diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 854a0b9fb138a03a03239180ac87d9d37e071a57..707d9b027b5fb2a30b6c914e90033abc1debeffd 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -4,228 +4,130 @@ px4_posix_generate_builtin_commands(
OUT apps
MODULE_LIST ${module_libraries})
+# Define build target
+set(APP_NAME px4)
+set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
+set(UPLOAD_NAME upload)
-function(px4_add_sitl_app)
- px4_parse_function_args(
- NAME px4_add_sitl_app
- ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
- REQUIRED APP_NAME MAIN_SRC
- ARGN ${ARGN})
-
- if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
-
- include(fastrpc)
- include(linux_app)
-
- FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
-
- set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
- LINUX_APP(
- APP_NAME ${APP_NAME}
- IDL_NAME px4muorb
- APPS_DEST "/home/linaro"
- SOURCES
- px4muorb_stub.c
- ${MAIN_SRC}
- apps.cpp
- LINK_LIBS
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- ${FASTRPC_ARM_LIBS}
- pthread m rt
- -Wl,--end-group
- )
+if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
- px4_add_adb_push(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
- DEPENDS ${APP_NAME}
- DEST /home/linaro)
+ include(fastrpc)
+ include(linux_app)
- elseif ("${BOARD}" STREQUAL "rpi")
+ FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
- px4_add_executable(${APP_NAME}
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
+ LINUX_APP(
+ APP_NAME ${APP_NAME}
+ IDL_NAME px4muorb
+ APPS_DEST "/home/linaro"
+ SOURCES
+ px4muorb_stub.c
${MAIN_SRC}
apps.cpp
- )
-
- target_link_libraries(${APP_NAME}
+ LINK_LIBS
-Wl,--start-group
${module_libraries}
- df_driver_framework
${df_driver_libs}
+ ${FASTRPC_ARM_LIBS}
pthread m rt
-Wl,--end-group
- )
+ )
- file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
- px4_add_scp_push(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- ${RPI_CONFIG_FILES}
- ${PX4_SOURCE_DIR}/ROMFS
- DEPENDS ${APP_NAME}
- DEST /home/pi)
+ px4_add_adb_push(OUT ${UPLOAD_NAME}
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
+ ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+ DEPENDS ${APP_NAME}
+ DEST /home/linaro)
- elseif ("${BOARD}" STREQUAL "bebop")
+elseif ("${BOARD}" STREQUAL "rpi")
- set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
- px4_add_executable(${APP_NAME}
- ${MAIN_SRC}
- apps.cpp
- )
+ target_link_libraries(${APP_NAME}
+ -Wl,--start-group
+ ${module_libraries}
+ df_driver_framework
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
- if (NOT APPLE)
- target_link_libraries(${APP_NAME}
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- pthread m rt
- -Wl,--end-group
- )
- else()
- target_link_libraries(${APP_NAME}
- ${module_libraries}
- ${df_driver_libs}
- pthread m
- )
- endif()
-
- px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
- OS ${OS}
- BOARD ${BOARD}
- FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
- DEPENDS ${APP_NAME}
- DEST /usr/bin)
+ file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
+ px4_add_scp_push(OUT ${UPLOAD_NAME}
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
+ ${RPI_CONFIG_FILES}
+ ${PX4_SOURCE_DIR}/ROMFS
+ DEPENDS ${APP_NAME}
+ DEST /home/pi)
- else()
+elseif ("${BOARD}" STREQUAL "bebop")
- px4_add_executable(${APP_NAME}
- ${MAIN_SRC}
- apps.cpp
- )
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
+
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
- if (NOT APPLE)
- target_link_libraries(${APP_NAME}
- -Wl,--start-group
- ${module_libraries}
- ${df_driver_libs}
- pthread m rt
- -Wl,--end-group
- )
- else()
- target_link_libraries(${APP_NAME}
- ${module_libraries}
- ${df_driver_libs}
- pthread m
- )
- endif()
+ if (NOT APPLE)
+ target_link_libraries(${APP_NAME}
+ -Wl,--start-group
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
+ else()
+ target_link_libraries(${APP_NAME}
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m
+ )
endif()
-endfunction()
-SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
-px4_add_sitl_app(APP_NAME px4
- UPLOAD_NAME upload
- MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
- )
+ px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
+ OS ${OS}
+ BOARD ${BOARD}
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
+ DEPENDS ${APP_NAME}
+ DEST /usr/bin)
-#=============================================================================
-# sitl run targets
-#
+elseif ("${BOARD}" STREQUAL "sitl")
+
+ include(./sitl_target.cmake)
+
+else()
-set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
-file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
-
-add_custom_target(run_config
- COMMAND Tools/sitl_run.sh
- $<TARGET_FILE:px4>
- ${config_sitl_rcS_dir}
- ${config_sitl_debugger}
- ${config_sitl_viewer}
- ${config_sitl_model}
- ${PX4_SOURCE_DIR}
- ${PX4_BINARY_DIR}
- WORKING_DIRECTORY ${SITL_WORKING_DIR}
- USES_TERMINAL
- )
-add_dependencies(run_config px4)
-
-# project to build sitl_gazebo if necessary
-ExternalProject_Add(sitl_gazebo
- SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
- CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
- INSTALL_COMMAND ""
- )
-set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
-# create targets for each viewer/model/debugger combination
-set(viewers none jmavsim gazebo replay)
-set(debuggers none ide gdb lldb ddd valgrind)
-set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
-set(all_posix_vmd_make_targets)
-foreach(viewer ${viewers})
- foreach(debugger ${debuggers})
- foreach(model ${models})
- if (debugger STREQUAL "none")
- if (model STREQUAL "none")
- set(_targ_name "${viewer}")
- else()
- set(_targ_name "${viewer}_${model}")
- endif()
- else()
- if (model STREQUAL "none")
- set(_targ_name "${viewer}___${debugger}")
- else()
- set(_targ_name "${viewer}_${model}_${debugger}")
- endif()
- endif()
-
- if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
- SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
- SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
- SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
-
- CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
-
- px4_add_sitl_app(APP_NAME px4_${model}
- UPLOAD_NAME upload_${model}
- MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
- )
- endif()
-
- add_custom_target(${_targ_name}
- COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
- $<TARGET_FILE:px4>
- ${config_sitl_rcS_dir}
- ${debugger}
- ${viewer}
- ${model}
- ${PX4_SOURCE_DIR}
- ${PX4_BINARY_DIR}
- WORKING_DIRECTORY ${SITL_WORKING_DIR}
- USES_TERMINAL
- )
- list(APPEND all_posix_vmd_make_targets ${_targ_name})
- if (viewer STREQUAL "gazebo")
- add_dependencies(${_targ_name} sitl_gazebo)
- endif()
- endforeach()
- endforeach()
-endforeach()
-
-px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
-add_custom_target(list_vmd_make_targets
- COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
- COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
- VERBATIM
- )
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
+
+ if (NOT APPLE)
+ target_link_libraries(${APP_NAME}
+ -Wl,--start-group
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
+ else()
+ target_link_libraries(${APP_NAME}
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m
+ )
+ endif()
+endif()
#=============================================================================
# install
diff --git a/src/firmware/posix/sitl_target.cmake b/src/firmware/posix/sitl_target.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ab0bed6fad91b0258812972cb20b3da180784dec
--- /dev/null
+++ b/src/firmware/posix/sitl_target.cmake
@@ -0,0 +1,129 @@
+
+function(px4_add_sitl_app)
+px4_parse_function_args(
+ NAME px4_add_sitl_app
+ ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
+ REQUIRED APP_NAME MAIN_SRC
+ ARGN ${ARGN})
+
+ px4_add_executable(${APP_NAME}
+ ${MAIN_SRC}
+ apps.cpp
+ )
+
+ if (NOT APPLE)
+ target_link_libraries(${APP_NAME}
+ -Wl,--start-group
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m rt
+ -Wl,--end-group
+ )
+ else()
+ target_link_libraries(${APP_NAME}
+ ${module_libraries}
+ ${df_driver_libs}
+ pthread m
+ )
+ endif()
+
+endfunction()
+
+#=============================================================================
+# sitl run targets
+#
+
+SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
+px4_add_sitl_app(APP_NAME px4
+ UPLOAD_NAME upload
+ MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
+ )
+
+set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
+file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
+
+add_custom_target(run_config
+ COMMAND Tools/sitl_run.sh
+ $<TARGET_FILE:px4>
+ ${config_sitl_rcS_dir}
+ ${config_sitl_debugger}
+ ${config_sitl_viewer}
+ ${config_sitl_model}
+ ${PX4_SOURCE_DIR}
+ ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${SITL_WORKING_DIR}
+ USES_TERMINAL
+ )
+add_dependencies(run_config px4)
+
+# project to build sitl_gazebo if necessary
+ExternalProject_Add(sitl_gazebo
+ SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
+ CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+ BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
+ INSTALL_COMMAND ""
+ )
+set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
+
+# create targets for each viewer/model/debugger combination
+set(viewers none jmavsim gazebo replay)
+set(debuggers none ide gdb lldb ddd valgrind)
+set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
+set(all_posix_vmd_make_targets)
+foreach(viewer ${viewers})
+ foreach(debugger ${debuggers})
+ foreach(model ${models})
+ if (debugger STREQUAL "none")
+ if (model STREQUAL "none")
+ set(_targ_name "${viewer}")
+ else()
+ set(_targ_name "${viewer}_${model}")
+ endif()
+ else()
+ if (model STREQUAL "none")
+ set(_targ_name "${viewer}___${debugger}")
+ else()
+ set(_targ_name "${viewer}_${model}_${debugger}")
+ endif()
+ endif()
+
+ if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
+ SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
+ SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
+ SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
+
+ CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
+
+ px4_add_sitl_app(APP_NAME px4_${model}
+ UPLOAD_NAME upload_${model}
+ MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
+ )
+
+ endif()
+
+ add_custom_target(${_targ_name}
+ COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+ $<TARGET_FILE:px4>
+ ${config_sitl_rcS_dir}
+ ${debugger}
+ ${viewer}
+ ${model}
+ ${PX4_SOURCE_DIR}
+ ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${SITL_WORKING_DIR}
+ USES_TERMINAL
+ )
+ list(APPEND all_posix_vmd_make_targets ${_targ_name})
+ if (viewer STREQUAL "gazebo")
+ add_dependencies(${_targ_name} sitl_gazebo)
+ endif()
+ endforeach()
+ endforeach()
+endforeach()
+
+px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
+add_custom_target(list_vmd_make_targets
+ COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
+ COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
+ VERBATIM
+ )