From 71b2306aa95efa5f1f4f066df75233dc7e021954 Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Mon, 11 Aug 2014 22:32:30 +0200
Subject: [PATCH] PX4: enabled support for UAVCAN
---
mk/PX4/ROMFS/init.d/rc.APM | 7 +++++++
mk/PX4/config_px4fmu-v2_APM.mk | 4 ++++
mk/px4_targets.mk | 1 +
3 files changed, 12 insertions(+)
diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index 2c34d569b..c86bffc77 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -345,6 +345,13 @@ else
sh /etc/init.d/rc.error
fi
+if uavcan start 1
+then
+ echo "started uavcan OK"
+else
+ echo "failed to start uavcan"
+fi
+
if mtd readtest /fs/mtd
then
echo "mtd readtest OK"
diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index f285e0e4a..3822953ae 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -74,6 +74,10 @@ MODULES += modules/libtomcrypt
endif
MODULES += lib/conversion
+MODULES += modules/uavcan
+MODULES += lib/mathlib
+LIBRARIES += lib/mathlib/CMSIS
+
#
# Transitional support - add commands from the NuttX export archive.
#
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index bb6c00533..7794ccfee 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -31,6 +31,7 @@ PX4_GIT_VERSION := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
+EXTRAFLAGS += -DUAVCAN=1
# we have different config files for V1 and V2
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
--
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