From 673a7c789ca1b4dc8d2a1714020d18947de31097 Mon Sep 17 00:00:00 2001
From: YB-cydz <3347963340@qq.com>
Date: Sat, 29 Aug 2026 11:44:38 +0800
Subject: [PATCH] powerfin: statically link musl target

Signed-off-by: YB-cydz <3347963340@qq.com>
---
 platforms/posix/cmake/Toolchain-arm-linux-musleabihf.cmake | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/platforms/posix/cmake/Toolchain-arm-linux-musleabihf.cmake b/platforms/posix/cmake/Toolchain-arm-linux-musleabihf.cmake
index 2baf00d6a1d5..62e4fd880591 100644
--- a/platforms/posix/cmake/Toolchain-arm-linux-musleabihf.cmake
+++ b/platforms/posix/cmake/Toolchain-arm-linux-musleabihf.cmake
@@ -3,6 +3,12 @@
 set(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_VERSION 1)
 
+# PowerFin deploys PX4 as a self-contained binary on an OpenHarmony musl
+# userspace. GNU gold 2.37 cannot link this static PIE because it does not
+# support --no-dynamic-linker, so use ld.bfd and link the runtime statically.
+set(USE_LD_GOLD OFF CACHE BOOL "Use GNU gold linker" FORCE)
+set(CMAKE_EXE_LINKER_FLAGS "-static" CACHE STRING "Executable linker flags" FORCE)
+
 if(NOT CMAKE_SYSTEM_PROCESSOR)
 	set(CMAKE_SYSTEM_PROCESSOR arm)
 endif()