NuttX use toolchain math.h and avoid empty drivers/Kconfig

.gitmodules

@@ -49,11 +49,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.29+
+	branch = px4_firmware_nuttx-8.1+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.29+
+	branch = px4_firmware_nuttx-8.1+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

boards/airmind/mindpx-v2/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/auav/x21/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/auav/x21/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/av/x-v1/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -48,7 +48,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F777NI=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/bitcraze/crazyflie/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/holybro/durandal-v1/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 # this is off because H7 is not maintaining alignment yet CONFIG_ARMV7M_DCACHE=y

boards/holybro/durandal-v1/nuttx-config/Kconfig

@@ -16,8 +16,3 @@ config BOARD_USE_PROBES
 	---help---
 		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
 
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -18,7 +18,6 @@ CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y

boards/holybro/durandal-v1/nuttx-config/drivers/Kconfig

@@ -1 +0,0 @@
-

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/holybro/kakutef7/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F745VG=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=750
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/intel/aerofc-v1/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/intel/aerofc-v1/nuttx-config/nsh/defconfig

@@ -28,7 +28,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F429V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/modalai/fc-v1/nuttx-config/Kconfig

@@ -15,9 +15,3 @@ config BOARD_USE_PROBES
 
 	---help---
 		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/modalai/fc-v1/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/modalai/fc-v1/nuttx-config/stackcheck/defconfig

@@ -22,7 +22,6 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/mro/ctrl-zero-f7/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F777NI=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -18,7 +18,6 @@ CONFIG_ARCH_CHIP="kinetis"
 CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/omnibus/f4sd/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -21,7 +21,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y

boards/px4/cannode-v1/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO provides GPIO D0-D2,A0-A3 to provide  timing signals from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/cannode-v1/nuttx-config/nsh/defconfig

@@ -17,7 +17,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F103RB=y
 CONFIG_ARCH_INTERRUPTSTACK=360
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y

boards/px4/esc-v1/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals	from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/esc-v1/nuttx-config/nsh/defconfig

@@ -34,7 +34,6 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F446R=y
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/px4/fmu-v2/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/px4/fmu-v3/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v3/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y

boards/px4/fmu-v4/nuttx-config/Kconfig

@@ -16,8 +16,4 @@ config BOARD_USE_PROBES
 	---help---
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
-# Hack to ensure ARCH_MATH_H is kept
+
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v4/nuttx-config/drivers/Kconfig

@@ -1 +0,0 @@
-

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y

boards/px4/fmu-v4pro/nuttx-config/Kconfig

@@ -20,9 +20,3 @@ config BOARD_USE_PROBES
 		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
 
 endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F469I=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/px4/fmu-v5/nuttx-config/Kconfig

@@ -15,9 +15,3 @@ config BOARD_USE_PROBES
 
 	---help---
 		Select to use GPIO FMU-CH1-8, CAP1-3  to provide timing signals from selected drivers.
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/px4/fmu-v5/nuttx-config/drivers/Kconfig

@@ -1 +0,0 @@
-

boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/px4/fmu-v5x/nuttx-config/Kconfig

@@ -15,9 +15,3 @@ config BOARD_USE_PROBES
 
 	---help---
 		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y

boards/px4/io-v2/nuttx-config/Kconfig

@@ -1,9 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/px4/io-v2/nuttx-config/drivers/Kconfig

@@ -1 +0,0 @@
-

boards/px4/io-v2/nuttx-config/nsh/defconfig

@@ -14,7 +14,6 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F100C8=y
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARD_LOOPSPERMSEC=2000

boards/thiemar/s2740vc-v1/nuttx-config/Kconfig

@@ -1,14 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if CONFIG_ARCH_BOARD_THIEMAR_S2740VC_V1
-
-endif
-
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig

@@ -18,7 +18,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F302K8=y
 CONFIG_ARCH_INTERRUPTSTACK=1024
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/uvify/core/nuttx-config/Kconfig

@@ -1,5 +0,0 @@
-# Hack to ensure ARCH_MATH_H is kept
-config BOARD_HAVE_MATH_H
-	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
-	default y
-	select ARCH_HAVE_MATH_H

boards/uvify/core/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

platforms/common/include/px4_platform_common/defines.h

@@ -41,10 +41,6 @@
 
 #include <px4_platform_common/log.h>
 
-#if defined(__PX4_NUTTX) && !defined(CONFIG_ARCH_MATH_H)
-#error CONFIG_ARCH_MATH_H is required to use math definitions and functions
-#endif
-
 /****************************************************************************
  * Defines for all platforms.
  ****************************************************************************/

platforms/nuttx/NuttX/CMakeLists.txt

@@ -144,19 +144,19 @@ add_custom_target(nuttx_config_kconfig_target
 # copy NuttX config directory
 add_custom_command(
 	OUTPUT
-		${NUTTX_DIR}/arch/arm/include/math.h
 		${PX4_BINARY_DIR}/NuttX/nuttx-config/include/board.h
 		${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
 		${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/script.ld
+		${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
 		${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
-	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h # copy arm math.h into NuttX source
 	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
 	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 	DEPENDS
-		${NUTTX_SRC_DIR}/math.h
 		${NUTTX_SRC_DIR}/nsh_romfsimg.h
 		${NUTTX_CONFIG_DIR}/include/board.h
 		${NUTTX_CONFIG_DIR}/scripts/script.ld

platforms/nuttx/NuttX/math.h

@@ -1,551 +0,0 @@
-#ifndef  _MATH_H_
-
-#define  _MATH_H_
-
-#include <machine/ieeefp.h>
-#include "_ansi.h"
-
-_BEGIN_STD_C
-
-/* Natural log of 2 */
-#define _M_LN2        0.693147180559945309417
-
-#if defined(__GNUC__) && \
-  ( (__GNUC__ >= 4) || \
-    ( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) )
-
- /* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values.  */
-
-# ifndef HUGE_VAL
-#  define HUGE_VAL (__builtin_huge_val())
-# endif
-
-# ifndef HUGE_VALF
-#  define HUGE_VALF (__builtin_huge_valf())
-# endif
-
-# ifndef HUGE_VALL
-#  define HUGE_VALL (__builtin_huge_vall())
-# endif
-
-# ifndef INFINITY
-#  define INFINITY (__builtin_inff())
-# endif
-
-# ifndef NAN
-#  define NAN (__builtin_nanf(""))
-# endif
-
-#else /* !gcc >= 3.3  */
-
- /*      No builtins.  Use fixed defines instead.  (All 3 HUGE plus the INFINITY
- *        * and NAN macros are required to be constant expressions.  Using a variable--
- *          * even a static const--does not meet this requirement, as it cannot be
- *            * evaluated at translation time.)
- *              *      The infinities are done using numbers that are far in excess of
- *                * something that would be expected to be encountered in a floating-point
- *                  * implementation.  (A more certain way uses values from float.h, but that is
- *                    * avoided because system includes are not supposed to include each other.)
- *                      *      This method might produce warnings from some compilers.  (It does in
- *                        * newer GCCs, but not for ones that would hit this #else.)  If this happens,
- *                          * please report details to the Newlib mailing list.  */
-
- #ifndef HUGE_VAL
-  #define HUGE_VAL (1.0e999999999)
- #endif
-
- #ifndef HUGE_VALF
-  #define HUGE_VALF (1.0e999999999F)
- #endif
-
- #if !defined(HUGE_VALL)  &&  defined(_HAVE_LONG_DOUBLE)
-  #define HUGE_VALL (1.0e999999999L)
- #endif
-
- #if !defined(INFINITY)
-  #define INFINITY (HUGE_VALF)
- #endif
-
- #if !defined(NAN)
-  #if defined(__GNUC__)  &&  defined(__cplusplus)
-    /* Exception:  older g++ versions warn about the divide by 0 used in the
- *      * normal case (even though older gccs do not).  This trick suppresses the
- *           * warning, but causes errors for plain gcc, so is only used in the one
- *                * special case.  */
-    static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000};
-    #define NAN (__Nanf.__d)
-  #else
-    #define NAN (0.0F/0.0F)
-  #endif
- #endif
-
-#endif /* !gcc >= 3.3  */
-
-/* Reentrant ANSI C functions.  */
-
-#ifndef __math_68881
-extern double atan (double);
-extern double cos (double);
-extern double sin (double);
-extern double tan (double);
-extern double tanh (double);
-extern double frexp (double, int *);
-extern double modf (double, double *);
-extern double ceil (double);
-extern double fabs (double);
-extern double floor (double);
-#endif /* ! defined (__math_68881) */
-
-/* Non reentrant ANSI C functions.  */
-
-#ifndef _REENT_ONLY
-#ifndef __math_68881
-extern double acos (double);
-extern double asin (double);
-extern double atan2 (double, double);
-extern double cosh (double);
-extern double sinh (double);
-extern double exp (double);
-extern double ldexp (double, int);
-extern double log (double);
-extern double log10 (double);
-extern double pow (double, double);
-extern double sqrt (double);
-extern double fmod (double, double);
-#endif /* ! defined (__math_68881) */
-#endif /* ! defined (_REENT_ONLY) */
-
-#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L
-
-/* ISO C99 types and macros. */
-
-#ifndef FLT_EVAL_METHOD
-#define FLT_EVAL_METHOD 0
-typedef float float_t;
-typedef double double_t;
-#endif /* FLT_EVAL_METHOD */
-
-#define FP_NAN         0
-#define FP_INFINITE    1
-#define FP_ZERO        2
-#define FP_SUBNORMAL   3
-#define FP_NORMAL      4
-
-#ifndef FP_ILOGB0
-# define FP_ILOGB0 (-INT_MAX)
-#endif
-#ifndef FP_ILOGBNAN
-# define FP_ILOGBNAN INT_MAX
-#endif
-
-#ifndef MATH_ERRNO
-# define MATH_ERRNO 1
-#endif
-#ifndef MATH_ERREXCEPT
-# define MATH_ERREXCEPT 2
-#endif
-#ifndef math_errhandling
-# define math_errhandling MATH_ERRNO
-#endif
-
-extern int __isinff (float x);
-extern int __isinfd (double x);
-extern int __isnanf (float x);
-extern int __isnand (double x);
-extern int __fpclassifyf (float x);
-extern int __fpclassifyd (double x);
-extern int __signbitf (float x);
-extern int __signbitd (double x);
-
-#define fpclassify(__x) \
-	((sizeof(__x) == sizeof(float))  ? __fpclassifyf(__x) : \
-	__fpclassifyd(__x))
-
-#ifndef isfinite
-  #define isfinite(__y) \
-          (__extension__ ({int __cy = fpclassify(__y); \
-                           __cy != FP_INFINITE && __cy != FP_NAN;}))
-#endif
-
-/* Note: isinf and isnan were once functions in newlib that took double
- *  *       arguments.  C99 specifies that these names are reserved for macros
- *   *       supporting multiple floating point types.  Thus, they are
- *    *       now defined as macros.  Implementations of the old functions
- *     *       taking double arguments still exist for compatibility purposes
- *      *       (prototypes for them are in <ieeefp.h>).  */
-#ifndef isinf
-  #define isinf(y) (fpclassify(y) == FP_INFINITE)
-#endif
-
-#ifndef isnan
-  #define isnan(y) (fpclassify(y) == FP_NAN)
-#endif
-
-#define isnormal(y) (fpclassify(y) == FP_NORMAL)
-#define signbit(__x) \
-	((sizeof(__x) == sizeof(float))  ?  __signbitf(__x) : \
-		__signbitd(__x))
-
-#define isgreater(x,y) \
-          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-                           !isunordered(__x,__y) && (__x > __y);}))
-#define isgreaterequal(x,y) \
-          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-                           !isunordered(__x,__y) && (__x >= __y);}))
-#define isless(x,y) \
-          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-                           !isunordered(__x,__y) && (__x < __y);}))
-#define islessequal(x,y) \
-          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-                           !isunordered(__x,__y) && (__x <= __y);}))
-#define islessgreater(x,y) \
-          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-                           !isunordered(__x,__y) && (__x < __y || __x > __y);}))
-
-#define isunordered(a,b) \
-          (__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \
-                           fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;}))
-
-/* Non ANSI double precision functions.  */
-
-extern double infinity (void);
-extern double nan (const char *);
-extern int finite (double);
-extern double copysign (double, double);
-extern double logb (double);
-extern int ilogb (double);
-
-extern double asinh (double);
-extern double cbrt (double);
-extern double nextafter (double, double);
-extern double rint (double);
-extern double scalbn (double, int);
-
-extern double exp2 (double);
-extern double scalbln (double, long int);
-extern double tgamma (double);
-extern double nearbyint (double);
-extern long int lrint (double);
-extern long long int llrint (double);
-extern double round (double);
-extern long int lround (double);
-extern long long int llround (double);
-extern double trunc (double);
-extern double remquo (double, double, int *);
-extern double fdim (double, double);
-extern double fmax (double, double);
-extern double fmin (double, double);
-extern double fma (double, double, double);
-
-#ifndef __math_68881
-extern double log1p (double);
-extern double expm1 (double);
-#endif /* ! defined (__math_68881) */
-
-#ifndef _REENT_ONLY
-extern double acosh (double);
-extern double atanh (double);
-extern double remainder (double, double);
-extern double gamma (double);
-extern double lgamma (double);
-extern double erf (double);
-extern double erfc (double);
-extern double log2 (double);
-
-#ifndef __math_68881
-extern double hypot (double, double);
-#endif
-
-#endif /* ! defined (_REENT_ONLY) */
-
-/* Single precision versions of ANSI functions.  */
-
-extern float atanf (float);
-extern float cosf (float);
-extern float sinf (float);
-extern float tanf (float);
-extern float tanhf (float);
-extern float frexpf (float, int *);
-extern float modff (float, float *);
-extern float ceilf (float);
-extern float fabsf (float);
-extern float floorf (float);
-
-#ifndef _REENT_ONLY
-extern float acosf (float);
-extern float asinf (float);
-extern float atan2f (float, float);
-extern float coshf (float);
-extern float sinhf (float);
-extern float expf (float);
-extern float ldexpf (float, int);
-extern float logf (float);
-extern float log10f (float);
-extern float powf (float, float);
-extern float sqrtf (float);
-extern float fmodf (float, float);
-#endif /* ! defined (_REENT_ONLY) */
-
-/* Other single precision functions.  */
-
-extern float exp2f (float);
-extern float scalblnf (float, long int);
-extern float tgammaf (float);
-extern float nearbyintf (float);
-extern long int lrintf (float);
-extern long long llrintf (float);
-extern float roundf (float);
-extern long int lroundf (float);
-extern long long int llroundf (float);
-extern float truncf (float);
-extern float remquof (float, float, int *);
-extern float fdimf (float, float);
-extern float fmaxf (float, float);
-extern float fminf (float, float);
-extern float fmaf (float, float, float);
-
-extern float infinityf (void);
-extern float nanf (const char *);
-extern int finitef (float);
-extern float copysignf (float, float);
-extern float logbf (float);
-extern int ilogbf (float);
-
-extern float asinhf (float);
-extern float cbrtf (float);
-extern float nextafterf (float, float);
-extern float rintf (float);
-extern float scalbnf (float, int);
-extern float log1pf (float);
-extern float expm1f (float);
-
-#ifndef _REENT_ONLY
-extern float acoshf (float);
-extern float atanhf (float);
-extern float remainderf (float, float);
-extern float gammaf (float);
-extern float lgammaf (float);
-extern float erff (float);
-extern float erfcf (float);
-extern float log2f (float);
-extern float hypotf (float, float);
-#endif /* ! defined (_REENT_ONLY) */
-
-/* On platforms where long double equals double.  */
-#ifdef _LDBL_EQ_DBL
-/* Reentrant ANSI C functions.  */
-#ifndef __math_68881
-extern long double atanl (long double);
-extern long double cosl (long double);
-extern long double sinl (long double);
-extern long double tanl (long double);
-extern long double tanhl (long double);
-extern long double frexpl (long double value, int *);
-extern long double modfl (long double, long double *);
-extern long double ceill (long double);
-extern long double fabsl (long double);
-extern long double floorl (long double);
-extern long double log1pl (long double);
-extern long double expm1l (long double);
-#endif /* ! defined (__math_68881) */
-/* Non reentrant ANSI C functions.  */
-#ifndef _REENT_ONLY
-#ifndef __math_68881
-extern long double acosl (long double);
-extern long double asinl (long double);
-extern long double atan2l (long double, long double);
-extern long double coshl (long double);
-extern long double sinhl (long double);
-extern long double expl (long double);
-extern long double ldexpl (long double, int);
-extern long double logl (long double);
-extern long double log2l (long double);
-extern long double log10l (long double);
-extern long double powl (long double, long double);
-extern long double sqrtl (long double);
-extern long double fmodl (long double, long double);
-extern long double hypotl (long double, long double);
-#endif /* ! defined (__math_68881) */
-#endif /* ! defined (_REENT_ONLY) */
-extern long double copysignl (long double, long double);
-extern long double nanl (const char *);
-extern int ilogbl (long double);
-extern long double asinhl (long double);
-extern long double cbrtl (long double);
-extern long double nextafterl (long double, long double);
-extern long double rintl (long double);
-extern long double scalbnl (long double, int);
-extern long double exp2l (long double);
-extern long double scalblnl (long double, long);
-extern long double tgammal (long double);
-extern long double nearbyintl (long double);
-extern long int lrintl (long double);
-extern long long int llrintl (long double);
-extern long double roundl (long double);
-extern long lroundl (long double);
-extern long long int llroundl (long double);
-extern long double truncl (long double);
-extern long double remquol (long double, long double, int *);
-extern long double fdiml (long double, long double);
-extern long double fmaxl (long double, long double);
-extern long double fminl (long double, long double);
-extern long double fmal (long double, long double, long double);
-#ifndef _REENT_ONLY
-extern long double acoshl (long double);
-extern long double atanhl (long double);
-extern long double remainderl (long double, long double);
-extern long double lgammal (long double);
-extern long double erfl (long double);
-extern long double erfcl (long double);
-#endif /* ! defined (_REENT_ONLY) */
-#else /* !_LDBL_EQ_DBL */
-#ifdef __i386__
-/* Other long double precision functions.  */
-extern _LONG_DOUBLE rintl (_LONG_DOUBLE);
-extern long int lrintl (_LONG_DOUBLE);
-extern long long llrintl (_LONG_DOUBLE);
-#endif /* __i386__ */
-#endif /* !_LDBL_EQ_DBL */
-
-#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */
-
-#if !defined (__STRICT_ANSI__) || defined(__cplusplus)
-
-extern double drem (double, double);
-extern void sincos (double, double *, double *);
-extern double gamma_r (double, int *);
-extern double lgamma_r (double, int *);
-
-extern double y0 (double);
-extern double y1 (double);
-extern double yn (int, double);
-extern double j0 (double);
-extern double j1 (double);
-extern double jn (int, double);
-
-extern float dremf (float, float);
-extern void sincosf (float, float *, float *);
-extern float gammaf_r (float, int *);
-extern float lgammaf_r (float, int *);
-
-extern float y0f (float);
-extern float y1f (float);
-extern float ynf (int, float);
-extern float j0f (float);
-extern float j1f (float);
-extern float jnf (int, float);
-
-/* GNU extensions */
-# ifndef exp10
-extern double exp10 (double);
-# endif
-# ifndef pow10
-extern double pow10 (double);
-# endif
-# ifndef exp10f
-extern float exp10f (float);
-# endif
-# ifndef pow10f
-extern float pow10f (float);
-# endif
-
-#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */
-
-#ifndef __STRICT_ANSI__
-
-/* The gamma functions use a global variable, signgam.  */
-#ifndef _REENT_ONLY
-#define signgam (*__signgam())
-extern int *__signgam (void);
-#endif /* ! defined (_REENT_ONLY) */
-
-#define __signgam_r(ptr) _REENT_SIGNGAM(ptr)
-
-/* The exception structure passed to the matherr routine.  */
-/* We have a problem when using C++ since `exception' is a reserved
- *    name in C++.  */
-#ifdef __cplusplus
-struct __exception
-#else
-struct exception
-#endif
-{
-  int type;
-  char *name;
-  double arg1;
-  double arg2;
-  double retval;
-  int err;
-};
-
-#ifdef __cplusplus
-extern int matherr (struct __exception *e);
-#else
-extern int matherr (struct exception *e);
-#endif
-
-/* Values for the type field of struct exception.  */
-
-#define DOMAIN 1
-#define SING 2
-#define OVERFLOW 3
-#define UNDERFLOW 4
-#define TLOSS 5
-#define PLOSS 6
-
-/* Useful constants.  */
-
-#define MAXFLOAT	3.40282347e+38F
-
-#define M_E		2.7182818284590452354
-#define M_LOG2E		1.4426950408889634074
-#define M_LOG10E	0.43429448190325182765
-#define M_LN2		_M_LN2
-#define M_LN10		2.30258509299404568402
-#define M_PI		3.14159265358979323846
-#define M_PI_2		1.57079632679489661923
-#define M_PI_4		0.78539816339744830962
-#define M_1_PI		0.31830988618379067154
-#define M_2_PI		0.63661977236758134308
-#define M_2_SQRTPI	1.12837916709551257390
-#define M_SQRT2		1.41421356237309504880
-#define M_SQRT1_2	0.70710678118654752440
-#define M_TWOPI         (M_PI * 2.0)
-#define M_3PI_4		2.3561944901923448370E0
-#define M_SQRTPI        1.77245385090551602792981
-#define M_LN2LO         1.9082149292705877000E-10
-#define M_LN2HI         6.9314718036912381649E-1
-#define M_SQRT3	1.73205080756887719000
-#define M_IVLN10        0.43429448190325182765 /* 1 / log(10) */
-#define M_LOG2_E        _M_LN2
-#define M_INVLN2        1.4426950408889633870E0  /* 1 / log(2) */
-
-/* Global control over fdlibm error handling.  */
-
-enum __fdlibm_version
-{
-  __fdlibm_ieee = -1,
-  __fdlibm_svid,
-  __fdlibm_xopen,
-  __fdlibm_posix
-};
-
-#define _LIB_VERSION_TYPE enum __fdlibm_version
-#define _LIB_VERSION __fdlib_version
-
-extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION;
-
-#define _IEEE_  __fdlibm_ieee
-#define _SVID_  __fdlibm_svid
-#define _XOPEN_ __fdlibm_xopen
-#define _POSIX_ __fdlibm_posix
-
-#endif /* ! defined (__STRICT_ANSI__) */
-
-_END_STD_C
-
-#ifdef __FAST_MATH__
-#include <machine/fastmath.h>
-#endif
-
-#endif /* _MATH_H_ */

platforms/nuttx/cmake/init.cmake

@@ -110,12 +110,17 @@ execute_process(
 )
 
 # NuttX extra files
-execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h) # copy arm math.h into NuttX source
 execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
 
 # copy defconfig
 execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
 
+# create empty drivers/Kconfig
+execute_process(
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
+	)
+
 # copy PX4 board config into nuttx
 file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
 if (NOT config_expanded)

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -71,6 +71,9 @@ function(px4_os_add_flags)
 	add_definitions(
 		-D__PX4_NUTTX
 		-D__DF_NUTTX
+
+		-D_SYS_CDEFS_H_ # skip toolchain's <sys/cdefs.h>
+		-D_SYS_REENT_H_	# skip toolchain's <sys/reent.h>
 		)
 
 	if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")

src/drivers/pca9685/pca9685.cpp

@@ -322,7 +322,6 @@ PCA9685::Run()
 					     (double)_actuator_controls.control[i]);
 
 				if (new_value != _current_values[i] &&
-				    isfinite(new_value) &&
 				    new_value >= PCA9685_PWMMIN &&
 				    new_value <= PCA9685_PWMMAX) {
 					/* This value was updated, send the command to adjust the PWM value */