diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2cd82ee0a41e24d8651e76c340e2b747bc7c5ef4..dbb58a46de6ecbbbe808838ff5acef09aade33f8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -240,7 +240,7 @@ foreach(module ${config_modules})
add_subdirectory(src/${module})
px4_mangle_name(${module} mangled_name)
list(APPEND module_libraries ${mangled_name})
- message(STATUS "adding module: ${module}")
+ #message(STATUS "adding module: ${module}")
endforeach()
add_subdirectory(src/firmware/${OS})
diff --git a/Makefile b/Makefile
index 38fc7ddd98df539de1ec754915c8515c093015a0..1c036690eafdfebb78991ffe5a4a4c7366d3ad90 100644
--- a/Makefile
+++ b/Makefile
@@ -1,64 +1,94 @@
-d=$(PWD)
-
-all: nuttx_px4fmu-v2_default
+############################################################################
+#
+# 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.
+#
+############################################################################
-#----------------------------------------------------------------------------
-# OS: nuttx BOARD: px4fmu-v2 LABEL: simple
+# Help
+# --------------------------------------------------------------------
+# Don't be afraid of this makefile, it is just passing
+# arguments to cmake to allow us to keep the wiki pages etc.
+# that describe how to build the px4 firmware
+# the same even when using cmake instead of make.
+#
+# Example usage:
#
-nuttx_px4fmu-v2_simple:
- mkdir -p $d/build_$@ && cd $d/build_$@ && \
- cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
- -DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=simple && \
- make -s && ctest -V && cpack -G ZIP
-nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
- make -C build_$< upload
-nuttx_px4fmu-v2_simple_test: nuttx_px4fmu-v2_simple
- make -C build_$< test
+# make px4fmu-v2_default (builds)
+# make px4fmu-v2_default upload (builds and uploads)
+# make px4fmu-v2_default test (builds and tests)
+#
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build_nuttx_px4fmu-v2_default and then call make
+# in that directory with the target upload.
+# Parsing
+# --------------------------------------------------------------------
+# assume 1st argument passed is the main target, the
+# rest are arguments to pass to the makefile generated
+# by cmake in the subdirectory
+ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-#----------------------------------------------------------------------------
-# OS: nuttx BOARD: px4fmu-v2 LABEL: default
-#
-nuttx_px4fmu-v2_default:
- mkdir -p $d/build_$@ && cd $d/build_$@ && \
- cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
- -DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=default && \
- make -s && ctest -V && cpack -G ZIP
-nuttx_px4fmu-v2_default_upload: nuttx_px4fmu-v2_default
- make -C build_$< upload
-nuttx_px4fmu-v2_default_test: nuttx_px4fmu-v2_default
- make -C build_$< test
+# Functions
+# --------------------------------------------------------------------
+# define a make function to describe how to build a cmake config
+define cmake-build
+mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && \
+ cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/$(1).cmake \
+ -DOS=$(2) -DBOARD=$(3) -DLABEL=$(4) && \
+ make -s $(ARGS)
+endef
+
+
+# ADD CONFIGS HERE
+# --------------------------------------------------------------------
+px4fmu-v2_default:
+ $(call cmake-build,Toolchain-arm-none-eabi,nuttx,px4fmu-v2,default)
+
+px4fmu-v2_simple:
+ $(call cmake-build,Toolchain-arm-none-eabi,nuttx,px4fmu-v2,default)
-#----------------------------------------------------------------------------
-# OS: nuttx BOARD: sim LABEL: simple
-#
nuttx_sim_simple:
- mkdir -p $d/build_$@ && cd $d/build_$@ && \
- cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-native.cmake \
- -DOS=nuttx -DBOARD=sim -DLABEL=simple && \
- make -s && ctest -V && cpack -G ZIP
+ $(call cmake-build,Toolchain-native,nuttx,sim,default)
-#----------------------------------------------------------------------------
-# OS: posix BOARD: sitl LABEL: simple
-#
posix_sitl_simple:
- mkdir -p $d/build_$@ && cd $d/build_$@ && \
- cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-posix-clang-native.cmake \
- -DOS=posix -DBOARD=sitl -DLABEL=simple && \
- make -s && ctest -V && cpack -G ZIP
+ $(call cmake-build,Toolchain-posix-clang-native,posix,sitl,simple)
-#----------------------------------------------------------------------------
-# OS: qurt BOARD: hil LABEL: simple
-#
qurt_eagle_travis:
- mkdir -p $d/build_$@ && cd $d/build_$@ && \
- cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
- -DOS=qurt -DBOARD=eagle -DLABEL=travis && \
- make -s && ctest -V && cpack -G ZIP
+ $(call cmake-build,Toolchain-hexagon,qurt,eagle,travis)
+
+
+# Other targets
+# --------------------------------------------------------------------
+# explicity set default build target
+all: px4fmu-v2_default
-#----------------------------------------------------------------------------
-# misc targets
-#
clean:
rm -rf build_*/
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index c62ce0ecfad6231f78ecb20bb825322d95030ba5..617d158d8b5d1f2afac695324cd5149f15326b41 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
set(builtin_apps_decl_string)
set(command_count 0)
foreach(module ${MODULE_LIST})
- message("generating builtin for: ${module}")
+ #message("generating builtin for: ${module}")
# default
set(MAIN_DEFAULT MAIN-NOTFOUND)
set(STACK_DEFAULT 1024)