Merge pull request #2057 from mcharleb/linux

Linux support

.gitignore

@@ -48,3 +48,5 @@ unittests/build
 .vagrant
 *.pretty
 xcode
+src/platforms/posix/px4_messages/
+src/platforms/qurt/px4_messages/

.travis.yml

@@ -60,18 +60,22 @@ env:
 script:
   - ccache -z
   - arm-none-eabi-gcc --version
-  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
+  - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
+  - 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.1\\r'
-  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
+  - 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.2\\r'
-  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
+  - echo -en 'travis_fold:end:script.3\\r'
+  - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
   - make -j4
   - ccache -s
-  - echo -en 'travis_fold:end:script.3\\r'
+  - echo -en 'travis_fold:end:script.4\\r'
   - zip Firmware.zip Images/*.px4
 
 after_script:

Makefile

@@ -53,13 +53,13 @@ export GIT_DESC
 #
 # Canned firmware configurations that we (know how to) build.
 #
-KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
+KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
 CONFIGS			?= $(KNOWN_CONFIGS)
 
 #
 # Boards that we (know how to) build NuttX export kits for.
 #
-KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
+KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
 BOARDS			?= $(KNOWN_BOARDS)
 
 #
@@ -97,6 +97,7 @@ upload:
 endif
 endif
 
+ifeq ($(PX4_TARGET_OS),nuttx) 
 #
 # Built products
 #
@@ -209,6 +210,7 @@ menuconfig:
 	@$(ECHO) ""
 	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
 	@$(ECHO) ""
+
 endif
 
 $(NUTTX_SRC): checksubmodules
@@ -216,6 +218,20 @@ $(NUTTX_SRC): checksubmodules
 $(UAVCAN_DIR):
 	$(Q) (./Tools/check_submodules.sh)
 
+endif
+
+ifeq ($(PX4_TARGET_OS),nuttx)
+# TODO
+# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix)
+include $(PX4_BASE)makefiles/firmware_posix.mk
+endif
+ifeq ($(PX4_TARGET_OS),qurt)
+include $(PX4_BASE)makefiles/firmware_qurt.mk
+endif
+
+
 .PHONY: checksubmodules
 checksubmodules:
 	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
@@ -229,7 +245,7 @@ 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/nuttx/px4_messages
+MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
 MULTIPLATFORM_PREFIX = px4_
 TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
 GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
@@ -255,6 +271,21 @@ testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
 
+posix:
+	make PX4_TARGET_OS=posix
+
+nuttx:
+	make PX4_TARGET_OS=nuttx
+
+qurt:
+	make PX4_TARGET_OS=qurt
+
+posixrun:
+	Tools/posix_run.sh
+
+qurtrun:
+	make PX4_TARGET_OS=qurt sim
+
 #
 # Unittest targets. Builds and runs the host-level
 # unit tests.

Tools/generate_listener.py

@@ -0,0 +1,150 @@
+#!/usr/bin/python
+
+import glob
+import sys
+
+# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
+
+# argv[1] must be the full path of the top Firmware dir
+
+raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
+messages = []
+message_elements = []
+
+
+for index,m in enumerate(raw_messages):
+	temp_list_floats = []
+	temp_list_uint64 = []
+	temp_list_bool = []
+	if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
+		temp_list = []
+		f = open(m,'r')
+		for line in f.readlines():
+			if(line.split(' ')[0] == "float32"):
+				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64"):
+				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool"):
+				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]):
+				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))
+
+		f.close()
+		messages.append(m.split('/')[-1].split('.')[0])
+		message_elements.append(temp_list)
+
+num_messages = len(messages);
+
+print
+print """
+
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @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>
+"""
+for m in messages:
+	print "#include <uORB/topics/%s.h>" % m
+
+
+print """
+extern "C" __EXPORT int listener_main(int argc, char *argv[]);
+
+int listener_main(int argc, char *argv[]) {
+	int sub = -1;
+	orb_id_t ID;
+	if(argc < 3) {
+		printf("need at least two arguments: topic name, number of messages to print\\n");
+		return 1;
+	}
+"""
+print "\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);"
+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]
+print "\t\tstruct %s_s container;" % messages[0]
+print "\t\tmemset(&container, 0, sizeof(container));"
+for index,m in enumerate(messages[1:]):
+	print "\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m
+	print "\t\tsub = orb_subscribe(ORB_ID(%s));" % m
+	print "\t\tID = ORB_ID(%s);" % m
+	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\t\torb_check(sub,&updated);"
+	print "\t\t\tupdated = true;"
+	print "\t\t\tif(updated) {"
+	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])
+		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}"
+			print "\t\t\tprintf(\"\\n\");"
+		elif item[0] == "uint64":
+			print "\t\t\tprintf(\"%s: %%lu\\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":
+			print "\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1])
+	print "\t\t\t}"
+	print "\t\t}"
+print "\t} else {"
+print "\t\t printf(\" Topic did not match any known topics\\n\");"
+print "\t}"
+print("\t return 0;")
+
+print "}"

Tools/posix_apps.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2015 Mark Charlebois. 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.
+#
+############################################################################
+
+import glob
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1].split("_main")[0])
+
+print
+print """
+#include <string>
+#include <map>
+
+#define __EXPORT 
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+"""
+for app in apps:
+	print "extern int "+app+"_main(int argc, char *argv[]);"
+
+print """
+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 map<string,px4_main_t> app_map(void);
+
+static map<string,px4_main_t> app_map(void)
+{
+	static map<string,px4_main_t> apps;
+"""
+for app in apps:
+	print '\tapps["'+app+'"] = '+app+'_main;'
+
+print '\tapps["shutdown"] = shutdown_main;'
+print '\tapps["list_tasks"] = list_tasks_main;'
+print '\tapps["list_files"] = list_files_main;'
+print '\tapps["list_devices"] = list_devices_main;'
+print '\tapps["list_topics"] = list_topics_main;'
+print """
+	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[])
+{
+	cout << "Shutting down" << endl;
+	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;
+}
+"""
+

Tools/posix_run.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+if [ ! -d /fs/msdcard ] && [ ! -w /fs/msdcard ]
+	then
+	echo "Need to create/mount writable /fs/microsd"
+	echo "sudo mkdir -p /fs/msdcard"
+	echo "sudo chmod 777 /fs/msdcard"
+	exit 1
+fi
+
+if [ ! -d /eeprom ] && [ ! -w /eeprom ]
+	then
+	echo "Need to create/mount writable /eeprom"
+	echo "sudo mkdir -p /eeprom"
+	echo "sudo chmod 777 /eeprom"
+	exit 1
+fi
+
+Build/posix_default.build/mainapp posix-configs/posixtest/init/rc.S

Tools/qurt_apps.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2015 Mark Charlebois. 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.
+#
+############################################################################
+
+import glob
+#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1].split("_main")[0])
+
+print
+print """
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+"""
+for app in apps:
+	print "extern int "+app+"_main(int argc, char *argv[]);"
+
+print """
+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[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+"""
+for app in apps:
+	print '\tapps["'+app+'"] = '+app+'_main;'
+
+print '\tapps["shutdown"] = shutdown_main;'
+print '\tapps["list_tasks"] = list_tasks_main;'
+print '\tapps["list_files"] = list_files_main;'
+print '\tapps["list_devices"] = list_devices_main;'
+print '\tapps["list_topics"] = list_topics_main;'
+
+print """
+}
+
+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;
+}
+"""
+

makefiles/README.txt

@@ -7,8 +7,9 @@ with Makefile in the parent directory.
 
 ../Makefile
 
-	Top-level makefile for the PX4 build system. This makefile supports
-	building NuttX archives, as well as supervising the building of all
+	Top-level makefile for the PX4 build system. 
+	This makefile supports building NuttX archives for the NuttX based
+	configurations, as well as supervising the building of all
 	of the defined PX4 firmware configurations.
 
 	Try 'make help' in the parent directory for documentation.
@@ -25,6 +26,14 @@ firmware.mk
 	source tree. When used in this mode, at least BOARD, MODULES and 
 	CONFIG_FILE must be set.
 
+firmware_nuttx.mk
+
+	Called by firmware.mk to build NuttX based firmware.
+
+firmware_posix.mk
+
+	Called by firmware.mk to build POSIX (non-ROS) based firmware.
+
 module.mk
 
 	Called by firmware.mk to build individual modules.
@@ -34,22 +43,28 @@ module.mk
 
 nuttx.mk
 
-	Called by ../Makefile to build or download the NuttX archives.
+	Called by ../Makefile to build or download the NuttX archives if 
+	PX4_TARGET_OS is set to "nuttx".
+
+posix.mk
+
+	Called by ../Makefile to set POSIX specific parameters if 
+	PX4_TARGET_OS is set to "posix".
 
 upload.mk
 
 	Called by ../Makefile to upload files to a target board. Can be used
-	by external build systems as well.
+	by external build systems as well. (NuttX targets only)
 
 setup.mk
 
-	Provides common path and tool definitions. Implements host system-specific
-	compatibility hacks.
+	Provides common path and tool definitions. Implements host 
+	system-specific compatibility hacks. Sets PX4_TARGET_OS.
 
 board_<boardname>.mk
 
-	Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
-	and then includes the toolchain definition for the board.
+	Board-specific configuration for <boardname>. Typically sets 
+	CONFIG_ARCH and then includes the toolchain definition for the board.
 
 config_<boardname>_<configname>.mk
 

makefiles/firmware.mk

@@ -132,7 +132,7 @@ include $(MK_DIR)/setup.mk
 ifneq ($(CONFIG_FILE),)
 CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
 else
-CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_$(CONFIG).mk)
 endif
 ifeq ($(CONFIG),)
 $(error Missing configuration name or file (specify with CONFIG=<config>))
@@ -150,7 +150,7 @@ $(info %  CONFIG              = $(CONFIG))
 ifeq ($(BOARD),)
 BOARD			:= $(firstword $(subst _, ,$(CONFIG)))
 endif
-BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk)
+BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk)
 ifeq ($(BOARD_FILE),)
 $(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
 endif
@@ -186,10 +186,10 @@ EXTRA_CLEANS		 =
 INCLUDE_DIRS		+= $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
 
 ################################################################################
-# NuttX libraries and paths
+# OS specific libraries and paths
 ################################################################################
 
-include $(PX4_MK_DIR)/nuttx.mk
+include $(PX4_MK_DIR)/$(PX4_TARGET_OS).mk
 
 ################################################################################
 # Modules
@@ -213,7 +213,7 @@ endef
 MODULE_MKFILES		:= $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
 MISSING_MODULES		:= $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
 ifneq ($(MISSING_MODULES),)
-$(error Can't find module(s): $(MISSING_MODULES))
+$(error Cant find module(s): $(MISSING_MODULES))
 endif
 
 # Make a list of the object files we expect to build from modules
@@ -273,7 +273,7 @@ endef
 LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
 MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
 ifneq ($(MISSING_LIBRARIES),)
-$(error Can't find library(s): $(MISSING_LIBRARIES))
+$(error Cant find library(s): $(MISSING_LIBRARIES))
 endif
 
 # Make a list of the archive files we expect to build from libraries
@@ -311,6 +311,7 @@ $(LIBRARY_CLEANS):
 	LIBRARY_MK=$(mkfile) \
 	clean
 
+ifeq ($(PX4_TARGET_OS),nuttx)
 ################################################################################
 # ROMFS generation
 ################################################################################
@@ -434,6 +435,7 @@ SRCS			+= $(BUILTIN_CSRC)
 
 EXTRA_CLEANS		+= $(BUILTIN_CSRC)
 
+endif
 endif
 
 ################################################################################
@@ -456,6 +458,7 @@ endif
 # Build rules
 ################################################################################
 
+ifeq ($(PX4_TARGET_OS),nuttx)
 #
 # What we're going to build.
 #
@@ -466,6 +469,7 @@ PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
+endif
 
 #
 # Object files we will generate from sources
@@ -487,6 +491,7 @@ $(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
 $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
+ifeq ($(PX4_TARGET_OS),nuttx)
 #
 # Built product rules
 #
@@ -530,7 +535,22 @@ clean:			$(MODULE_CLEANS)
 	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+endif
 
+# Include the OS specific build rules
+# The rules must define the "firmware" make target
+#
+
+ifeq ($(PX4_TARGET_OS),nuttx)
+# TODO
+# Move above nuttx specific rules to $(MK_DIR)/nuttx_romfs.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix)
+include $(MK_DIR)/posix_elf.mk
+endif
+ifeq ($(PX4_TARGET_OS),qurt)
+include $(MK_DIR)/qurt_elf.mk
+endif
 
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)

makefiles/firmware_nuttx.mk

@@ -0,0 +1,151 @@
+#
+#   Copyright (c) 2012-2015 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.
+#
+
+#
+# Built products
+#
+
+DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
+
+all:	$(DESIRED_FIRMWARES)
+
+#
+# Copy FIRMWARES into the image directory.
+#
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
+#     is taken care of.
+#
+$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
+	@$(ECHO) %% Copying $@
+	$(Q) $(COPY) $< $@
+	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
+$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksubmodules
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+#
+# Make FMU firmwares depend on the corresponding IO firmware.
+#
+# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
+# and forces the _default config in all cases. There has to be a better way to do this...
+#
+FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
+define FMU_DEP
+$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
+endef
+FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
+$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
+
+#
+# Build the NuttX export archives.
+#
+# Note that there are no explicit dependencies extended from these
+# archives. If NuttX is updated, the user is expected to rebuild the
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
+#
+# XXX Should support fetching/unpacking from a separate directory to permit
+#     downloads of the prebuilt archives as well...
+#
+NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
+.PHONY:			archives
+archives:		checksubmodules $(NUTTX_ARCHIVES)
+
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif
+
+J?=1
+
+$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
+$(ARCHIVE_DIR)%.export:	configuration = nsh
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
+	@$(ECHO) %% Exporting NuttX for $(board)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q) $(MKDIR) -p $(dir $@)
+	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
+
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+endif
+
+$(NUTTX_SRC): checksubmodules
+
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)
+

makefiles/firmware_posix.mk

@@ -0,0 +1,56 @@
+#
+#   Copyright (c) 2012-2015 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.
+#
+
+#
+# Built products
+#
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
+
+all: 	$(FIRMWARES)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.a: config   = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
+$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	generateuorbtopicheaders
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+

makefiles/firmware_qurt.mk

@@ -0,0 +1,63 @@
+#
+#   Copyright (c) 2012-2015 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.
+#
+
+#
+# Built products
+#
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
+
+all: 	$(FIRMWARES)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.a: config   = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
+$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	generateuorbtopicheaders
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
+#V_ARCH			 = v4
+V_ARCH			 = v5
+HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
+SIM     = $(HEXAGON_CLANG_BIN)/hexagon-sim
+SIMFLAGS+= -m$(V_ARCH) 
+sim:
+	$(SIM) $(SIMFLAGS) Build/qurt_default.build/mainapp

makefiles/library.mk

@@ -93,7 +93,7 @@ $(info %% LIBRARY_MK          = $(LIBRARY_MK))
 #
 # Get the board/toolchain config
 #
-include $(PX4_MK_DIR)/board_$(BOARD).mk
+include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk
 
 #
 # Get the library's config

makefiles/module.mk

@@ -144,6 +144,7 @@ MODULE_ENTRYPOINT	?= $(MODULE_COMMAND)_main
 MODULE_STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
 MODULE_PRIORITY		?= SCHED_PRIORITY_DEFAULT
 MODULE_COMMANDS		+= $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
+CXXFLAGS		+= -DPX4_MAIN=$(MODULE_COMMAND)_app_main
 endif
 
 ifneq ($(MODULE_COMMANDS),)

makefiles/nuttx.mk

@@ -34,6 +34,8 @@
 # building firmware.
 #
 
+MODULES += platforms/nuttx/px4_layer platforms/common
+
 #
 # Check that the NuttX archive for the selected board is available.
 #

makefiles/nuttx_romfs.mk

@@ -0,0 +1,219 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Makefile for PX4 Nuttx based firmware images.
+#
+
+################################################################################
+# ROMFS generation
+################################################################################
+
+ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
+
+#
+# Note that there is no support for more than one root directory or constructing
+# a root from several templates. That would be a nice feature.
+#
+
+# Add dependencies on anything in the ROMFS root directory
+ROMFS_FILES		+= $(wildcard \
+			     $(ROMFS_ROOT)/* \
+			     $(ROMFS_ROOT)/*/* \
+			     $(ROMFS_ROOT)/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/*/*)
+ifeq ($(ROMFS_FILES),)
+$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
+endif
+ROMFS_DEPS		+= $(ROMFS_FILES)
+
+# Extra files that may be copied into the ROMFS /extras directory
+# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
+ROMFS_EXTRA_FILES	+= $(wildcard $(ROMFS_OPTIONAL_FILES))
+ROMFS_DEPS		+= $(ROMFS_EXTRA_FILES)
+
+ROMFS_IMG		 = romfs.img
+ROMFS_SCRATCH		 = romfs_scratch
+ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
+ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
+LIBS			+= $(ROMFS_OBJ)
+LINK_DEPS		+= $(ROMFS_OBJ)
+
+# Remove all comments from startup and mixer files
+ROMFS_PRUNER	 = $(PX4_BASE)/Tools/px_romfs_pruner.py
+
+# Turn the ROMFS image into an object file
+$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
+	$(call BIN_TO_OBJ,$<,$@,romfs_img)
+
+# Generate the ROMFS image from the root
+$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	@$(ECHO) "ROMFS:   $@"
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
+
+# Construct the ROMFS scratch root from the canonical root
+$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
+	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
+	$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
+ifneq ($(ROMFS_EXTRA_FILES),)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
+	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
+endif
+	$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
+
+EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
+
+endif
+
+################################################################################
+# Builtin command list generation
+################################################################################
+
+#
+# Builtin commands can be generated by the configuration, in which case they
+# must refer to commands that already exist, or indirectly generated by modules
+# when they are built.
+#
+# The configuration supplies builtin command information in the BUILTIN_COMMANDS
+# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
+# filename contains the same information.
+#
+# In each case, the command information consists of four fields separated with a
+# period. These fields are the command's name, its thread priority, its stack size
+# and the name of the function to call when starting the thread.
+#
+BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
+
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
+
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
+ifneq ($(BUILTIN_COMMANDS),)
+
+# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
+define BUILTIN_PROTO
+	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
+endef
+
+# (BUILTIN_DEF,<cmdspec>,<outputfile>)
+define BUILTIN_DEF
+	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
+endef
+
+# Don't generate until modules have updated their command files
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
+	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
+	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
+	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
+	$(Q) $(ECHO) '};' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
+
+SRCS			+= $(BUILTIN_CSRC)
+
+EXTRA_CLEANS		+= $(BUILTIN_CSRC)
+
+endif
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
+PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_BUNDLE)
+
+#
+# Built product rules
+#
+
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+	@$(ECHO) %% Generating $@
+ifdef GEN_PARAM_XML
+	python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--parameter_xml $(PRODUCT_PARAMXML) \
+		--image $< > $@
+else
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
+endif
+
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
+	$(call SYM_TO_BIN,$<,$@)
+
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+#
+# Utility rules
+#
+
+.PHONY: upload
+upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
+		METHOD=serial \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
+		BUNDLE=$(PRODUCT_BUNDLE) \
+		BIN=$(PRODUCT_BIN)
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+

makefiles/posix.mk

@@ -0,0 +1,40 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Rules and definitions related to handling the Linux specific impl when
+# building firmware.
+#
+
+MODULES += \
+		platforms/common \
+		platforms/posix/px4_layer 
+

makefiles/posix/board_posix.mk

@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the POSIX port of PX4
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = NATIVE
+CONFIG_BOARD			 = POSIXTEST
+
+include $(PX4_MK_DIR)/toolchain_native.mk

makefiles/posix/config_posix_default.mk

@@ -0,0 +1,78 @@
+#
+# Makefile for the POSIXTEST *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/hil
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/led
+MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+MODULES += systemcmds/mixer
+MODULES += systemcmds/topic_listener
+
+#
+# General system control
+#
+MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+MODULES 	+= modules/mc_pos_control
+MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+MODULES		+= modules/dataman
+MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+MODULES		+= modules/commander
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# Linux port
+#
+MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
+MODULES		+= platforms/posix/drivers/tonealrmsim
+MODULES		+= platforms/posix/drivers/airspeedsim
+
+#
+# Unit tests
+#
+#MODULES		+= platforms/posix/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+

makefiles/posix_elf.mk

@@ -0,0 +1,73 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Makefile for PX4 POSIX based firmware images.
+#
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
+PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
+
+#
+# Built product rules
+#
+
+$(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+$(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
+	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
+
+MAIN = $(PX4_BASE)/src/platforms/posix/main.cpp
+$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
+	$(PX4_BASE)/Tools/posix_apps.py > apps.h
+	$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
+
+#
+# Utility rules
+#
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+

makefiles/qurt.mk

@@ -0,0 +1,39 @@
+#
+#   Copyright (C) 2015 Mark Charlebois. 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.
+#
+
+#
+# Rules and definitions related to handling the Linux specific impl when
+# building firmware.
+#
+
+MODULES += \
+		platforms/common 
+

makefiles/qurt/board_qurt.mk

@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the Linux port of PX4
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = HEXAGON
+CONFIG_BOARD			 = QURTTEST
+
+include $(PX4_MK_DIR)/toolchain_hexagon.mk

makefiles/qurt/config_qurt_default.mk

@@ -0,0 +1,78 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+#ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/hil
+MODULES		+= drivers/led
+MODULES		+= drivers/rgbled
+#MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+#MODULES		+= modules/commander
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+#MODULES		+= lib/geo
+#MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# QuRT port
+#
+MODULES		+= platforms/qurt/px4_layer
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
+
+#
+# Unit tests
+#
+MODULES		+= platforms/qurt/tests/hello
+MODULES		+= platforms/posix/tests/vcdev_test
+MODULES		+= platforms/posix/tests/hrt_test
+MODULES		+= platforms/posix/tests/wqueue
+

makefiles/qurt/qurt_eigen.patch

@@ -0,0 +1,17 @@
+This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the 
+enum definition without this patch creating an error.
+
+diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
+index ef17f28..1116270 100644
+--- a/Eigen/src/Core/SolveTriangular.h
++++ b/Eigen/src/Core/SolveTriangular.h
+@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
+          bool Stop = Index==Size>
+ struct triangular_solver_unroller;
+ 
++#ifdef __PX4_QURT
++#undef I
++#endif
+ template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+ struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+   enum {

makefiles/qurt_elf.mk

@@ -0,0 +1,77 @@
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Makefile for PX4 Linux based firmware images.
+#
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
+PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
+
+#
+# Built product rules
+#
+
+$(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+$(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
+	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
+
+$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py 
+	$(PX4_BASE)/Tools/qurt_apps.py > $@
+
+$(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
+	$(call COMPILEXX,$<, $@)
+	mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
+
+$(WORK_DIR)mainapp: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB) 
+	$(call LINK,$@, $^)
+
+#
+# Utility rules
+#
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)

makefiles/setup.mk

@@ -33,6 +33,13 @@
 # Path and tool setup
 #
 
+export PX4_TARGET_OS 	 ?= nuttx
+
+# PX4_TARGET_OS	can be nuttx, posix, or qurt
+ifeq ($(PX4_TARGET_OS),)
+$(error Use: make PX4_TARGET_OS=<target> where <target> is nuttx, posix, or qurt)
+endif
+
 #
 # Some useful paths.
 #
@@ -47,8 +54,8 @@ export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
 export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
-export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
+#export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
 export UAVCAN_DIR	 = $(abspath $(PX4_BASE)/uavcan)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/

makefiles/toolchain_gnu-arm-eabi.mk

@@ -107,7 +107,7 @@ endif
 ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) -D__PX4_NUTTX
 
 # optimisation flags
 #
@@ -138,7 +138,6 @@ ARCHWARNINGS		 = -Wall \
 			   -Wdouble-promotion \
 			   -Wshadow \
 			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
 			   -Wpointer-arith \
 			   -Wlogical-op \
 			   -Wmissing-declarations \

makefiles/toolchain_hexagon.mk

@@ -0,0 +1,314 @@
+#
+#   Copyright (C) 2015 Mark Charlebois. 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.
+#
+
+#
+# Definitions for a generic GNU ARM-EABI toolchain
+#
+
+#$(info TOOLCHAIN  gnu-arm-eabi)
+
+# Toolchain commands. Normally only used inside this file.
+#
+HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
+HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
+#V_ARCH			 = v4
+V_ARCH			 = v5
+CROSSDEV		 = hexagon-
+HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
+HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
+HEXAGON_LIB_DIR		 = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
+HEXAGON_ISS_DIR		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
+TOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
+QCTOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
+QURTLIB			 = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
+#DSPAL			 = $(PX4_BASE)/../dspal_libs/libdspal.a
+
+
+CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
+CXX			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
+CPP			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
+LD			 = $(HEXAGON_BIN)/$(CROSSDEV)ld
+AR			 = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
+NM			 = $(HEXAGON_BIN)/$(CROSSDEV)nm
+OBJCOPY			 = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
+OBJDUMP			 = $(HEXAGON_BIN)/$(CROSSDEV)objdump
+
+QURTLIBS		 = \
+			   $(TOOLSLIB)/init.o \
+			   $(TOOLSLIB)/libc.a \
+			   $(TOOLSLIB)/libqcc.a \
+			   $(TOOLSLIB)/libstdc++.a \
+			   $(QURTLIB)/crt0.o \
+			   $(QURTLIB)/libqurt.a \
+			   $(QURTLIB)/libqurtkernel.a \
+			   $(QURTLIB)/libqurtcfs.a \
+			   $(QURTLIB)/libqube_compat.a \
+			   $(QURTLIB)/libtimer.a \
+			   $(QURTLIB)/libposix.a \
+			   $(QURTLIB)/../examples/cust_config.o \
+			   $(QCTOOLSLIB)/libhexagon.a \
+			   $(TOOLSLIB)/fini.o 
+
+
+
+
+# Check if the right version of the toolchain is available
+#
+CROSSDEV_VER_SUPPORTED	 = 6.4.05
+CROSSDEV_VER_FOUND	 = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
+
+ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
+endif
+
+
+# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
+
+MAXOPTIMIZATION		 ?= -O0
+
+# Base CPU flags for each of the supported architectures.
+#
+ARCHCPUFLAGS	 	 = -m$(V_ARCH) 
+
+
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
+			    -D__PX4_QURT -D__PX4_POSIX \
+			    -D__EXPORT= \
+			    -D__QDSP6_DINKUM_PTHREAD_TYPES__ \
+			    -Dnoreturn_function= \
+			    -Drestrict= \
+			    -I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
+			    -I$(PX4_BASE)/src/lib/eigen \
+			    -I$(PX4_BASE)/src/platforms/qurt/include \
+			    -I$(PX4_BASE)/../dspal/include \
+			    -I$(PX4_BASE)/../dspal/sys \
+			    -I$(PX4_BASE)/mavlink/include/mavlink \
+			    -I$(QURTLIB)/..//include \
+			    -Wno-error=shadow
+
+# optimisation flags
+#
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -g3 \
+			   -fno-strict-aliasing \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -ffunction-sections \
+			   -fdata-sections
+
+# enable precise stack overflow tracking
+# note - requires corresponding support in NuttX
+INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
+
+# Language-specific flags
+#
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
+
+# Generic warnings
+#
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Werror \
+			   -Wno-unused-parameter \
+			   -Wno-unused-function \
+			   -Wno-unused-variable \
+			   -Wno-gnu-array-member-paren-init \
+			   -Wno-cast-align \
+			   -Wno-missing-braces \
+			   -Wno-strict-aliasing
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+# C-specific warnings
+#
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wstrict-prototypes \
+			   -Wnested-externs
+
+# C++-specific warnings
+#
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
+EXTRA_LIBS		+= $(LIBM)
+
+# Flags we pass to the C compiler
+#
+CFLAGS			 = $(ARCHCFLAGS) \
+			   $(ARCHCWARNINGS) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   $(EXTRACFLAGS) \
+			   -fno-common \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the C++ compiler
+#
+CXXFLAGS		 = $(ARCHCXXFLAGS) \
+			   $(ARCHWARNINGSXX) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHXXINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
+			   $(EXTRADEFINES) \
+			   $(EXTRACXXFLAGS) \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+ifeq (1,$(V_dynamic))
+CXX_FLAGS += -fpic -D__V_DYNAMIC__
+endif
+
+# Flags we pass to the assembler
+#
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
+			   $(EXTRADEFINES) \
+			   $(EXTRAAFLAGS)
+
+LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
+# Flags we pass to the linker
+#
+LDFLAGS			+=  -g -nostdlib --section-start .start=0x1d000000\
+			   $(EXTRALDFLAGS) \
+			   $(addprefix -L,$(LIB_DIRS))
+
+# Compiler support library
+#
+LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+
+# Files that the final link depends on
+#
+LINK_DEPS		+= $(LDSCRIPT)
+
+# Files to include to get automated dependencies
+#
+DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
+
+# Compile C source $1 to object $2
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2
+# as a side-effect, generate a dependency file
+#
+define COMPILEXX
+	@$(ECHO) "CXX:     $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
+endef
+
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINK
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	@echo $(Q) $(LD) -Ur -o $1 $2
+	$(Q) $(LD) -Ur -o $1 $2
+
+endef
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINKF
+	@$(ECHO) "PRELINKF: $1"
+	@$(MKDIR) -p $(dir $1)
+	@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 
+
+endef
+#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+
+# Update the archive $1 with the files in $2
+#
+define ARCHIVE
+	@$(ECHO) "AR:      $2"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_A
+	@$(ECHO) "LINK_A:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(AR) $1 $2"
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_SO
+	@$(ECHO) "LINK_SO:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
+	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
+endef
+
+# Link the objects in $2 into the application $1
+#
+define LINK
+	@$(ECHO) "LINK:    $1"
+	@$(MKDIR) -p $(dir $1)
+	@echo $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group
+	$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group
+endef
+

makefiles/toolchain_native.mk

@@ -0,0 +1,357 @@
+#
+#   Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved.
+#
+#   2005 Modified for clang and GCC on POSIX:
+#        Author: Mark Charlebois <charlebm@gmail.com>
+#
+# 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.
+#
+
+#
+# Definitions for a native GCC toolchain
+#
+
+#$(info TOOLCHAIN  native)
+
+# Toolchain commands. Normally only used inside this file.
+#
+
+# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
+USE_GCC?=0
+
+ifneq ($(USE_GCC),1)
+
+HAVE_CLANG35:=$(shell clang-3.5 -dumpversion 2>/dev/null)
+
+# Clang will report 4.2.1 as GCC version
+HAVE_CLANG:=$(shell clang -dumpversion)
+
+#If using ubuntu 14.04 and packaged clang 3.5
+ifeq ($(HAVE_CLANG35),4.2.1)
+USE_GCC=0
+CLANGVER=-3.5
+else
+
+#If using ubuntu 12.04 and downloaded clang 3.4.2
+ifeq ($(HAVE_CLANG),4.2.1)
+USE_GCC=0
+CLANGVER=
+endif
+endif
+
+# If no version of clang was found
+ifeq ($(HAVE_CLANG35),)
+ifeq ($(HAVE_CLANG),)
+$(error Clang not found. Try make USE_GCC=1)
+endif
+endif
+endif # USE_GCC is not 1
+
+ifeq ($(USE_GCC),1)
+# GCC Options:
+CC			 = gcc
+CXX			 = g++
+CPP			 = gcc -E
+
+# GCC Version
+DEV_VER_SUPPORTED	 = 4.8.1 4.8.2 4.9.1
+
+else
+# Clang options
+CC			 = clang$(CLANGVER)
+CXX			 = clang++$(CLANGVER)
+CPP			 = clang$(CLANGVER) -E
+
+# Clang GCC reported version
+DEV_VER_SUPPORTED	 = 4.2.1
+endif
+
+#LD			 = ld.gold
+LD			 = ld.bfd
+AR			 = ar rcs
+NM			 = nm
+OBJCOPY			 = objcopy
+OBJDUMP			 = objdump
+
+# Check if the right version of the toolchain is available
+#
+DEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
+
+ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
+endif
+
+
+# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
+
+MAXOPTIMIZATION		 ?= -O3
+
+# Enabling stack checks if OS was build with them
+#
+
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
+			-D__PX4_LINUX -D__PX4_POSIX \
+			-Dnoreturn_function= \
+			-I$(PX4_BASE)/src/modules/systemlib \
+			-I$(PX4_BASE)/src/lib/eigen \
+			-I$(PX4_BASE)/src/platforms/posix/include \
+			-I$(PX4_BASE)/mavlink/include/mavlink \
+			-Wno-error=shadow
+
+# optimisation flags
+#
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -g3 \
+			   -fno-strict-aliasing \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
+
+# Language-specific flags
+#
+ARCHCFLAGS		 = -std=gnu99 -g
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
+
+# Generic warnings
+#
+# Disabled
+#			   -Wshadow 			- Breaks for the libeigen package headers
+#			   -Wframe-larger-than=1024  	- Only needed for embedded
+
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Werror \
+			   -Wfloat-equal \
+			   -Wpointer-arith \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter \
+			   -Wno-packed \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Werror=unused-variable \
+			   -Werror=reorder \
+			   -Werror=uninitialized \
+			   -Werror=init-self
+
+# Add compiler specific options
+ifeq ($(USE_GCC),1)
+ARCHDEFINES		+= -Wno-error=logical-op
+ARCHWARNINGS		+= -Wdouble-promotion \
+			   -Wlogical-op \
+			   -Wformat=1 \
+			   -Werror=unused-but-set-variable \
+			   -Werror=double-promotion
+ARCHOPTIMIZATION	+= -fno-strength-reduce
+else
+ARCHWARNINGS		+= -Wno-gnu-array-member-paren-init 
+endif
+
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+# C-specific warnings
+#
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wmissing-prototypes \
+			   -Wnested-externs
+
+# Add compiler specific options
+ifeq ($(USE_GCC),1)
+ARCHCWARNINGS		+= -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wno-error=unused-local-typedefs \
+			   -Wno-error=enum-compare \
+			   -Wno-error=float-equal
+endif
+
+# C++-specific warnings
+#
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
+#EXTRA_LIBS		+= $(LIBM)
+EXTRA_LIBS		+= -pthread -lm -lrt
+
+# Flags we pass to the C compiler
+#
+CFLAGS			 = $(ARCHCFLAGS) \
+			   $(ARCHCWARNINGS) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   $(EXTRACFLAGS) \
+			   -fno-common \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the C++ compiler
+#
+CXXFLAGS		 = $(ARCHCXXFLAGS) \
+			   $(ARCHWARNINGSXX) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHXXINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
+			   $(EXTRADEFINES) \
+			   $(EXTRACXXFLAGS) \
+			   -Wno-effc++ \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+ifeq ($(USE_GCC),0)
+CXXFLAGS		+= -Wno-deprecated-register \
+			   -Wno-tautological-constant-out-of-range-compare \
+			   -Wno-unused-private-field \
+			   -Wno-unused-const-variable
+endif
+
+# Flags we pass to the assembler
+#
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
+			   $(EXTRADEFINES) \
+			   $(EXTRAAFLAGS)
+
+LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
+# Flags we pass to the linker
+#
+LDFLAGS			+= $(EXTRALDFLAGS) \
+			   $(addprefix -L,$(LIB_DIRS))
+
+# Compiler support library
+#
+LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+
+# Files that the final link depends on
+#
+#LINK_DEPS		+= $(LDSCRIPT)
+LINK_DEPS		+=
+
+# Files to include to get automated dependencies
+#
+DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
+
+# Compile C source $1 to object $2
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2
+# as a side-effect, generate a dependency file
+#
+define COMPILEXX
+	@$(ECHO) "CXX:     $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
+endef
+
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINK
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -o $1 $2
+
+endef
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINKF
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+
+endef
+#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+
+# Update the archive $1 with the files in $2
+#
+define ARCHIVE
+	@$(ECHO) "AR:      $2"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_A
+	@$(ECHO) "LINK_A:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(AR) $1 $2"
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_SO
+	@$(ECHO) "LINK_SO:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
+	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
+endef
+
+# Link the objects in $2 into the application $1
+#
+define LINK
+	@$(ECHO) "LINK:    $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
+
+endef
+

makefiles/upload.mk

@@ -31,7 +31,7 @@ upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 upload-serial-aerocore:
-	openocd -f $(PX4_BASE)/makefiles/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
+	openocd -f $(PX4_BASE)/makefiles/nuttx/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
 
 upload-serial-px4-stm32f4discovery:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)

posix-configs/posixtest/init/rc.S

@@ -0,0 +1,16 @@
+uorb start
+simulator start -s
+barosim start
+adcsim start
+accelsim start
+gyrosim start
+param set CAL_GYRO0_ID 2293760
+param set CAL_ACC0_ID 1310720
+param set CAL_ACC1_ID 1376256
+param set CAL_MAG0_ID 196608
+rgbled start
+mavlink start -d /tmp/ttyS0
+sensors start
+hil mode_pwm
+commander start
+list_devices

posix-configs/posixtest/scripts/ld.script

@@ -0,0 +1,46 @@
+/****************************************************************************
+ * ld.script
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ * Author: Mark Charlebois <charlebm@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+SECTIONS
+{
+	/*
+	 * Construction data for parameters.
+	 */
+	__param : ALIGN(8) {
+		__param_start = .;
+		KEEP(*(__param*))
+		__param_end = .;
+	}
+}

src/drivers/airspeed/airspeed.cpp

@@ -38,7 +38,7 @@
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 

src/drivers/airspeed/airspeed.h

@@ -38,7 +38,7 @@
  * Generic driver for airspeed sensors connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
@@ -55,9 +55,14 @@
 #include <math.h>
 #include <unistd.h>
 
+#ifdef __PX4_NUTTX
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
+#
+#else
+#include <px4_workqueue.h>
+#endif
 
 #include <arch/board/board.h>
 
@@ -95,8 +100,8 @@ public:
 
 	virtual int	init();
 
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual ssize_t	read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Diagnostics - print some basic information about the driver.

src/drivers/ardrone_interface/ardrone_interface.c

@@ -37,7 +37,7 @@
  * Implementation of AR.Drone 1.0 / 2.0 motor control interface.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		ardrone_interface_task = task_spawn_cmd("ardrone_interface",
+		ardrone_interface_task = px4_task_spawn_cmd("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
 						    1100,