Merge remote-tracking branch 'upstream/master' into ros

Conflicts:
	makefiles/config_px4fmu-v2_test.mk

5 files changed, 27 insertions, 20 deletions

diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 9fe16fbb6..4507b506c 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -132,6 +132,9 @@ MODULES		+= lib/launchdetection
 # Hardware test
 #MODULES			+= examples/hwtest
 
+# Generate parameter XML file
+GEN_PARAM_XML = 1
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index d17dff5bb..d3b8ee93e 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -40,14 +40,8 @@ MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/pca8574
 MODULES		+= drivers/px4flow
 
-
-# Needs to be burned to the ground and re-written; for now,
-# just don't build it.
-#MODULES		+= drivers/mkblctrl
-
 #
 # System commands
 #
@@ -61,7 +55,6 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
@@ -81,10 +74,8 @@ MODULES		+= modules/uavcan
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
@@ -101,12 +92,6 @@ MODULES		+= modules/mc_pos_control
 MODULES		+= modules/sdlog2
 
 #
-# Unit tests
-#
-#MODULES 	+= modules/unit_test
-#MODULES 	+= modules/commander/commander_tests
-
-#
 # Library modules
 #
 MODULES		+= modules/systemlib
@@ -139,7 +124,7 @@ MODULES		+= modules/bottle_drop
 #MODULES		+= examples/math_demo
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
+#MODULES		+= examples/px4_simple_app
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/daemon
@@ -156,6 +141,9 @@ MODULES		+= examples/px4_simple_app
 # Hardware test
 #MODULES			+= examples/hwtest
 
+# Generate parameter XML file
+GEN_PARAM_XML = 1
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 67934b8e4..8aa8badc3 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -53,7 +53,14 @@ LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= platforms/nuttx
 
 #
-# Tests
+# Modules to test-build, but not useful for test environment
+#
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= drivers/pca8574
+MODULES		+= examples/flow_position_estimator
+
+#
+# Libraries
 #
 MODULES 	+= modules/unit_test
 MODULES		+= modules/mavlink/mavlink_tests
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 60602e76f..21e8739aa 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -467,6 +467,7 @@ endif
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
 PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
@@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 
 $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 	@$(ECHO) %% Generating $@
+ifdef GEN_PARAM_XML
+	python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
 	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
 		--git_identity $(PX4_BASE) \
+		--parameter_xml $(PRODUCT_PARAMXML) \
 		--image $< > $@
+else
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
+endif
 
 $(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 71c7fb49f..84e5cd08a 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -50,11 +50,11 @@ OBJDUMP			 = $(CROSSDEV)objdump
 
 # Check if the right version of the toolchain is available
 #
-CROSSDEV_VER_SUPPORTED	 = 4.7
+CROSSDEV_VER_SUPPORTED	 = 4.7.4 4.7.5 4.7.6 4.8.4
 CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
 
-ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
-$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
+ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
 endif