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+ + +CONFIG = \"tiny_2_1.h\" + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + +ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 +ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c + +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 +#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c + +#TRANSPARENT +ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 +# -DGPS_LED=2 +ap.srcs += gps_ubx.c gps.c latlong.c + +ap.CFLAGS += -DINFRARED -DALT_KALMAN +ap.srcs += infrared.c estimator.c + +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c + + +ap.CFLAGS += -DGYRO -DADXRS150 +ap.srcs += gyro.c nav_line.c +ap.srcs += nav_survey_rectangle.c + + + +# Config for SITL simulation with JSBSim +SIM_TYPE = JSBSIM +sim.ARCHDIR = $(ARCHI) +sim.ARCH = sitl +sim.TARGET = sim +sim.TARGETDIR = sim + +sim.CFLAGS += -I$(SIMDIR) -I/home/cocoleon/usr/include/JSBSim -I/usr/include +sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach +sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy -L/home/cocoleon/usr/lib/ -lJSBSim + +sim.CFLAGS += -DJSBSIM_ROOT_DIR=\"/home/cocoleon/dev/paparazzi3/conf/simulator/JSBSim/\" + +sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN + +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV + +sim.srcs = $(SRC_ARCH)/sim_jsbsim.c $(SRC_ARCH)/ivy_transport.c +sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c +sim.srcs += nav_line.c nav_survey_rectangle.c + +sim.srcs += $(SIMDIR)/sim_ac_jsbsim.cpp $(SIMDIR)/sim_ac_fw.c + + +