From 2bf40efe8bb86f18ca68033d3658fb9f144c5014 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 14 Jul 2016 13:55:21 +0200
Subject: [PATCH] RPi2: fuse mainapp/common and navio2
We currently only support Navio2, so let's fuse the two configurations.
---
Makefile | 3 -
cmake/configs/posix_navio2_release.cmake | 114 -----------------------
cmake/configs/posix_rpi2_common.cmake | 3 +
posix-configs/rpi2/mainapp.config | 8 +-
posix-configs/rpi2/navio2.config | 24 -----
5 files changed, 10 insertions(+), 142 deletions(-)
delete mode 100644 cmake/configs/posix_navio2_release.cmake
delete mode 100644 posix-configs/rpi2/navio2.config
diff --git a/Makefile b/Makefile
index 8271d7c3c8..4d7529b61c 100644
--- a/Makefile
+++ b/Makefile
@@ -221,9 +221,6 @@ posix_rpi2_cross:
posix_bebop_default:
$(call cmake-build,$@)
-posix_navio2_release:
- $(call cmake-build,$@)
-
posix: posix_sitl_default
broadcast: posix_sitl_broadcast
diff --git a/cmake/configs/posix_navio2_release.cmake b/cmake/configs/posix_navio2_release.cmake
deleted file mode 100644
index 402b74dba8..0000000000
--- a/cmake/configs/posix_navio2_release.cmake
+++ /dev/null
@@ -1,114 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
-
-set(CMAKE_PROGRAM_PATH
- "${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
- ${CMAKE_PROGRAM_PATH}
-)
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the RPi.
-add_definitions(
- -D__PX4_POSIX_RPI2
- -D__LINUX
-)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/device
- modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_lsm9ds1_wrapper
- platforms/posix/drivers/df_ms5611_wrapper
- platforms/posix/drivers/df_hmc5883_wrapper
- platforms/posix/drivers/df_trone_wrapper
- platforms/posix/drivers/df_isl29501_wrapper
-
- #
- # 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
- #
- drivers/gps
- drivers/navio_sysfs_rc_in
- drivers/navio_sysfs_pwm_out
-
- #
- # 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
-)
-
-set(config_df_driver_list
- mpu9250
- lsm9ds1
- ms5611
- hmc5883
- trone
- isl29501
-)
diff --git a/cmake/configs/posix_rpi2_common.cmake b/cmake/configs/posix_rpi2_common.cmake
index 68479eaf9a..b6437879a8 100644
--- a/cmake/configs/posix_rpi2_common.cmake
+++ b/cmake/configs/posix_rpi2_common.cmake
@@ -73,6 +73,9 @@ set(config_module_list
#
# PX4 drivers
#
+ drivers/gps
+ drivers/navio_sysfs_rc_in
+ drivers/navio_sysfs_pwm_out
#
# Libraries
diff --git a/posix-configs/rpi2/mainapp.config b/posix-configs/rpi2/mainapp.config
index 752ea8f66b..003fb52c44 100644
--- a/posix-configs/rpi2/mainapp.config
+++ b/posix-configs/rpi2/mainapp.config
@@ -7,6 +7,7 @@ df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
df_ms5611_wrapper start
+gps start -d /dev/pts/0
sensors start
commander start
attitude_estimator_q start
@@ -18,4 +19,9 @@ 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
+mavlink start -d /dev/ttyUSB0
+mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
+mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+navio_sysfs_rc_in start
+navio_sysfs_pwm_out start
+mavlink boot_complete
\ No newline at end of file
diff --git a/posix-configs/rpi2/navio2.config b/posix-configs/rpi2/navio2.config
deleted file mode 100644
index 74de109c57..0000000000
--- a/posix-configs/rpi2/navio2.config
+++ /dev/null
@@ -1,24 +0,0 @@
-uorb start
-param set SYS_AUTOSTART 4001
-param set MAV_BROADCAST 1
-sleep 1
-param set MAV_TYPE 2
-df_lsm9ds1_wrapper start -R 4
-#df_mpu9250_wrapper start -R 10
-#df_hmc5883_wrapper start
-df_ms5611_wrapper start
-gps start -d /dev/pts/0
-sensors start
-commander start
-attitude_estimator_q start
-position_estimator_inav start
-land_detector start multicopter
-mc_pos_control start
-mc_att_control start
-mavlink start -d /dev/ttyUSB0
-sleep 1
-mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
-mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
-mavlink boot_complete
-navio_sysfs_rc_in start
-navio_sysfs_pwm_out start
--
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