Update cmake version info & readme.

x007dwd · Feb 16, 2017 · 592a403 · 592a403
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diff --git a/MavLinkCom/Design/Design.dgml b/MavLinkCom/Design/Design.dgml
diff --git a/MavLinkCom/Design/images/example1.png b/MavLinkCom/Design/images/example1.png
diff --git a/MavLinkCom/Design/images/example2.png b/MavLinkCom/Design/images/example2.png
diff --git a/MavLinkCom/Design/images/example3.png b/MavLinkCom/Design/images/example3.png
diff --git a/MavLinkCom/Design/images/example4.png b/MavLinkCom/Design/images/example4.png
diff --git a/MavLinkCom/Design/images/overview.png b/MavLinkCom/Design/images/overview.png
diff --git a/MavLinkCom/README.md b/MavLinkCom/README.md
@@ -2,11 +2,14 @@
 
 MavLinkCom is a cross-platform C++ library that helps connect to and communicate with [MavLink](https://github.com/mavlink/mavlink) based vehicles.
 Specifically this library is designed to work well with [PX4](https://github.com/PX4/Firmware) based drones.
-To build the library you need Boost.  See [Installing Boost](Readme.md) below details on installing Boost.
+To build the library you need Boost.  See [Installing Boost](README.md) below details on installing Boost.
 
 ## Design
 
-You can view the [Design.dgml](Design.dgml) diagram in Visual Studio.  The following are the most important classes in this library.
+You can view and edit the [Design.dgml](Design/Design.dgml) diagram in Visual Studio.  
+![Overview](design/images/overview.png)
+
+The following are the most important classes in this library.
 
 ### MavLinkNode
 
@@ -47,7 +50,7 @@ same connection.  MavLinkVehicle uses this to track various messages that define
 
 MavLinkVehicle is a MavLinkNode that tracks various messages that define the overall vehicle state and provides a VehicleState struct
 containing a snapshot of that state, including home position, current orientation, local position, global position, and so on.
-This class also provides a bunch of helper methods that wrap commonly used commands providing simle method calls to do things like
+This class also provides a bunch of helper methods that wrap commonly used commands providing simple method calls to do things like
 arm, disarm, takeoff, land, go to a local coordinate, and fly under offbaord control either by position or velocity control.
 
 ### MavLinkTcpServer
@@ -196,7 +199,26 @@ are connecting your PC or laptop to the drone over USB.
 
 MavLinkVehicle actually has a helper method for this called allowFlightControlOverUsb, so now you know how it is implemented :-) 
 
+## Advanced Connections
+
+You can wire up different configurations of mavlink pipelines using the MavLinkConnection class "join" method as shown below.
+
+Example 1, we connect to PX4 over serial, and proxy those messages through to QGroundControl and the LogViewer who are listening on remote ports.  
+
+![Serial to QGC](design/images/example1.png)
+
+Example 2: simulation can talk to jMavSim and jMavSim connects to PX4.  jMavSim can also manage multiple connections, so it can talk to unreal simulator. 
+Another MavLinkConnection can be joined to proxy connections that jMavSim doesn't support, like the LogViewer or a remote camera node.
+
+![Serial to QGC](design/images/example2.png)
+
+Example 3: we use MavLinkConnection to connect to PX4 over serial, then join additional connections for all our remote nodes including jMavSim.
+
+![Serial to QGC](design/images/example3.png)
+
+Example 4: We can also do distributed systems to control the drone remotely:
 
+![Serial to QGC](design/images/example4.png)
 
 ### Installing Boost
 

diff --git a/cmake/AirLib/CMakeLists.txt b/cmake/AirLib/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(AirLib)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 

diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(AirSim)
 
 add_subdirectory("AirLib")

diff --git a/cmake/DroneServer/CMakeLists.txt b/cmake/DroneServer/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(DroneServer)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 

diff --git a/cmake/DroneShell/CMakeLists.txt b/cmake/DroneShell/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(DroneShell)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 

diff --git a/cmake/HelloDrone/CMakeLists.txt b/cmake/HelloDrone/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(HelloDrone)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 

diff --git a/cmake/MavLinkCom/CMakeLists.txt b/cmake/MavLinkCom/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(MavLinkCom)
 
 add_subdirectory("MavLinkTest")

diff --git a/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt b/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3.2)
 project(MavLinkTest)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake-modules") 

diff --git a/cmake/readme.md b/cmake/readme.md
@@ -1,4 +1,8 @@
-#Windows
+# CMAKE
+
+You need at least cmake version  3.4. 
+
+## Windows
 
 On Windows run this command to build debug bits:
 
@@ -10,9 +14,33 @@ To build release bits delete CMakeCache.txt and run this:
     cmake -G "Visual Studio 14 2015 Win64" -D CMAKE_BUILD_TYPE=Release CMakeLists.txt
     msbuild /p:Platform=x64 /p:Configuration=Release AirSim.sln
 
-#Linux    
-On Linux you first need a version of GCC that supports `-std=c++14`.  Version 4.9 or newer should work.  Then run this:
+## Linux    
+
+If you don't cmake version 3.*  you can run the following:
+````
+sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
+sudo apt-get update
+````
+
+On Linux you first need a version of GCC that supports `-std=c++14`.  Version 4.9 or newer should work.  
+If you don't have version 4.9 you can get it by running these commands:
+````
+sudo apt-get install build-essential
+sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+sudo apt-get update
+sudo apt-get install gcc-4.9 g++-4.9 cpp-4.9
+````
+
+Then run this:
+````
+cmake -D CMAKE_BUILD_TYPE=Debug CMakeLists.txt
+make
+````
+
+Now if gcc version 4.9 is not your default version of gcc, you can tell cmake to switch to that version by
+adding the following additional cmake command line arguments:
 
-    cmake -D CMAKE_C_COMPILER=gcc-4.9 -D CMAKE_CXX_COMPILER=g++-4.9 -D CMAKE_BUILD_TYPE=Debug CMakeLists.txt
-    make
+````
+-D CMAKE_C_COMPILER=gcc-4.9 -D CMAKE_CXX_COMPILER=g++-4.9 
+````
 
diff --git a/docs/install_eigen.md b/docs/install_eigen.md
@@ -2,4 +2,5 @@
 Installing Eigen library is easy!
 
 1. Get the latest stable 3.x release such as [3.3.2](http://bitbucket.org/eigen/eigen/get/3.3.2.zip).
-2. Unzip somewhere on your drive and create environment variable named `EIGEN_ROOT` with value equal to path of the folder. That folder should contain eigen3 folder inside it.
+2. Unzip somewhere on your drive and create environment variable named `EIGEN_ROOT` with value equal to path of the folder. 
+That folder should contain a single `eigen3` folder inside it.