has_feature(cxx_rvalue_references) || \
++#if ((__has_feature(cxx_rvalue_references) || \
+     (defined(__cplusplus) && __cplusplus >= 201103L) || \
+      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
+-    (EIGEN_COMP_MSVC >= 1600))
++    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
+   #define EIGEN_HAVE_RVALUE_REFERENCES
+ #endif
+ 
+ // Does the compiler support result_of?
+-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
++#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
++    (!defined(EIGEN_ARCH_HEXAGON)))
+ #define EIGEN_HAS_STD_RESULT_OF 1
+ #endif
+