enable px4 flight for excelsior(legacy)

cmake/configs/qurt_sdflight_legacy.cmake

@@ -0,0 +1,108 @@
+include(qurt/px4_impl_qurt)
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+set(CONFIG_SHMEM "1")
+
+set(config_generate_parameters_scope ALL)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/land_detector
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/pwm_out_rc_in
+	drivers/qshell/qurt
+
+	#
+	# FC_ADDON drivers
+	#
+	platforms/qurt/fc_addon/rc_receiver
+	platforms/qurt/fc_addon/uart_esc
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/version
+	lib/DriverFramework/framework
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
+
+set(config_df_driver_list
+	mpu9250
+	bmp280
+	)