Add Parrot Bebop as build target (#4698)

* Add parrot bebop build structure

* Add upload functionality to bebop build

* Add modules and commands to bebop build

Makefile

@@ -205,6 +205,9 @@ posix_rpi2_default:
 posix_rpi2_release:
 	$(call cmake-build,$@)
 
+posix_bebop_default:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default
 
 broadcast: posix_sitl_broadcast

Tools/adb_upload_to_bebop.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+ip=192.168.42.1
+port=9050
+
+echo "Connecting to bebop: $ip:$port"
+
+# adb returns also 0 as exit status if the connection fails
+adb_return=$(adb connect $ip:$port)
+adb_status=$(echo $adb_return | cut -f 1 -d " ")
+
+if [[ $adb_status == "unable" ]]; then
+  
+  echo ""
+  echo "Connection with Parrot Bebop could not be established:"
+  echo "  Make sure you are connected with the Bebop's WiFi and"
+  echo "  enable access to the board by pressing the power button 4 times."
+  echo ""
+  exit 50
+
+fi
+
+echo "Connection successfully established"
+
+sleep 1
+
+adb shell mount -o remount,rw /
+
+../Tools/adb_upload.sh $@
+
+echo "Disconnecting from bebop"
+adb disconnect

cmake/common/px4_base.cmake

@@ -528,6 +528,24 @@ function(px4_add_adb_push)
 		)
 endfunction()
 
+function(px4_add_adb_push_to_bebop)
+	px4_parse_function_args(
+		NAME px4_add_upload_to_bebop
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
 function(px4_add_scp_push)
 	px4_parse_function_args(
 		NAME px4_add_upload

cmake/configs/posix_bebop_default.cmake

@@ -0,0 +1,96 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+
+add_definitions(
+  -D__PX4_POSIX_BEBOP
+	)
+
+set(CMAKE_PROGRAM_PATH
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(config_module_list
+
+  examples/px4_simple_app
+
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1	
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/load_mon
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)

cmake/posix/px4_impl_posix.cmake

@@ -166,6 +166,15 @@ function(px4_os_add_flags)
                 mavlink/include/mavlink
                 )
 
+# Use the pthread instead of lpthread if the firmware is build for the parrot
+# bebop. This resolves some linker errors in DriverFramework, when building a 
+# static target.
+if ("${BOARD}" STREQUAL "bebop")
+  set(PX4_PTHREAD_BUILD "-pthread")
+else()
+  set(PX4_PTHREAD_BUILD "-lpthread")
+endif()
+
 if(UNIX AND APPLE)
         set(added_definitions
 		-D__PX4_POSIX
@@ -177,7 +186,7 @@ if(UNIX AND APPLE)
                 )
 
         set(added_exe_linker_flags
-		-lpthread
+          ${PX4_PTHREAD_BUILD}
 		)
 
 else()
@@ -192,7 +201,7 @@ else()
                 )
 
         set(added_exe_linker_flags
-		-lpthread -lrt
+		      ${PX4_PTHREAD_BUILD} -lrt
 		)
 
 endif()

posix-configs/bebop/mainapp.config

@@ -0,0 +1,15 @@
+uorb start
+param set SYS_AUTOSTART 4001
+sleep 1
+param set MAV_TYPE 2
+sensors start
+commander start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+mavlink boot_complete

src/firmware/posix/CMakeLists.txt

@@ -61,7 +61,42 @@ elseif ("${BOARD}" STREQUAL "rpi2")
 			 DEPENDS mainapp
 			 DEST /home/pi)
 
+elseif ("${BOARD}" STREQUAL "bebop")
+
+	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
+
+	add_executable(mainapp
+		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+		apps.h
+		)
+
+	if (NOT APPLE)
+		target_link_libraries(mainapp
+			-Wl,--start-group
+			${module_libraries}
+			${df_driver_libs}
+			pthread m rt
+			-Wl,--end-group
+			)
+	else()
+		target_link_libraries(mainapp
+			${module_libraries}
+			${df_driver_libs}
+			pthread m
+			)
+	endif()
+
+	px4_add_adb_push_to_bebop(OUT upload
+			 OS ${OS}
+			 BOARD ${BOARD}
+			 FILES ${CMAKE_CURRENT_BINARY_DIR}/mainapp
+						 ${CMAKE_SOURCE_DIR}/posix-configs/bebop/mainapp.config
+			 DEPENDS mainapp
+			 DEST /usr/bin)
+			 
 else()
+
 	add_executable(mainapp
 		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h

src/lib/version/version.h

@@ -61,6 +61,8 @@ __END_DECLS
 #  define HW_ARCH "LINUXTEST"
 #elif defined(CONFIG_ARCH_BOARD_RPI2)
 #  define	HW_ARCH "LINUXTEST"
+#elif defined(CONFIG_ARCH_BOARD_BEBOP)
+#  define	HW_ARCH "LINUXTEST"
 #else
 #define HW_ARCH (board_name())
 #endif