Kconfig

# PX4 Firmware Configuration


mainmenu "PX4 Firmware Configuration"

comment "Vendor: $(VENDOR)"
comment "Model: $(MODEL)"
comment "Label: $(LABEL)"

menu "Toolchain"
    choice
        prompt "Platform"
        default PLATFORM_NUTTX
        config PLATFORM_NUTTX
            bool "nuttx"
        config PLATFORM_POSIX
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
        config PLATFORM_ROS2
            bool "ros2"
    endchoice

    config BOARD_PLATFORM
        string
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
        depends on PLATFORM_POSIX
        help
            forces lockstep behaviour, despite REPLAY env variable

    config BOARD_NOLOCKSTEP
        bool "Force disable lockstep"
        depends on PLATFORM_POSIX
        help
            forces nolockstep behaviour, despite REPLAY env variable

    config BOARD_LINUX_TARGET
        bool "Linux OS Target"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system

    config BOARD_TOOLCHAIN
        string "Toolchain"
        default ""

    config BOARD_ARCHITECTURE
        string "Architecture"
        default ""

    config BOARD_LTO
        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
        default n
        help
            Enables LTO flag in linker
            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later

    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
        help
            Enables Cmake Release for -O3 optimization

    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
        bool "Fortified toolchain support"
        default n
        help
            Enable compatibility with toolchains that define
            _FORTIFY_SOURCE.

            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
            disabled unless the fortified toolchain requires optimization.

    config BOARD_ROMFSROOT
        string "ROMFSROOT"
        default "px4fmu_common"
        help
            relative path to the ROMFS root directory

    config BOARD_ADDITIONAL_INIT
        string "Additional init file"
        help
            additional configurable init file to include in the ROMFS

    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
        depends on DRIVERS_PX4IO
        help
            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)

    config BOARD_CONSTRAINED_FLASH
        bool "Contrained flash"
        help
            flag to enable constrained flash options (eg limit init script status text)

    config BOARD_NO_HELP
        bool "No help"
        help
            optional condition flag to disable help text on constrained flash systems

    config BOARD_CONSTRAINED_MEMORY
        bool "Contrained memory"
        help
            flag to enable constrained memory options (eg limit maximum number of uORB publications)

    config BOARD_EXTERNAL_METADATA
        bool "External metadata"
        help
            flag to exclude metadata to reduce flash

    config BOARD_LINKER_PREFIX
        string "linker prefix"
        help
            optional to prefix on the Linker script.

    config BOARD_COMPILE_DEFINITIONS
        string "add custom compile definitions"
        help
            add custom compile defitions to this specific target
endmenu #Toolchain

config BOARD_TESTING
    bool "Testing"
    select SYSTEMCMDS_TESTS
    help
        flag to enable automatic inclusion of PX4 testing modules


config BOARD_ETHERNET
    bool "Ethernet"
    help
        flag to indicate that ethernet is enabled

config BOARD_CRYPTO
    bool "Crypto support"
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

config BOARD_SECUREBOOT
    bool "Sign firmware image for secure boot"
    default n
    help
        Run Tools/secure_bootloader/sign_firmware.py over the built .bin
        to append an ed25519 signature, and mark the resulting .px4 as
        image_signed: true so the uploader runs the bootloader's
        VERIFY_SIG step before reboot. The matching public key must be
        baked into the bootloader via CONFIG_PUBLIC_KEY0 in the
        bootloader's .px4board file.

config BOARD_SECUREBOOT_KEY
    string "Path to JSON private key (absolute or relative to repo root)"
    depends on BOARD_SECUREBOOT
    default "Tools/test_keys/test_keys.json"
    help
        Private key used by sign_firmware.py to sign the firmware
        image. The default points at the upstream development test
        key, which is pre-paired with Tools/test_keys/key0.pub. For
        production builds, generate a new keypair with
        Tools/secure_bootloader/generate_signing_keys.py and update
        both this option and the bootloader's CONFIG_PUBLIC_KEY0.
        The environment variable BOARD_SECUREBOOT_KEY overrides this
        value at build time.

config BOARD_PROTECTED
    bool "Memory protection"
    help
        Enable memory protection via MPU/MMU

menu "Serial ports"

    config BOARD_SERIAL_URT6
        string "URT6 tty port"

    config BOARD_SERIAL_GPS1
        string "GPS1 tty port"

    config BOARD_SERIAL_GPS2
        string "GPS2 tty port"

    config BOARD_SERIAL_GPS3
        string "GPS3 tty port"

    config BOARD_SERIAL_GPS4
        string "GPS4 tty port"

    config BOARD_SERIAL_GPS5
        string "GPS5 tty port"

    config BOARD_SERIAL_TEL1
        string "TEL1 tty port"

    config BOARD_SERIAL_TEL2
        string "TEL2 tty port"

    config BOARD_SERIAL_TEL3
        string "TEL3 tty port"

    config BOARD_SERIAL_TEL4
        string "TEL4 tty port"

    config BOARD_SERIAL_TEL5
        string "TEL5 tty port"

    config BOARD_SERIAL_RC
        string "RC tty port"

    config BOARD_SERIAL_WIFI
        string "WIFI tty port"

    config BOARD_SERIAL_EXT2
        string "EXT2 tty port"
endmenu

menu "File paths"

    config BOARD_ROOT_PATH
        string "PX4 Root file path"
        default "/fs/microsd"

    config BOARD_PARAM_FILE
        string "Parameter file"
        default "/fs/mtd_params"

    config BOARD_NO_SDCARD
        bool "Board has no SD card"
        default n
        help
            Disable the SD card arming check for boards without an SD card slot.
endmenu

menu "drivers"
source "src/drivers/Kconfig"
endmenu

menu "modules"
source "src/modules/Kconfig"
endmenu

menu "systemcmds"
source "src/systemcmds/Kconfig"
endmenu

menu "examples"
source "src/examples/Kconfig"
endmenu

menu "templates"
source "src/templates/Kconfig"
endmenu

menu "platforms"
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
source "platforms/Kconfig"
endmenu

source "src/lib/*/Kconfig"