PX4 · UAV-Pilot · May 27, 2018 · May 31, 2018 · May 31, 2018 · Jun 10, 2018
diff --git a/.gitmodules b/.gitmodules
@@ -58,3 +58,6 @@
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
+[submodule "src/lib/Robotics_Cape_Installer"]
+	path = src/lib/Robotics_Cape_Installer
+	url = https://github.com/StrawsonDesign/Robotics_Cape_Installer
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -312,6 +312,8 @@ add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
+add_subdirectory(src/lib/Robotics_Cape_Installer)
+
 #=============================================================================
 # DriverFramework
 #

diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
@@ -333,30 +333,58 @@ function(px4_add_common_flags)
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
 
-	set(warnings
-		-Wall
-		-Warray-bounds
-		-Wdisabled-optimization
-		-Werror
-		-Wextra
-		-Wfatal-errors
-		-Wfloat-equal
-		-Wformat-security
-		-Winit-self
-		-Wlogical-op
-		-Wmissing-declarations
-		-Wmissing-field-initializers
-		#-Wmissing-include-dirs # TODO: fix and enable
-		-Wpointer-arith
-		-Wshadow
-		-Wuninitialized
-		-Wunknown-pragmas
-		-Wunused-variable
-
-		-Wno-implicit-fallthrough # set appropriate level and update
-
-		-Wno-unused-parameter
-		)
+if(CONFIG MATCHES "^posix_bbblue_")
+        #Gradually apply px4 warnings to robotics cape library later
+		set(warnings
+			-Wall
+			-Warray-bounds
+			-Wdisabled-optimization
+			-Werror
+			-Wextra
+			-Wfatal-errors
+			-Wfloat-equal
+			-Wformat-security
+			-Winit-self
+			-Wlogical-op
+			#-Wmissing-declarations
+			-Wmissing-field-initializers
+			#-Wmissing-include-dirs # TODO: fix and enable
+			#-Wpointer-arith
+			-Wshadow
+			-Wuninitialized
+			-Wunknown-pragmas
+			-Wno-unused-variable
+
+			-Wno-implicit-fallthrough # set appropriate level and update
+
+			-Wno-unused-parameter
+			)
+	else()
+		set(warnings
+			-Wall
+			-Warray-bounds
+			-Wdisabled-optimization
+			-Werror
+			-Wextra
+			-Wfatal-errors
+			-Wfloat-equal
+			-Wformat-security
+			-Winit-self
+			-Wlogical-op
+			-Wmissing-declarations
+			-Wmissing-field-initializers
+			#-Wmissing-include-dirs # TODO: fix and enable
+			-Wpointer-arith
+			-Wshadow
+			-Wuninitialized
+			-Wunknown-pragmas
+			-Wunused-variable
+
+			-Wno-implicit-fallthrough # set appropriate level and update
+
+			-Wno-unused-parameter
+			)
+	endif()
 
 	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		# QuRT 6.4.X compiler identifies as Clang but does not support this option
@@ -372,11 +400,20 @@ function(px4_add_common_flags)
 			)
 		endif()
 	else()
-		list(APPEND warnings
-			-Wunused-but-set-variable
-			-Wformat=1
-			-Wdouble-promotion
-		)
+	    if(CONFIG MATCHES "^posix_bbblue_")
+	        #fix robotics cape library later
+			list(APPEND warnings
+				-Wunused-but-set-variable
+				-Wformat=1
+				#-Wdouble-promotion
+			)
+		else()
+			list(APPEND warnings
+				-Wunused-but-set-variable
+				-Wformat=1
+				-Wdouble-promotion
+			)
+		endif()
 	endif()
 
 	set(_optimization_flags
@@ -390,12 +427,22 @@ function(px4_add_common_flags)
 		-fdata-sections
 		)
 
-	set(c_warnings
-		-Wbad-function-cast
-		-Wstrict-prototypes
-		-Wmissing-prototypes
-		-Wnested-externs
-		)
+    if(CONFIG MATCHES "^posix_bbblue_")
+        #fix robotics cape library later    
+        set(c_warnings
+            -Wbad-function-cast
+            #-Wstrict-prototypes
+            #-Wmissing-prototypes
+            -Wnested-externs
+            )
+	else()
+        set(c_warnings
+            -Wbad-function-cast
+            -Wstrict-prototypes
+            -Wmissing-prototypes
+            -Wnested-externs
+            )
+    endif()
 
 	set(c_compile_flags
 		-g

diff --git a/cmake/configs/posix_bbblue_common.cmake b/cmake/configs/posix_bbblue_common.cmake
@@ -0,0 +1,105 @@
+# This file is shared between posix_bbblue_native.cmake
+# and posix_bbblue_cross.cmake.
+
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the bbblue.
+add_definitions(
+	-D__PX4_POSIX_BBBLUE
+	-D__PX4_POSIX
+	-D__DF_LINUX    # For DriverFramework
+	-D__DF_BBBLUE   # For DriverFramework
+#	-D__RC_V0_3     # option for Robotics Cape v0.3
+#	-DDEBUG_BUILD
+)
+
+#optional __DF_BBBLUE_USE_RC_BMP280_IMP
+add_definitions(
+	-D__DF_BBBLUE_USE_RC_BMP280_IMP
+)
+
+#optional __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI, default is "SoftAp"
+#add_definitions(
+#	-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
+#)
+
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	#drivers/barometer
+	drivers/batt_smbus
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/telemetry
+	#drivers/boards
+
+	modules/sensors
+
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/led_control
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/tune_control
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/landing_target_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/gnd_att_control
+	modules/gnd_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/linux_sbus
+	drivers/gps
+	drivers/bbblue_adc
+	drivers/linux_gpio
+	drivers/linux_pwm_out
+	drivers/pwm_out_sim
+
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	bmp280
+)
diff --git a/cmake/configs/posix_bbblue_cross.cmake b/cmake/configs/posix_bbblue_cross.cmake
@@ -0,0 +1,3 @@
+include(configs/posix_bbblue_common)
+
+SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
diff --git a/cmake/configs/posix_bbblue_native.cmake b/cmake/configs/posix_bbblue_native.cmake
@@ -0,0 +1,7 @@
+include(configs/posix_bbblue_common)
+
+add_definitions(
+	 -D __DF_BBBLUE
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
@@ -69,6 +69,24 @@ if ("${BOARD}" STREQUAL "rpi")
 		USES_TERMINAL
 		)
 
+elseif ("${BOARD}" STREQUAL "bbblue")
+	target_link_libraries(px4 PRIVATE robotics_cape)
+
+	add_custom_target(upload
+		COMMAND scp -r ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config  debian@BBBluePX4:/home/debian/px4/posix-configs
+		COMMAND scp -r ${PX4_SOURCE_DIR}/ROMFS   $<TARGET_FILE:px4>     debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4 and data files"
+		USES_TERMINAL
+		)
+
+	add_custom_target(upload_px4
+		COMMAND scp -r  $<TARGET_FILE:px4>   debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4"
+		USES_TERMINAL
+		)
+
 elseif ("${BOARD}" STREQUAL "bebop")
 
 	add_custom_target(upload

diff --git a/platforms/posix/src/main.cpp b/platforms/posix/src/main.cpp
@@ -335,8 +335,10 @@ int main(int argc, char **argv)
 	string data_path;
 	string node_name;
 
+	bool skippingOutputRedirect = false;
+
 	// parse arguments
-	while (index < argc) {
+	while (index < argc && !skippingOutputRedirect) {
 		//cout << "arg: " << index << " : " << argv[index] << endl;
 
 		if (argv[index][0] == '-') {
@@ -366,6 +368,9 @@ int main(int argc, char **argv)
 				cout << "node name: " << node_name << endl;
 			}
 
+		} else if (strchr(argv[index], '>')) {
+			skippingOutputRedirect = true;
+
 		} else {
 			//cout << "positional argument" << endl;
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		include(configs/posix_bbblue_common)

		SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+5 −5		ASLUAV/mavlink_msg_asl_obctrl.h
+35 −35		ASLUAV/mavlink_msg_aslctrl_data.h
+35 −35		ASLUAV/mavlink_msg_ekf_ext.h
+70 −70		ASLUAV/mavlink_msg_fw_soaring_data.h
+10 −10		ASLUAV/mavlink_msg_sens_atmos.h
+50 −50		ASLUAV/mavlink_msg_sens_batmon.h
+5 −5		ASLUAV/mavlink_msg_sens_mppt.h
+20 −20		ASLUAV/mavlink_msg_sens_power.h
+10 −10		ASLUAV/mavlink_msg_sensorpod_status.h
+1 −1		ASLUAV/version.h
+0 −1		ardupilotmega/ardupilotmega.h
+5 −5		ardupilotmega/mavlink_msg_battery2.h
+1 −1		ardupilotmega/version.h
+1 −1		autoquad/version.h
+1 −1		common/version.h
+1 −1		icarous/version.h
+1 −1		matrixpilot/version.h
+1 −1		mavlink_conversions.h
+1 −1		mavlink_helpers.h
+68 −68		message_definitions/ASLUAV.xml
+2 −3		message_definitions/ardupilotmega.xml
+24 −24		message_definitions/slugs.xml
+1 −1		minimal/version.h
+3 −3		protocol.h
+5 −5		slugs/mavlink_msg_cpu_load.h
+15 −15		slugs/mavlink_msg_mid_lvl_cmds.h
+5 −5		slugs/mavlink_msg_novatel_diag.h
+30 −30		slugs/mavlink_msg_sensor_bias.h
+10 −10		slugs/mavlink_msg_slugs_navigation.h
+5 −5		slugs/mavlink_msg_status_gps.h
+1 −1		slugs/version.h
+1 −1		standard/version.h
+1 −1		test/version.h
+1 −1		uAvionix/version.h