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Gautier Hattenberger
2009-05-14 09:24:20 +00:00
parent 392d2747e4
commit 0eec347ec0
2 changed files with 60 additions and 43 deletions
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conf/airframes/jsbsim.xml
+1 -43
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@@ -216,48 +216,6 @@ 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
@@ -280,7 +238,7 @@ 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
sim.srcs += $(SIMDIR)/sim_ac_jsbsim.cpp $(SIMDIR)/sim_ac_fw.cpp
</makefile>
</airframe>
sw/simulator/sim_ac_fw.cpp
+59
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@@ -0,0 +1,59 @@
/*
* $Id$
*
* Copyright (C) 2008 Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#include "sim_ac_jsbsim.hpp"
#include "main_ap.h"
#include "main_fbw.h"
//static void sim_gps_feed_data(void);
//static void sim_ir_feed_data(void);
void autopilot_init(void) {
init_fbw();
init_ap();
}
void autopilot_periodic_task(void) {
periodic_task_ap();
periodic_task_fbw();
}
void autopilot_event_task(void) {
event_task_ap();
event_task_fbw();
}
void copy_inputs_to_jsbsim(JSBSim::FGFDMExec & FDMExec) {
}
void copy_outputs_from_jsbsim(JSBSim::FGFDMExec & FDMExec) {
}
//#include "gps.h"
//static void sim_gps_feed_data(void) {
//}