PX4 on nuttx 7.27+

Makefile

@@ -245,6 +245,7 @@ alt_firmware: \
 	check_stm_32f4discovery_default \
 	check_px4_cannode-v1_default \
 	check_px4_esc-v1_default \
+	check_auav_esc35-v1_default \
 	check_stm_nucleo-F767ZI_default \
 	check_thiemar_s2740vc-v1_default \
 	sizes

ROMFS/CMakeLists.txt

@@ -176,30 +176,57 @@ add_custom_command(OUTPUT romfs_pruned.stamp
 	COMMENT "ROMFS: pruning"
 	)
 
-# create romfs.img
-find_program(GENROMFS genromfs)
-if(NOT GENROMFS)
-    message(FATAL_ERROR "genromfs not found")
-endif()
-add_custom_command(OUTPUT romfs.img romfs.txt
-	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-	DEPENDS
-		romfs_pruned.stamp
-	COMMENT "ROMFS: generating image"
-	)
+if("${CONFIG_FS_CROMFS}" STREQUAL "y")
+	add_custom_command(
+		OUTPUT
+			${CMAKE_BINARY_DIR}/gencromfs
+		COMMAND
+			 make --no-print-directory --silent -f Makefile.host gencromfs
+	    COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
+		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
+		WORKING_DIRECTORY ${NUTTX_DIR}/tools
+		)
+
+	# create nsh_romfsimg.c
+	add_custom_command(OUTPUT nsh_romfsimg.c
+		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir}  nsh_romfsimg.c
+		DEPENDS
+			${CMAKE_BINARY_DIR}/gencromfs
+			${romfs_gen_root_dir}/init.d/rcS
+			${romfs_gen_root_dir}/init.d/rc.autostart
+			romfs_extras.stamp
+			romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+		)
 
-# create nsh_romfsimg.c
-find_program(XXD xxd)
-if(NOT XXD)
-    message(FATAL_ERROR "xxd not found")
+else()
+	# create romfs.img
+	find_program(GENROMFS genromfs)
+	if(NOT GENROMFS)
+	    message(FATAL_ERROR "genromfs not found")
+	endif()
+	add_custom_command(OUTPUT romfs.img romfs.txt
+		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
+		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+		DEPENDS
+			romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+		)
+
+		# create nsh_romfsimg.c
+		find_program(XXD xxd)
+		if(NOT XXD)
+		    message(FATAL_ERROR "xxd not found")
+		endif()
+		add_custom_command(OUTPUT nsh_romfsimg.c
+			COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+			COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
+			COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
+			DEPENDS romfs.img
+			)
 endif()
-add_custom_command(OUTPUT nsh_romfsimg.c
-	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-	COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
-	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
-	DEPENDS romfs.img
-	)
+
 
 add_library(romfs STATIC nsh_romfsimg.c)
 add_dependencies(romfs prebuild_targets)