diff --git a/ArduCopter/CMakeLists.txt b/ArduCopter/CMakeLists.txt
index e1e8f0ee7bc45cc77507cc2e0a51575e9b7620d9..6c88ad554dec7e281bedf4607e63ff332596ee94 100644
--- a/ArduCopter/CMakeLists.txt
+++ b/ArduCopter/CMakeLists.txt
@@ -5,14 +5,44 @@ cmake_minimum_required(VERSION 2.8)
project(ArduCopter C CXX)
set(PROJECT_VERSION_MAJOR "2")
-set(PROJECT_VERSION_MINOR "3")
-set(PROJECT_VERSION_PATCH "3")
-set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+set(PROJECT_VERSION_MINOR "6")
+set(PROJECT_VERSION_PATCH "0")
-set(PROJECT_DESCRIPTION "ArduPilotMega based Quadrotor Autopilot.")
+set(PROJECT_DESCRIPTION "ArduPilotMega based Rotor-craft Autopilot.")
# macro path
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../cmake/modules")
+include(CMakeParseArguments)
+include(APMOption)
+
+# options
+add_definitions(-DUSE_CMAKE_APM_CONFIG)
+include(options.cmake)
+include_directories(${CMAKE_BINARY_DIR})
+apm_option_generate_config(FILE "APM_Config_cmake.h" OPTIONS ${APM_OPTIONS})
+
+# disallow in-source build
+include(MacroEnsureOutOfSourceBuild)
+macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
+Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
+
+# built variables
+set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+set(FIRMWARE_NAME "${PROJECT_NAME}-${APM_HARDWARE}-${APM_PROCESSOR}-${HIL_MODE}")
+
+# modify flags from default toolchain flags
+set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax")
+
+# build apm project
+set(ARDUINO_EXTRA_LIBRARIES_PATH ${CMAKE_SOURCE_DIR}/../libraries)
+set(${FIRMWARE_NAME}_SKETCH ${CMAKE_SOURCE_DIR}/../${PROJECT_NAME})
+set(${FIRMWARE_NAME}_BOARD ${APM_PROCESSOR})
+set(${FIRMWARE_NAME}_PORT ${APM_PROGRAMMING_PORT})
+generate_arduino_firmware(${FIRMWARE_NAME})
+install(FILES ${CMAKE_BINARY_DIR}/${FIRMWARE_NAME}.hex DESTINATION "/")
-# common project setup
-include(APMProject)
+# cpack
+include(APMCPackConfig)
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ec68a32abf1681272f62fc32ecd9f2b02724040d..983b0a9ccd2799fb3ad3d2a3c9956bd907980a5a 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -28,7 +28,12 @@
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
+#ifdef USE_CMAKE_APM_CONFIG
+#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
+#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
+#endif
+
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/options.cmake b/ArduCopter/options.cmake
index cc0d163821ddd887fe5262bea2580a4eccdd0119..8d72e374d165e6a8aac29513c878400152571f56 100644
--- a/ArduCopter/options.cmake
+++ b/ArduCopter/options.cmake
@@ -1,23 +1,42 @@
-# options
+#
+# This files is used by cmake to present options to the
+# user in the cmake-gui, it can also be used directly to
+# set options in the cmake command line.
+#
+# This file generates APM_Config_cmake.h
+# which overrides the APM_Config.h file. When disributing
+# to the Arduino IDE user. APM_Confg_cmake.h could be copied to
+# APM_Config.h, but this is not necessary. The
+# advantage would be that the Arduino user would have
+# a more up-to-date/ complete list of options and the developers
+# using cmake have a nice gui/ command-line interface.
+#
+
apm_option("APM_PROGRAMMING_PORT" TYPE STRING
DESCRIPTION "Programming upload port?"
DEFAULT "/dev/ttyUSB0")
-apm_option("APM_BOARD" TYPE STRING
- DESCRIPTION "ArduPilotMega board?"
+apm_option("APM_HARDWARE" TYPE STRING
+ DESCRIPTION "APM Hardware?"
+ OPTIONS "APM_HARDARE_APM2" "APM2_BETA_HARDWARE" "APM1"
+ DEFAULT "APM_HARDARE_APM2")
+
+apm_option("APM_PROCESSOR" TYPE STRING
+ DESCRIPTION "ArduPilotMega processor (2560 for APM2 and later APM1)?"
DEFAULT "mega2560"
OPTIONS "mega" "mega2560")
-apm_option("APM_FRAME" TYPE STRING
- DESCRIPTION "Vehicle type?"
- DEFAULT "PLANE_FRAME"
- OPTIONS
- "PLANE FRAME"
- "HELI_FRAME"
- "HEXA_FRAME"
- "OCTA_FRAME"
- "Y6_FRAME"
- )
+apm_option("CLI_SLIDER_ENABLED" TYPE BOOL
+ DESCRIPTION "Enable command line interface switch?"
+ DEFAULT OFF)
+
+apm_option("LOGGING_ENABLED" TYPE BOOL
+ DESCRIPTION "Enable logging?"
+ DEFAULT OFF)
+
+apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED
+ DESCRIPTION "Enable quaterion navigation?"
+ DEFAULT OFF)
apm_option("GPS_PROTOCOL" TYPE STRING
DESCRIPTION "GPS protocol?"
@@ -72,19 +91,19 @@ apm_option("HIL_PROTOCOL" TYPE STRING
DEFAULT "HIL_PROTOCOL_MAVLINK"
OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
-apm_option("GPS_PROTOCOL" TYPE STRING
+apm_option("GCS_PROTOCOL" TYPE STRING
DESCRIPTION "Ground station protocol?"
DEFAULT "GCS_PROTOCOL_MAVLINK"
OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
apm_option("GCS_PORT" TYPE STRING ADVANCED
DESCRIPTION "Ground station port?"
- DESCRIPTION "3"
+ DEFAULT "3"
OPTIONS "0" "1" "2" "3")
apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
DESCRIPTION "MAVLink System ID?"
- DESCRIPTION "1")
+ DEFAULT "1")
apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
DESCRIPTION "Serial 0 baudrate?"
@@ -116,6 +135,41 @@ apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
DESCRIPTION "Current amps offset?"
DEFAULT "0.0")
-apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
- DESCRIPTION "Current amps offset?"
- DEFAULT "0.0")
+# arducopter specific
+apm_option("FRAME_CONFIG" TYPE STRING
+ DESCRIPTION "Vehicle type?"
+ DEFAULT "QUAD_FRAME"
+ OPTIONS
+ "QUAD_FRAME"
+ "TRI_FRAME"
+ "HEXA_FRAME"
+ "Y6_FRAME"
+ "OCTA_FRAME"
+ "OCTA_QUAD_FRAME"
+ "HELI_FRAME"
+ )
+
+apm_option("FRAME_ORIENTATION" TYPE STRING
+ DESCRIPTION "Vehicle type?"
+ DEFAULT "QUAD_FRAME"
+ OPTIONS
+ "PLUS_FRAME"
+ "X_FRAME"
+ "V_FRAME"
+ )
+
+apm_option("CH7_OPTION" TYPE STRING
+ DESCRIPTION "Channel 7 option? (ADC_FILTER is experimental)"
+ DEFAULT "CH7_SAVE_WP"
+ OPTIONS
+ "CH7_DO_NOTHING"
+ "CH7_SET_HOVER"
+ "CH7_FLIP"
+ "CH7_RTL"
+ "CH7_AUTO_TRIM"
+ "CH7_ADC_FILTER"
+ "CH7_SAVE_WP")
+
+apm_option("ACCEL_ALT_HOLD" TYPE BOOL ADVANCED
+ DESCRIPTION "Disabled by default, work in progress."
+ DEFAULT OFF)
diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h
index 571cfe4e92c8027c6907c7fbaec946d6171f0d03..18b5794ca717d6b5cc1e6015c8608ff5ee1b7329 100644
--- a/ArduPlane/APM_Config.h
+++ b/ArduPlane/APM_Config.h
@@ -16,9 +16,7 @@
// The following are the recommended settings for Xplane
// simulation. Remove the leading "/* and trailing "*/" to enable:
-/*
-#define HIL_MODE HIL_MODE_ATTITUDE
-*/
+#define HIL_MODE HIL_MODE_DISABLED
/*
// HIL_MODE SELECTION
diff --git a/ArduPlane/CMakeLists.txt b/ArduPlane/CMakeLists.txt
index 8a7935c1c562ce6574657f5c854ce4294c5aff39..d8028fe27ae255a95834c2473060101b43c261a9 100644
--- a/ArduPlane/CMakeLists.txt
+++ b/ArduPlane/CMakeLists.txt
@@ -7,12 +7,43 @@ project(ArduPlane C CXX)
set(PROJECT_VERSION_MAJOR "2")
set(PROJECT_VERSION_MINOR "3")
set(PROJECT_VERSION_PATCH "3")
-set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
set(PROJECT_DESCRIPTION "ArduPilotMega based Airplane Autopilot.")
# macro path
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../cmake/modules")
+include(CMakeParseArguments)
+include(APMOption)
+
+# options
+add_definitions(-DUSE_CMAKE_APM_CONFIG)
+include(options.cmake)
+include_directories(${CMAKE_BINARY_DIR})
+apm_option_generate_config(FILE "APM_Config_cmake.h" OPTIONS ${APM_OPTIONS})
+#configure_file(APM_Config2.h.cmake APM_Config2.h)
+
+# disallow in-source build
+include(MacroEnsureOutOfSourceBuild)
+macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
+Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
+
+# built variables
+set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+set(FIRMWARE_NAME "${PROJECT_NAME}-${APM_HARDWARE}-${APM_PROCESSOR}-${HIL_MODE}")
+
+# modify flags from default toolchain flags
+set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax")
+
+# build apm project
+set(ARDUINO_EXTRA_LIBRARIES_PATH ${CMAKE_SOURCE_DIR}/../libraries)
+set(${FIRMWARE_NAME}_SKETCH ${CMAKE_SOURCE_DIR}/../${PROJECT_NAME})
+set(${FIRMWARE_NAME}_BOARD ${APM_PROCESSOR})
+set(${FIRMWARE_NAME}_PORT ${APM_PROGRAMMING_PORT})
+generate_arduino_firmware(${FIRMWARE_NAME})
+install(FILES ${CMAKE_BINARY_DIR}/${FIRMWARE_NAME}.hex DESTINATION "/")
-# common project setup
-include(APMProject)
+# cpack
+include(APMCPackConfig)
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 07b777f4b45a6c25954a40d7dda5e6bfe9a8ada3..65a48cd7dc140a2600066b34fe4a220bb727aaed 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -26,7 +26,11 @@
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
+#ifdef USE_CMAKE_APM_CONFIG
+#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
+#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
+#endif
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
diff --git a/ArduPlane/options.cmake b/ArduPlane/options.cmake
index 711628fb4af7b3fd593a89f478f7fee36b194800..e8be00a1ad5b85ec308398d8ffe0850b7de4b14b 100644
--- a/ArduPlane/options.cmake
+++ b/ArduPlane/options.cmake
@@ -1,29 +1,42 @@
-# options
-#bool_option(LOGGING DESCRIPTION "Logging support?" DEFAULT OFF)
-#bool_option(GPS "Gps support?" ON)
-#option(CLI_SLIDER "Command-line-interface slider support?" OFF)
-#option(APM2 "Build for APM 2.0" OFF)
+#
+# This files is used by cmake to present options to the
+# user in the cmake-gui, it can also be used directly to
+# set options in the cmake command line.
+#
+# This file generates APM_Config_cmake.h
+# which overrides the APM_Config.h file. When disributing
+# to the Arduino IDE user. APM_Confg_cmake.h could be copied to
+# APM_Config.h, but this is not necessary. The
+# advantage would be that the Arduino user would have
+# a more up-to-date/ complete list of options and the developers
+# using cmake have a nice gui/ command-line interface.
+#
-# options
apm_option("APM_PROGRAMMING_PORT" TYPE STRING
DESCRIPTION "Programming upload port?"
DEFAULT "/dev/ttyUSB0")
-apm_option("APM_BOARD" TYPE STRING
- DESCRIPTION "ArduPilotMega board?"
+apm_option("APM_HARDWARE" TYPE STRING
+ DESCRIPTION "APM Hardware?"
+ OPTIONS "APM_HARDARE_APM2" "APM2_BETA_HARDWARE" "APM1"
+ DEFAULT "APM_HARDARE_APM2")
+
+apm_option("APM_PROCESSOR" TYPE STRING
+ DESCRIPTION "ArduPilotMega processor (2560 for APM2 and later APM1)?"
DEFAULT "mega2560"
OPTIONS "mega" "mega2560")
-apm_option("APM_FRAME" TYPE STRING
- DESCRIPTION "Vehicle type?"
- DEFAULT "PLANE_FRAME"
- OPTIONS
- "PLANE FRAME"
- "HELI_FRAME"
- "HEXA_FRAME"
- "OCTA_FRAME"
- "Y6_FRAME"
- )
+apm_option("CLI_ENABLED" TYPE BOOL
+ DESCRIPTION "Enable command line interface switch?"
+ DEFAULT OFF)
+
+apm_option("LOGGING_ENABLED" TYPE BOOL
+ DESCRIPTION "Enable logging?"
+ DEFAULT OFF)
+
+apm_option("QUATERNION_ENABLE" TYPE BOOL
+ DESCRIPTION "Enable quaterion navigation?"
+ DEFAULT OFF)
apm_option("GPS_PROTOCOL" TYPE STRING
DESCRIPTION "GPS protocol?"
@@ -78,19 +91,19 @@ apm_option("HIL_PROTOCOL" TYPE STRING
DEFAULT "HIL_PROTOCOL_MAVLINK"
OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
-apm_option("GPS_PROTOCOL" TYPE STRING
+apm_option("GCS_PROTOCOL" TYPE STRING
DESCRIPTION "Ground station protocol?"
DEFAULT "GCS_PROTOCOL_MAVLINK"
OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
apm_option("GCS_PORT" TYPE STRING ADVANCED
DESCRIPTION "Ground station port?"
- DESCRIPTION "3"
+ DEFAULT "3"
OPTIONS "0" "1" "2" "3")
apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
DESCRIPTION "MAVLink System ID?"
- DESCRIPTION "1")
+ DEFAULT "1")
apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
DESCRIPTION "Serial 0 baudrate?"
@@ -122,39 +135,47 @@ apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
DESCRIPTION "Current amps offset?"
DEFAULT "0.0")
-apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
- DESCRIPTION "Current amps offset?"
- DEFAULT "0.0")
-
-
-#set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?")
-#set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?")
-#set(HIGH_DISCHARGE "1760" CACHE STRING "What to consider high discharge rate (milliamp-hours)?")
-
-#set(INPUT_VOLTAGE "4.68" CACHE STRING "Voltage measured at the processor (volts)?")
-
-#set(FLIGHT_MODE_CHANNEL "8" CACHE STRING "The radio channel to control the flight mode.")
-#set_property(CACHE FLIGHT_MODE_CHANNEL PROPERTY STRINGS 1 2 3 4 5 6 7 8)
-
-#set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE)
-
-#set(FLIGHT_MODE_1 "RTL" CACHE STRING "Flight mode for radio position 1 (1165 ms)?")
-#set_property(CACHE FLIGHT_MODE_1 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_2 "RTL" CACHE STRING "Flight mode for radio position 2 (1295 ms)?")
-#set_property(CACHE FLIGHT_MODE_2 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_3 "STABILIZE" CACHE STRING "Flight mode for radio position 3 (1425 ms)?")
-#set_property(CACHE FLIGHT_MODE_3 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_4 "STABILIZE" CACHE STRING "Flight mode for radio position 4 (1555 ms)?")
-#set_property(CACHE FLIGHT_MODE_4 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_5 "MANUAL" CACHE STRING "Flight mode for radio position 5 (FAILSAFE if using channel 8) (1685 ms)?")
-#set_property(CACHE FLIGHT_MODE_5 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_6 "MANUAL" CACHE STRING "Flight mode for radio position 6 (FAILSAFE is using channel 8) (1815 ms)?")
-#set_property(CACHE FLIGHT_MODE_6 PROPERTY STRINGS ${FLIGHT_MODES})
+apm_option("HIGH_DISCHARGE" TYPE STRING ADVANCED
+ DESCRIPTION "What to consider high discharge rate (milliamps)?"
+ DEFAULT "1760")
+
+apm_option("INPUT_VOLTAGE" TYPE STRING ADVANCED
+ DESCRIPTION "Voltage measured at the process (V)? (affects ADC measurements)"
+ DEFAULT "4.68")
+
+set(RADIO_CHANNELS "1" "2" "3" "4" "5" "6" "7" "8")
+apm_option("FLIGHT_MODE_CHANNEL" TYPE STRING ADVANCED
+ DESCRIPTION "The radio channel to control the flight mode."
+ DEFAULT "8"
+ OPTIONS ${RADIO_CHANNELS})
+
+set(FLIGHT_MODES
+ MANUAL STABILIZE
+ FLY_BY_WIRE_A
+ FLY_BY_WIRE_B
+ RTL
+ AUTO
+ LOITER CIRCLE)
+
+set(FLIGHT_MODES_RADIO_PWM 1165 1295 1425 1555 1685 1815)
+
+set(FLIGHT_MODES_DEFAULT
+ RTL
+ RTL
+ STABILIZE
+ STABILIZE
+ MANUAL
+ MANUAL)
+
+foreach(MODE 1 2 3 4 5 6)
+ math(EXPR INDEX "${MODE} -1")
+ list(GET FLIGHT_MODES_RADIO_PWM ${INDEX} RADIO_PWM)
+ list(GET FLIGHT_MODES_DEFAULT ${INDEX} FLIGHT_MODE_DEFAULT)
+ apm_option("FLIGHT_MODE_${MODE}" TYPE STRING ADVANCED
+ DESCRIPTION "Flight mode ${MODE} (pwm ${RADIO_PWM} ms)?"
+ DEFAULT "${FLIGHT_MODE_DEFAULT}"
+ OPTIONS ${FLIGHT_MODES})
+endforeach()
#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
diff --git a/cmake/modules/APMCPackConfig.cmake b/cmake/modules/APMCPackConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..1e2a08e49bb59e9645ee8a8a01f39df2dd33e9bb
--- /dev/null
+++ b/cmake/modules/APMCPackConfig.cmake
@@ -0,0 +1,20 @@
+# packaging settings
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_DESCRIPTION}")
+set(CPACK_PACKAGE_VENDOR "DIYDRONES")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com")
+set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
+set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/../README.txt")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/../COPYING.txt")
+set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/../README.txt")
+set(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
+set(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
+set(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
+set(CPACK_SET_DESTDIR TRUE)
+set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES}
+ /.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$)
+set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+set(CPACK_SOURCE_GENERATOR "ZIP")
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_PACKAGE_NAME "${FIRMWARE_NAME}")
+include(CPack)
diff --git a/cmake/modules/APMOption.cmake b/cmake/modules/APMOption.cmake
index 29043cd3732b7c183ed2c89f1fde84d949b68546..e507b25b46872fe5db6ede774b270c8aa294e429 100644
--- a/cmake/modules/APMOption.cmake
+++ b/cmake/modules/APMOption.cmake
@@ -23,6 +23,12 @@ function(apm_option NAME)
if ("${VAR_TYPE}" STREQUAL "INTERNAL")
message(STATUS "\tVAR_TYPE: ${VAR_TYPE}")
set("${NAME}" "${ARG_DEFAULT}" CACHE "${ARG_TYPE}" "${ARG_DESCRIPTION}" FORCE)
+
+ # if not hidden, add it to the global options list
+ else()
+ set(APM_OPTIONS ${APM_OPTIONS} ${NAME} CACHE INTERNAL "list of all options")
+ list(REMOVE_DUPLICATES APM_OPTIONS)
+ #message(STATUS "APM_OPTIONS: ${APM_OPTIONS}")
endif()
# set options for combo box
@@ -34,3 +40,16 @@ function(apm_option NAME)
endif()
endfunction()
+
+function(apm_option_generate_config)
+ cmake_parse_arguments(ARG "" "FILE" "" ${ARGN})
+ list(REMOVE_DUPLICATES APM_OPTIONS)
+ file (WRITE "${CMAKE_BINARY_DIR}/${ARG_FILE}" "//automatically generated, do not edit\n")
+ file (APPEND "${CMAKE_BINARY_DIR}/${ARG_FILE}" "#define OFF 0\n#define ON 1\n")
+ foreach(ITEM ${APM_OPTIONS})
+ #message(STATUS "item: ${ITEM}")
+ get_property(ITEM_VALUE CACHE ${ITEM} PROPERTY VALUE)
+ get_property(ITEM_HELP CACHE ${ITEM} PROPERTY HELPSTRING)
+ file(APPEND "${CMAKE_BINARY_DIR}/${ARG_FILE}" "\n#define ${ITEM} ${ITEM_VALUE} // ${ITEM_HELP}")
+ endforeach()
+endfunction()
diff --git a/cmake/modules/APMProject.cmake b/cmake/modules/APMProject.cmake
deleted file mode 100644
index 8d49df125e63e587dd58dcad1c4e68aec969a473..0000000000000000000000000000000000000000
--- a/cmake/modules/APMProject.cmake
+++ /dev/null
@@ -1,45 +0,0 @@
-# disallow in-source build
-include(MacroEnsureOutOfSourceBuild)
-macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
-Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
-
-# macros
-include(CMakeParseArguments)
-include(APMOption)
-
-# options
-include(options.cmake)
-
-# modify flags from default toolchain flags
-set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax")
-
-# build apm project
-set(ARDUINO_EXTRA_LIBRARIES_PATH ${CMAKE_SOURCE_DIR}/../libraries)
-set(${PROJECT_NAME}_SKETCH ${CMAKE_SOURCE_DIR}/../${PROJECT_NAME})
-set(${PROJECT_NAME}_BOARD ${APM_BOARD})
-set(${PROJECT_NAME}_PORT ${APM_PROGRAMMING_PORT})
-generate_arduino_firmware(${PROJECT_NAME})
-
-# packaging settings
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_DESCRIPTION}")
-set(CPACK_PACKAGE_VENDOR "DIYDRONES")
-set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com")
-set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
-set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/../README.txt")
-set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/../COPYING.txt")
-set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/../README.txt")
-set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}")
-set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}")
-set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}")
-set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
-set(CPACK_SET_DESTDIR TRUE)
-set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES}
- /.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$)
-set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-set(CPACK_SOURCE_GENERATOR "ZIP")
-set(CPACK_GENERATOR "ZIP")
-set(CPACK_PACKAGE_NAME "${APM_PROJECT}_${BOARD}_${HIL_MODE}")
-include(CPack)
diff --git a/cmake/options.cmake b/cmake/options.cmake
deleted file mode 100644
index 4947a3f65af9470904db5d210154296b368ae3e0..0000000000000000000000000000000000000000
--- a/cmake/options.cmake
+++ /dev/null
@@ -1,213 +0,0 @@
-# options
-#bool_option(LOGGING DESCRIPTION "Logging support?" DEFAULT OFF)
-#bool_option(GPS "Gps support?" ON)
-#option(CLI_SLIDER "Command-line-interface slider support?" OFF)
-#option(APM2 "Build for APM 2.0" OFF)
-
-# set booleans for project
-foreach(PROJECT_NAME "ArduPlane;ArduCopter")
- if ("${APM_PROJECT}" STREQUAL "${PROJECT_NAME}")
- set(IS_${PROJECT_NAME} true)
- else()
- set(IS_${PROJECT_NAME} false)
- endif()
-endforeach()
-
-if (IS_ARDUCOPTER)
-endif()
-apm_option("APM_FRAME" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Vehicle type?"
- DEFAULT "PLANE_FRAME"
- OPTIONS
- "PLANE FRAME"
- "HELI_FRAME"
- "HEXA_FRAME"
- "OCTA_FRAME"
- "Y6_FRAME"
- )
-
-apm_option("GPS_PROTOCOL" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "GPS protocol?"
- DEFAULT "GPS_PROTOCOL_AUTO"
- OPTIONS
- "GPS_PROTOOCL_NONE"
- "GPS_PROTOCOL_AUTO"
- "GPS_PROTOCOL_NONE"
- "GPS_PROTOCOL_IMU"
- "GPS_PROTOCOL_MTK"
- "GPS_PROTOCOL_MTK16"
- "GPS_PROTOCOL_UBLOX"
- "GPS_PROTOCOL_SIRF"
- "GPS_PROTOCOL_NMEA")
-
-apm_option("AIRSPEED_SENSOR" TYPE BOOL
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Enable airspeed sensor?"
- DEFAULT OFF)
-
-apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Airspeed ratio?"
- DEFAULT "1.9936")
-
-apm_option("MAGNETOMETER" TYPE BOOL
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Enable airspeed sensor?"
- DEFAULT OFF)
-
-apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Magnetometer orientation?"
- DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
- OPTIONS
- "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
- "AP_COMPASS_COMPONENTS_DOWN_PINS_BACK"
- "AP_COMPASS_COMPONENTS_UP_PINS_FORWARD"
- "AP_COMPASS_COMPONENTS_UP_PINS_BACK")
-
-apm_option("HIL_MODE" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Hardware-in-the-loop- mode?"
- DEFAULT "HIL_MODE_DISABLED"
- OPTIONS
- "HIL_MODE_DISABLED"
- "HIL_MODE_ATTITUDE"
- "HIL_MODE_SENSORS")
-
-apm_option("HIL_PORT" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Port for Hardware-in-the-loop communication"
- DEFAULT "0"
- OPTIONS "0" "1" "2" "3")
-
-apm_option("HIL_PROTOCOL" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Hardware-in-the-loop protocol?"
- DEFAULT "HIL_PROTOCOL_MAVLINK"
- OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
-
-apm_option("GPS_PROTOCOL" TYPE STRING
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Ground station protocol?"
- DEFAULT "GCS_PROTOCOL_MAVLINK"
- OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
-
-apm_option("GCS_PORT" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Ground station port?"
- DESCRIPTION "3"
- OPTIONS "0" "1" "2" "3")
-
-apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "MAVLink System ID?"
- DESCRIPTION "1")
-
-apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Serial 0 baudrate?"
- DEFAULT "115200"
- OPTIONS "57600" "115200")
-
-apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Serial 3 baudrate?"
- DEFAULT "57600"
- OPTIONS "57600" "115200")
-
-apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Enable low voltage/ high discharge warnings?"
- DEFAULT OFF)
-
-apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Voltage to consider low (volts)?"
- DEFAULT "9.6")
-
-apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Voltage division ratio?"
- DEFAULT "3.56")
-
-apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Current amps/volt?"
- DEFAULT "27.32")
-
-apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Current amps offset?"
- DEFAULT "0.0")
-
-apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
- DEPENDS IS_ARDUPLANE
- DESCRIPTION "Current amps offset?"
- DEFAULT "0.0")
-
-
-#set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?")
-#set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?")
-#set(HIGH_DISCHARGE "1760" CACHE STRING "What to consider high discharge rate (milliamp-hours)?")
-
-#set(INPUT_VOLTAGE "4.68" CACHE STRING "Voltage measured at the processor (volts)?")
-
-#set(FLIGHT_MODE_CHANNEL "8" CACHE STRING "The radio channel to control the flight mode.")
-#set_property(CACHE FLIGHT_MODE_CHANNEL PROPERTY STRINGS 1 2 3 4 5 6 7 8)
-
-#set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE)
-
-#set(FLIGHT_MODE_1 "RTL" CACHE STRING "Flight mode for radio position 1 (1165 ms)?")
-#set_property(CACHE FLIGHT_MODE_1 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_2 "RTL" CACHE STRING "Flight mode for radio position 2 (1295 ms)?")
-#set_property(CACHE FLIGHT_MODE_2 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_3 "STABILIZE" CACHE STRING "Flight mode for radio position 3 (1425 ms)?")
-#set_property(CACHE FLIGHT_MODE_3 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_4 "STABILIZE" CACHE STRING "Flight mode for radio position 4 (1555 ms)?")
-#set_property(CACHE FLIGHT_MODE_4 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_5 "MANUAL" CACHE STRING "Flight mode for radio position 5 (FAILSAFE if using channel 8) (1685 ms)?")
-#set_property(CACHE FLIGHT_MODE_5 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLIGHT_MODE_6 "MANUAL" CACHE STRING "Flight mode for radio position 6 (FAILSAFE is using channel 8) (1815 ms)?")
-#set_property(CACHE FLIGHT_MODE_6 PROPERTY STRINGS ${FLIGHT_MODES})
-
-#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
-#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
-
-#set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
-#set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
-
-#set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?")
-#set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
-
-#set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).")
-
-#set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?")
-#set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
-#set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER")
-#set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL")
-
-#set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?")
-#set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED)
-
-#set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?")
-#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
-
-#set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?")
-#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
-
-#set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?")
-#set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED)
-
-#set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and IMU calibration (s)?")
-
-#set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?")
-#set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED)
-
-