Merge remote-tracking branch 'paparazzi/master'

.gitignore

@@ -59,6 +59,8 @@
 /sw/ground_segment/cockpit/gtk_setting_time.ml
 /sw/ground_segment/cockpit/gcs
 /sw/ground_segment/cockpit/gtk_strip.ml
+/sw/ground_segment/cockpit/ant_track
+
 
 # /sw/ground_segment/lpc21iap/
 /sw/ground_segment/lpc21iap/lpc21iap
@@ -80,11 +82,16 @@
 /sw/ground_segment/tmtc/ivy2udp
 /sw/ground_segment/tmtc/server
 /sw/ground_segment/tmtc/diadec
+/sw/ground_segment/tmtc/ivy_serial_bridge
+/sw/ground_segment/tmtc/GSM/SMS_GS
 
 # /sw/ground_segment/joystick
 /sw/ground_segment/joystick/input2ivy
 /sw/ground_segment/joystick/test_stick
 
+/sw/in_progress/fdm/fdm_step
+/sw/in_progress/fdm/fms_steps_attitude
+
 # /sw/lib/ocaml/
 /sw/lib/ocaml/gtk_papget_editor.ml
 /sw/lib/ocaml/gtk_papget_text_editor.ml
@@ -102,6 +109,13 @@
 /sw/logalizer/gtk_export.ml
 /sw/logalizer/sd2log
 /sw/logalizer/plotprofile
+/sw/logalizer/ahrsview
+/sw/logalizer/ctrlstick
+/sw/logalizer/ffjoystick
+/sw/logalizer/imuview
+/sw/logalizer/ivy_example
+/sw/logalizer/motor_bench
+/sw/logalizer/tmclient
 
 # /sw/simulator/
 /sw/simulator/gaia

Makefile

@@ -61,14 +61,24 @@ UBX_XML = $(CONF)/ubx.xml
 MTK_XML = $(CONF)/mtk.xml
 XSENS_XML = $(CONF)/xsens_MTi-G.xml
 TOOLS=$(PAPARAZZI_SRC)/sw/tools
+OCAML=$(shell which ocaml)
+OCAMLRUN=$(shell which ocamlrun)
+
+# try to find the paparazzi multilib toolchain
+TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
+ifneq ($(TOOLCHAIN),)
+TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
+#found the compiler from the paparazzi multilib package
+ARMGCC=$(TOOLCHAIN_DIR)/bin/arm-none-eabi-gcc
+else
+#try picking up the arm-none-eabi compiler from the path, otherwise use arm-elf
 HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
 ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
 ARMGCC=$(shell which arm-elf-gcc)
 else
 ARMGCC=$(HAVE_ARM_NONE_EABI_GCC)
 endif
-OCAML=$(shell which ocaml)
+endif
-OCAMLRUN=$(shell which ocamlrun)
 
 all: conf commands static
 

Makefile.ac

@@ -71,8 +71,9 @@ endif
 
 
 all_ac_h: $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC) $(PERIODIC_H)
-	@echo "TARGET: " $(TARGET) "\n" > $(ACINCLUDE)/$(TARGET)_srcs.list
+	@echo "TARGET: " $(TARGET)"\n" > $(ACINCLUDE)/$(TARGET)_srcs.list
-	@echo "CFLAGS: " $($(TARGET).CFLAGS) "\n"  >> $(ACINCLUDE)/$(TARGET)_srcs.list
+	@echo "CFLAGS: " $($(TARGET).CFLAGS)"\n"  >> $(ACINCLUDE)/$(TARGET)_srcs.list
+	@echo "LDFLAGS: " $($(TARGET).LDFLAGS)"\n"  >> $(ACINCLUDE)/$(TARGET)_srcs.list
 	@echo "srcs: " $($(TARGET).srcs) >> $(ACINCLUDE)/$(TARGET)_srcs.list
 
 radio_ac_h : $(RADIO_H)

conf/Makefile.jsbsim

@@ -1,5 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
-# 
+#
 #   $Id: Makefile.sim 3505 2009-06-17 12:59:32Z hecto $
 #   Copyright (C) 2006 Pascal Brisset, Antoine Drouin
 #
@@ -18,8 +18,8 @@
 # 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.  
+# Boston, MA 02111-1307, USA.
-# 
+#
 
 #
 # This is the Makefile for the JSBSim target.
@@ -93,8 +93,8 @@ $(OBJDIR)/.depend:
 	@echo DEPEND $@
 	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
 
-ifneq ($(MAKECMDGOALS),clean) 
+ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(MAKECMDGOALS),erase) 
+ifneq ($(MAKECMDGOALS),erase)
 -include $(OBJDIR)/.depend
 endif
 endif

conf/Makefile.lpc21

@@ -31,25 +31,52 @@
 # only define here or elsewhere?
 SRC_ARCH = arch/lpc21
 
-# Define programs and commands.
+
+# Programs location
+# try to find the paparazzi multilib toolchain
+TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
+
+#
+# found the new paparazzi toolchain, use it
+#
+ifneq ($(TOOLCHAIN),)
+TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
+GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
+GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
+GCC_BIN_PREFIX=$(GCC_BIN_DIR)/arm-none-eabi
+CC      = $(GCC_BIN_PREFIX)-gcc
+LD      = $(GCC_BIN_PREFIX)-gcc
+OBJCOPY = $(GCC_BIN_PREFIX)-objcopy
+OBJDUMP = $(GCC_BIN_PREFIX)-objdump
+NM      = $(GCC_BIN_PREFIX)-nm
+SIZE    = $(GCC_BIN_PREFIX)-size
+OOCD    = $(TOOLCHAIN_DIR)/bin/openocd
+
+#
+# If we can't find the toolchain (in /opt/paparazzi/arm-multilib or ~/sat) then try picking up the compilers from the path
+#
+else
+
+# see if we can find the new arm-none-eabi, otherwise use the older arm-elf
 HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
 ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
-CC		= arm-elf-gcc
+GCC_PREFIX = arm-elf
-LD		= $(CC)
-SHELL = sh
-OBJCOPY = arm-elf-objcopy
-OBJDUMP = arm-elf-objdump
-SIZE = arm-elf-size
-NM = arm-elf-nm
 else
-CC		= arm-none-eabi-gcc
+GCC_PREFIX = arm-none-eabi
-LD		= $(CC)
+GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
-SHELL = sh
-OBJCOPY = arm-none-eabi-objcopy
-OBJDUMP = arm-none-eabi-objdump
-SIZE = arm-none-eabi-size
-NM = arm-none-eabi-nm
 endif
+
+CC      = $(shell which $(GCC_PREFIX)-gcc)
+LD      = $(shell which $(GCC_PREFIX)-gcc)
+OBJCOPY = $(shell which $(GCC_PREFIX)-objcopy)
+OBJDUMP = $(shell which $(GCC_PREFIX)-objdump)
+NM      = $(shell which $(GCC_PREFIX)-nm)
+SIZE    = $(shell which $(GCC_PREFIX)-size)
+OOCD    = $(shell which openocd)
+endif
+
+# Define some other programs and commands.
+SHELL = sh
 REMOVE = rm -f
 COPY = cp
 
@@ -87,7 +114,7 @@ CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
 CFLAGS = $(CINCS)
 CFLAGS += -O$(OPT)
 # CFLAGS += -malignment-traps
-CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align -Winline
+CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
 CFLAGS += -Wpointer-arith -Wswitch
 CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
 CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))

conf/Makefile.omap

@@ -18,8 +18,8 @@
 # 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.  
+# Boston, MA 02111-1307, USA.
-# 
+#
 
 # Define programs and commands.
 
@@ -56,17 +56,17 @@ CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
 
 # flags only for C
 CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
-CFLAGS += -Wmissing-prototypes -Wnested-externs 
+CFLAGS += -Wmissing-prototypes -Wnested-externs
 CFLAGS += $(CSTANDARD)
-CFLAGS += $($(TARGET).CFLAGS)		
+CFLAGS += $($(TARGET).CFLAGS)
 
 
 CXX = /opt/paparazzi/omap/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin/arm-angstrom-linux-gnueabi-g++
 CXXFLAGS = -pipe -O3 -fshow-column -ffast-math -fPIC
-CXXFLAGS += -g -ffunction-sections -fdata-sections 
+CXXFLAGS += -g -ffunction-sections -fdata-sections
 CXXFLAGS += -mfloat-abi=softfp -mtune=cortex-a8 -mfpu=vfp -march=armv7-a
 CXXFLAGS += -Wall -Wextra
-CXXFLAGS += $($(TARGET).CXXFLAGS)	
+CXXFLAGS += $($(TARGET).CXXFLAGS)
 
 
 SRC_C_OMAP  = $($(TARGET).srcs)
@@ -81,7 +81,7 @@ build: elf
 
 elf: $(OBJDIR)/$(TARGET).elf
 
-# Program the device.  
+# Program the device.
 load upload program: $(OBJDIR)/$(TARGET).elf
 	scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
 
@@ -91,20 +91,20 @@ load upload program: $(OBJDIR)/$(TARGET).elf
 %.elf:   $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
 	@echo LD $@
 	$(Q)if (expr "$($(TARGET).cpp_srcs)"); \
-          then $(CXX) $(CXXFLAGS) $(OBJ_CPP_OMAP) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); \
+		  then $(CXX) $(CXXFLAGS) $(OBJ_CPP_OMAP) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); \
-          else $(CC) $(CFLAGS) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); fi
+		  else $(CC) $(CFLAGS) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); fi
 
 # Compile: create object files from C source files
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@ 
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@
 
 # Compile: create object files from C++ source files
 $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
 	@echo CXX $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@ 
+	$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@
 
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
@@ -118,8 +118,8 @@ $(OBJDIR)/.depend:
 	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
 
-ifneq ($(MAKECMDGOALS),clean) 
+ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(MAKECMDGOALS),erase) 
+ifneq ($(MAKECMDGOALS),erase)
 -include $(OBJDIR)/.depend
 endif
 endif

conf/Makefile.pentium-m

@@ -18,8 +18,8 @@
 # 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.  
+# Boston, MA 02111-1307, USA.
-# 
+#
 
 # Define programs and commands.
 CC		= gcc
@@ -54,9 +54,9 @@ CFLAGS += -m32
 
 # flags only for C
 CFLAGS += -Wstrict-prototypes -Wmissing-declarations
-CFLAGS += -Wmissing-prototypes -Wnested-externs 
+CFLAGS += -Wmissing-prototypes -Wnested-externs
 CFLAGS += $(CSTANDARD)
-CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)		
+CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
 
 #Additional libraries.
 MATH_LIB = -lm
@@ -72,7 +72,7 @@ build: elf
 
 elf: $(OBJDIR)/$(TARGET).elf
 
-# Program the device.  
+# Program the device.
 load upload program: $(OBJDIR)/$(TARGET).elf
 ifdef USER
 	ssh $(USER)@$(HOST) "sudo mount -o remount,rw /"
@@ -93,7 +93,7 @@ endif
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@ 
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@
 
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
@@ -107,8 +107,8 @@ $(OBJDIR)/.depend:
 	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
 
-ifneq ($(MAKECMDGOALS),clean) 
+ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(MAKECMDGOALS),erase) 
+ifneq ($(MAKECMDGOALS),erase)
 -include $(OBJDIR)/.depend
 endif
 endif

conf/Makefile.stm32

@@ -38,7 +38,9 @@ OPT   = s
 #OPT   = 0
 
 # Programs location
-TOOLCHAIN_DIR=$(shell find -L ~/sat /opt/paparazzi/stm32 -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1 | xargs dirname )
+TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat /opt/paparazzi/stm32 -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
+ifneq ($(TOOLCHAIN),)
+TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
 GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
 GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
 
@@ -54,7 +56,7 @@ RM   = rm
 OOCD = $(TOOLCHAIN_DIR)/bin/openocd
 
 # If we can't find the toolchain then try picking up the compilers from the path
-ifeq ($(TOOLCHAIN_DIR),)
+else
 CC   = $(shell which arm-none-eabi-gcc)
 LD   = $(shell which arm-none-eabi-gcc)
 CP   = $(shell which arm-none-eabi-objcopy)
@@ -254,8 +256,8 @@ endif
 
 start_gdb:
 	xterm -e "$(OOCD) -f interface/$(OOCD_INTERFACE).cfg  -f target/$(OOCD_TARGET).cfg" &
-	xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/lisa-l.cfg -f board/lisa-l.cfg"&
+	xterm -e "$(OOCD) -f interface/lisa-l.cfg -f board/lisa-l.cfg"&
-	xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/flossjtag.cfg -f board/lisa-l.cfg"&
+	xterm -e "$(OOCD) -f interface/flossjtag.cfg -f board/lisa-l.cfg"&
 
 start_telnet:
 	xterm -e "telnet localhost 4444" &

conf/airframes/CDW/LisaFw.xml

@@ -171,6 +171,7 @@
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -193,7 +194,7 @@
 
     <!-- Sensors -->
     <subsystem name="radio_control" 	type="ppm"/>
-    <!--<subsystem name="attitude"  	type="infrared">
+    <!--<subsystem name="ahrs"  	type="infrared">
       <configure name="ADC_IR1"        value="ADC_1"/>
       <configure name="ADC_IR2"        value="ADC_2"/>
       <configure name="ADC_IR_TOP"     value="ADC_0"/>

conf/airframes/CDW/TinyFw.xml

@@ -166,6 +166,7 @@
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -186,7 +187,7 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"      type="roll"/>
-    <subsystem name="attitude"  type="infrared"/>
+    <subsystem name="ahrs"  type="infrared"/>
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="navigation"/>
 

conf/airframes/ENAC/fixed-wing/merlin.xml

@@ -19,7 +19,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <!--subsystem name="attitude"      type="infrared"/-->
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>

conf/airframes/ENAC/fixed-wing/minimag1.xml

@@ -22,7 +22,7 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="navigation" />
-<!--    <subsystem name="attitude" type="infrared"/>-->
+<!--    <subsystem name="ahrs" type="infrared"/>-->
     <subsystem name="control"/>
     <subsystem name="gps" type="ublox"/>
   </firmware>

conf/airframes/ENAC/fixed-wing/twinjet2.xml

@@ -20,6 +20,7 @@
     </load>
     <!--load name="enose.xml"/-->
     <load name="light.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -33,7 +34,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="control"       type="new"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>

conf/airframes/LAAS/mmlaas_N1.xml

@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared"/>
-      <configure name="ADC_IR1" value="ADC_1"/>
-      <configure name="ADC_IR2" value="ADC_0"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -43,6 +39,11 @@
    <!-- <load name="tcas.xml"/> -->
     <!--load name="potential.xml"/-->
   <load name="cartography.xml"/>
+  <load name="infrared_adc.xml">
+    <configure name="ADC_IR1" value="ADC_1"/>
+    <configure name="ADC_IR2" value="ADC_0"/>
+    <configure name="ADC_IR_TOP" value="ADC_2"/>
+  </load>
 </modules>
 
 

conf/airframes/LAAS/mmlaas_N2.xml

@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared"/>
-      <configure name="ADC_IR1" value="ADC_0"/>
-      <configure name="ADC_IR2" value="ADC_1"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -42,6 +38,11 @@
     <load name="formation_flight.xml"/>
     <load name="tcas.xml"/>
     <!--load name="potential.xml"/-->
+    <load name="infrared_adc.xml">
+      <configure name="ADC_IR1" value="ADC_0"/>
+      <configure name="ADC_IR2" value="ADC_1"/>
+      <configure name="ADC_IR_TOP" value="ADC_2"/>
+    </load>
   </modules>
 
 <!-- commands section -->

conf/airframes/LAAS/mmlaas_N3.xml

@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared"/>
-      <configure name="ADC_IR1" value="ADC_0"/>
-      <configure name="ADC_IR2" value="ADC_1"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -42,6 +38,11 @@
     <load name="formation_flight.xml"/>
     <load name="tcas.xml"/>
     <!--load name="potential.xml"/-->
+    <load name="infrared_adc.xml">
+      <configure name="ADC_IR1" value="ADC_0"/>
+      <configure name="ADC_IR2" value="ADC_1"/>
+      <configure name="ADC_IR_TOP" value="ADC_2"/>
+    </load>
   </modules>
 
 <!-- commands section -->

conf/airframes/Poine/fuckyou.xml

@@ -1,20 +0,0 @@
-<airframe name="FuckYou_1">
-
-
-  <makefile>
-    HOST=auto3
-
-
-    # test 1
-    test42.ARCHDIR = omap
-    test42.CFLAGS  += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
-    test42.srcs     = fms/libeknav/hello_world.c
-#    test1.srcs    += fms/bla.c
-
-
-  </makefile>
-
-
-</airframe>
-
-

conf/airframes/Poine/funjet42.xml

@@ -15,11 +15,15 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="lisa_l_test_progs">
     <target name="tunnel"           board="lisa_l_1.0"/>
     <target name="test_led"         board="lisa_l_1.0"/>

conf/airframes/Poine/swift_1.xml

@@ -15,11 +15,15 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="lisa_l_test_progs">
     <target name="test_led"            board="lisa_m_1.0"/>
     <target name="test_uart"           board="lisa_m_1.0"/>
@@ -195,4 +199,4 @@
 
 </airframe>
 
- -->
+ -->

conf/airframes/Poine/turntable.xml

@@ -5,7 +5,7 @@ ARCH=lpc21
 
 FLASH_MODE = IAP
 
-MB=motor_bench
+MB=firmwares/motor_bench
 
 main.ARCHDIR = $(ARCH)
 
@@ -13,6 +13,8 @@ main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" -I$(MB)
 main.CFLAGS += -DPERIPHERALS_AUTO_INIT
 main.srcs = $(MB)/main_turntable.c
 main.srcs += $(SRC_ARCH)/armVIC.c
+main.srcs += mcu.c
+main.srcs += $(SRC_ARCH)/mcu_arch.c
 
 main.CFLAGS += -DUSE_LED
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
@@ -25,6 +27,7 @@ main.srcs += sys_time.c $(MB)/turntable_systime.c
 #main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
+main.srcs += mcu_periph/uart.c
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 

conf/airframes/TU_Delft/MicrojetBR.xml

@@ -232,6 +232,7 @@
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -260,7 +261,7 @@
 <!--    <subsystem name="gyro"		type="roll">
       <configure name="ADC_GYRO_ROLL" 	value="ADC_3" />
     </subsystem>
--->    <subsystem name="attitude" 		type="infrared"/>
+-->    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="control"	/>
     <subsystem name="navigation"	type="extra"/>

conf/airframes/delta_wing_minimal_example.xml

@@ -17,11 +17,15 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="setup">
     <target name="tunnel" 	        board="tiny_2.11"/>
     <target name="setup_actuators" 	board="tiny_2.11"/>

conf/airframes/easy_glider_example.xml

@@ -168,7 +168,7 @@
     <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
   </firmware>
@@ -182,6 +182,7 @@
     <load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 </airframe>

conf/airframes/easystar_ets_example.xml

@@ -24,7 +24,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"    type="extra"/>
   </firmware>
@@ -37,6 +37,7 @@
   <modules>
     <load name="airspeed_ets.xml"/>
     <load name="baro_ets.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->

conf/airframes/easystar_example.xml

@@ -23,7 +23,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" type="infrared"/>
+    <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>

conf/airframes/flixr_discovery.xml

@@ -32,6 +32,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Communication -->
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="radio_control" type="ppm"/>
+    <!--subsystem name="settings" type="rc"/-->
 
     <!-- Control -->
     <subsystem name="control" type="new"/>
@@ -287,10 +288,10 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
 
     <!-- Loiter and Dash trimming -->
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_LOITER_TRIM" value="1000" unit="pprz_t"/>
+    <define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_DASH_TRIM" value="-2000" unit="pprz_t"/>
+    <define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
 
   </section>
 

conf/airframes/funjet_cam_example.xml

@@ -27,7 +27,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
 
     <subsystem name="navigation"    type="extra"/>
@@ -48,6 +48,7 @@
       <define name="DC_SHUTTER_LED" value="3"/>
     </load>
     <load name="sys_mon.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->

conf/airframes/funjet_example.xml

@@ -27,12 +27,15 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
 
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <firmware name="setup">
     <target name="tunnel" 		    board="tiny_2.11"/>

conf/airframes/jsbsim.xml

@@ -216,12 +216,15 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_2.1" />

conf/airframes/mentor_tum.xml

@@ -23,7 +23,7 @@
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" type="infrared"/>
+    <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="navigation" type="extra"/>
   </firmware>
@@ -41,6 +41,7 @@
       <define name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
     </load>
     <load name="sys_mon.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->

conf/airframes/microjet_example.xml

@@ -187,12 +187,16 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_1.1" />

conf/airframes/mm/extra/probe_t.xml

@@ -16,7 +16,7 @@
     </target>
     <subsystem name="telemetry"        type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
@@ -30,6 +30,7 @@
   <!-- modules -->
   <modules>
     <load name="max11040.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->

conf/airframes/mm/extra/turbine_trigger.xml

@@ -9,7 +9,7 @@
     </target>
     <subsystem name="telemetry"        type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
@@ -23,6 +23,7 @@
   <!-- modules -->
   <modules>
     <load name="trigger_ext.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <servos>

conf/airframes/mm/fixed-wing/drops.xml

@@ -22,7 +22,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control_adaptive"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <subsystem name="navigation_bomb"/>
@@ -32,6 +32,10 @@
     </subsystem>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>

conf/airframes/mm/fixed-wing/funjet43.xml

@@ -20,7 +20,7 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <!--subsystem name="attitude" 		type="infrared"/-->
+    <!--subsystem name="ahrs" 		type="infrared"/-->
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <!-- Interfaces -->
@@ -30,6 +30,7 @@
   <modules>
     <load name="ins_arduimu.xml">
     </load>
+    <!--load name="infrared_adc.xml"/-->
   </modules>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/mm/fixed-wing/funjetdca.xml

@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->

conf/airframes/mm/fixed-wing/funjetdcb.xml

@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->

conf/airframes/mm/fixed-wing/funjetdcc.xml

@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox_utm"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->

conf/airframes/mm/fixed-wing/funjetgfi8.xml

@@ -28,7 +28,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
@@ -40,6 +40,7 @@
   <modules>
     <load name="baro_scp.xml"/>
     <load name="humid_sht.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/funjetlisa.xml

@@ -16,7 +16,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox">
       <configure name="GPS_PORT"         value="UART3"/>
     </subsystem>
@@ -45,7 +45,9 @@
     <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
   </firmware>
 
-
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>

conf/airframes/mm/fixed-wing/funjetlisam.xml

@@ -16,7 +16,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox">
       <configure name="GPS_PORT"         value="UART3"/>
     </subsystem>
@@ -45,7 +45,9 @@
     <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
   </firmware>
 
-
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>

conf/airframes/mm/fixed-wing/funjetmm.xml

@@ -36,7 +36,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="mediatek_diy"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
@@ -73,6 +73,7 @@
     <load name="humid_sht_i2c.xml"/>
     <load name="mag_micromag_fw.xml"/>
     <load name="baro_scp_i2c.xml"/-->
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->

conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml

@@ -34,7 +34,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <!--subsystem name="attitude"         type="infrared"/-->
+    <!--subsystem name="ahrs"         type="infrared"/-->
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>

conf/airframes/mm/fixed-wing/merlin.xml

@@ -181,7 +181,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox_utm"/>
     <!-- Nav -->
     <subsystem name="navigation"/>

conf/airframes/mm/fixed-wing/slowfast.xml

@@ -22,7 +22,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
@@ -31,6 +31,10 @@
     </subsystem>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>

conf/airframes/mm/fixed-wing/slowfast2.xml

@@ -23,7 +23,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
@@ -38,6 +38,7 @@
       <!--param name="USE_AIRSPEED" value="1"/-->
       <param name="SENSOR_SYNC_SEND" value="1"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->