[302] | 1 | if(DEFINED FLAIRUSEFILE_INCLUDED)
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| 2 | return()
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| 3 | endif()
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| 4 |
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| 5 | SET(FLAIRUSEFILE_INCLUDED true)
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| 6 |
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| 7 | find_package(LibXml2 REQUIRED)
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| 8 | find_package(Xenomai QUIET)
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| 9 |
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| 10 | if(NOT XENOMAI_FOUND)
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| 11 | warn("Xenomai not found, you will not be able to link a real time program")
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| 12 | endif()
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| 13 |
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| 14 | execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion
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| 15 | OUTPUT_VARIABLE GCC_VERSION)
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| 16 |
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| 17 | if (GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3)
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| 18 | if (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7)
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| 19 | ADD_DEFINITIONS("-std=c++11")
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| 20 | else()
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| 21 | ADD_DEFINITIONS("-std=c++0x")
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| 22 | endif()
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| 23 | else()
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| 24 | message(STATUS "GCC version < 4.3, c+11 is not supported!")
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| 25 | endif()
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| 26 |
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| 27 | SET(FLAIR_INCLUDE_DIR
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| 28 | $ENV{FLAIR_ROOT}/flair-install/include/FlairCore
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| 29 | )
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| 30 | SET(FLAIR_LIBRARY_DIR
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| 31 | $ENV{FLAIR_ROOT}/flair-install/lib/${ARCH_DIR}
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| 32 | )
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| 33 |
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| 34 | SET(FLAIR_LIBRARIES
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| 35 | ${LIBXML2_LIBRARIES}
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[338] | 36 | udt pthread FileLib rt z
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[302] | 37 | )
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| 38 |
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| 39 | #auto select dependencies
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| 40 | IF (FLAIR_USE_SIMULATOR)
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| 41 | SET(FLAIR_USE_VRPN TRUE)
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| 42 | ENDIF (FLAIR_USE_SIMULATOR)
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| 43 |
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| 44 | #VRPN for motion capture
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| 45 | IF (FLAIR_USE_VRPN)
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| 46 | SET(FLAIR_LIBRARIES vrpn ${FLAIR_LIBRARIES})
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| 47 | ENDIF (FLAIR_USE_VRPN)
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| 48 |
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| 49 | #nmea for GPS
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| 50 | IF (FLAIR_USE_GPS)
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| 51 | SET(FLAIR_LIBRARIES nmea ${FLAIR_LIBRARIES})
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| 52 | ENDIF (FLAIR_USE_GPS)
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| 53 |
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| 54 | #core, will be replace by rt or nrt version at the end
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| 55 | SET(FLAIR_LIBRARIES FlairCore ${FLAIR_LIBRARIES})
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| 56 |
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| 57 | #vision filter lib
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| 58 | IF (FLAIR_USE_VISION_FILTER)
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| 59 | if(FOUND_HDS_DIR AND ("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon" OR "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64"))
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| 60 | message(${PROJECT_NAME} ": using libdspcv_gpp.a for vision filter")
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[342] | 61 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/HdsVisionFilter)
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| 62 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libHdsVisionFilter.a ${FLAIR_LIBRARY_DIR}/libdspcv_gpp.a ${FLAIR_LIBRARIES})
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[302] | 63 | else()
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| 64 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairVisionFilter)
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| 65 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairVisionFilter.a ${FLAIR_LIBRARIES})
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| 66 | endif()
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| 67 | ENDIF (FLAIR_USE_VISION_FILTER)
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| 68 |
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| 69 | #sensor and actuator lib
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| 70 | IF (FLAIR_USE_SENSOR_ACTUATOR)
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| 71 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairSensorActuator)
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| 72 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSensorActuator.a nmea ${FLAIR_LIBRARIES})
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[342] | 73 | if(FOUND_HDS_DIR)
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| 74 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/HdsSensorActuator)
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| 75 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libHdsSensorActuator.a ${FLAIR_LIBRARIES})
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| 76 | endif()
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[378] | 77 | if("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")
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| 78 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARIES} sumo)
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| 79 | endif()
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[302] | 80 | ENDIF (FLAIR_USE_SENSOR_ACTUATOR)
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| 81 |
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| 82 | #filter lib
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| 83 | IF (FLAIR_USE_FILTER)
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| 84 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairFilter)
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| 85 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairFilter.a iir ${FLAIR_LIBRARIES})
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| 86 | ENDIF (FLAIR_USE_FILTER)
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| 87 |
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| 88 |
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| 89 | #meta lib
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| 90 | IF (FLAIR_USE_META)
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| 91 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairMeta)
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| 92 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairMeta.a ${FLAIR_LIBRARIES})
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| 93 | ENDIF (FLAIR_USE_META)
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| 94 |
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[397] | 95 | #ipc lib
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| 96 | IF (FLAIR_USE_IPC)
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| 97 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairIpc)
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| 98 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairIpc.a ${FLAIR_LIBRARIES})
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| 99 | ENDIF (FLAIR_USE_IPC)
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| 100 |
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[302] | 101 | #simulator lib
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| 102 | IF (FLAIR_USE_SIMULATOR)
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| 103 | if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm")
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| 104 | SET(FLAIR_USE_SIMULATOR_GL FALSE)
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| 105 | endif()
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| 106 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR}
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| 107 | $ENV{FLAIR_ROOT}/flair-install/include/FlairSimulator
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| 108 | ${CMAKE_SYSROOT}/usr/include/irrlicht
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| 109 | )
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| 110 |
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| 111 | IF (FLAIR_USE_SIMULATOR_GL)
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| 112 | ADD_DEFINITIONS("-DGL")
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[365] | 113 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_gl.a GL ${FLAIR_LIBRARIES} Irrlicht)
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[302] | 114 | else()
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| 115 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_nogl.a ${FLAIR_LIBRARIES})
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| 116 | endif()
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| 117 | ENDIF (FLAIR_USE_SIMULATOR)
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| 118 |
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| 119 | #set RT or NRT specific libraries
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| 120 | set(FLAIR_LIBRARIES_RT ${FLAIR_LIBRARIES} ${XENOMAI_LIBRARIES})
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| 121 |
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| 122 | list(FIND FLAIR_LIBRARIES_RT "FlairCore" POS)
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| 123 | if(POS GREATER -1)
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| 124 | list(REMOVE_AT FLAIR_LIBRARIES_RT ${POS})
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| 125 | list(INSERT FLAIR_LIBRARIES_RT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_rt.a")
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| 126 | endif()
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| 127 |
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| 128 | set(FLAIR_LIBRARIES_NRT ${FLAIR_LIBRARIES})
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| 129 |
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| 130 | list(FIND FLAIR_LIBRARIES_NRT "FlairCore" POS)
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| 131 | if(POS GREATER -1)
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| 132 | list(REMOVE_AT FLAIR_LIBRARIES_NRT ${POS})
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| 133 | list(INSERT FLAIR_LIBRARIES_NRT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_nrt.a")
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| 134 | endif()
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| 135 |
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[342] | 136 | #add arch specific uav lib lib
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[416] | 137 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")
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| 138 | SET (AERO_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairIntelAero.a -Wl,--no-whole-archive)
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| 139 | set(FLAIR_LIBRARIES_NRT ${AERO_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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| 140 | set(FLAIR_LIBRARIES_RT ${AERO_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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| 141 | endif()
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| 142 |
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[302] | 143 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon")
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| 144 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairArdrone2.a ${FLAIR_LIBRARY_DIR}/libFlairBebop.a -Wl,--no-whole-archive)
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| 145 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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| 146 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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| 147 | endif()
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| 148 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv5te")
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| 149 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairMinidrones.a ${FLAIR_LIBRARY_DIR}/libFlairMamboEdu.a -Wl,--no-whole-archive)
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| 150 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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| 151 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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| 152 | endif()
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[342] | 153 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "cortexa8hf-neon")
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[416] | 154 | SET (BEAGLE_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairBeagleBlue.a -Wl,--no-whole-archive)
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| 155 | set(FLAIR_LIBRARIES_NRT ${BEAGLE_LIB} ${FLAIR_LIBRARIES_NRT})
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| 156 | set(FLAIR_LIBRARIES_RT ${BEAGLE_LIB} ${FLAIR_LIBRARIES_RT})
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[342] | 157 | endif()
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