Merge branch 'master' into guided_velocity

* master: (53 commits)
  [pprzlink] call pymessages with VALIDATE_XML=FALSE
  [pprzlink] update submodule
  [pprzlink] point to messages.xml file in var directory
  [pprlink] remove paparazzi message definition
  [tools] gen_messages_doc.py: use messages.xml from pprzlink by default
  [python] remove pprz_msg and use pprzlink instead
  [datalink] fix bluegiga parser
  [conf] fix tudelft_bebop_flip.xml
  [generators] always put configure options at beginning
  Config files cleanup
  [pprzlink] more datalink include fixing
  [pprzlink] fix datalink include
  [ext] add pprzlink convenience targets
  make sure pprzlink submodule is initialized before building
  [pprzlink] fix conpilation errors with some devices
  [pprzlink] fix path for test progs
  [conf] gps: ublox_utm -> ublox, piksi to shared
  [pprzlink] fix transport files path
  [pprzlink] start fixing some compilation issues
  [pprzlink] generate intermcu messages from pprzlink
  ...

.gitmodules

@@ -19,3 +19,6 @@
 [submodule "sw/ext/mavlink"]
 	path = sw/ext/mavlink
 	url = https://github.com/paparazzi/mavlink.git
+[submodule "sw/ext/pprzlink"]
+	path = sw/ext/pprzlink
+	url = https://github.com/paparazzi/pprzlink.git

Makefile

@@ -57,11 +57,10 @@ endif
 # define some paths
 #
 LIB=sw/lib
-STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
+STATICINCLUDE=$(PAPARAZZI_HOME)/var/include
 CONF=$(PAPARAZZI_SRC)/conf
 AIRBORNE=sw/airborne
 SIMULATOR=sw/simulator
-MULTIMON=sw/ground_segment/multimon
 COCKPIT=sw/ground_segment/cockpit
 TMTC=sw/ground_segment/tmtc
 GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
@@ -82,7 +81,7 @@ SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER)
 #
 # xml files used as input for header generation
 #
-MESSAGES_XML = $(CONF)/messages.xml
+CUSTOM_MESSAGES_XML = $(CONF)/messages.xml
 ABI_XML = $(CONF)/abi.xml
 UBX_XML = $(CONF)/ubx.xml
 MTK_XML = $(CONF)/mtk.xml
@@ -91,20 +90,17 @@ XSENS_XML = $(CONF)/xsens_MTi-G.xml
 #
 # generated header files
 #
-MESSAGES_H=$(STATICINCLUDE)/messages.h
-MESSAGES2_H=$(STATICINCLUDE)/messages2.h
+PPRZLINK_DIR=sw/ext/pprzlink
+PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib/ocaml
+MESSAGES_INSTALL=$(PAPARAZZI_HOME)/var
 UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
 MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
 XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
-DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
-DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
 ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
-INTERMCU_MSG_H=$(STATICINCLUDE)/intermcu_msg.h
 MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
 MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h
 
-GEN_HEADERS = $(MESSAGES_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(ABI_MESSAGES_H) $(INTERMCU_MSG_H) $(MAVLINK_PROTOCOL_H)
-
+GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H) $(MAVLINK_PROTOCOL_H)
 
 all: ground_segment ext lpctools
 
@@ -139,11 +135,12 @@ ground_segment.opt: ground_segment cockpit.opt tmtc.opt
 
 static: cockpit tmtc generators sim_static joystick static_h
 
-libpprz: _save_build_version
-	$(MAKE) -C $(LIB)/ocaml
+libpprzlink:
+	$(MAKE) -C $(EXT) pprzlink.update
+	$(Q)Q=$(Q) DESTDIR=$(PPRZLINK_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install
 
-multimon:
-	$(MAKE) -C $(MULTIMON)
+libpprz: libpprzlink _save_build_version
+	$(MAKE) -C $(LIB)/ocaml
 
 cockpit: libpprz
 	$(MAKE) -C $(COCKPIT)
@@ -151,10 +148,10 @@ cockpit: libpprz
 cockpit.opt: libpprz
 	$(MAKE) -C $(COCKPIT) opt
 
-tmtc: libpprz cockpit multimon
+tmtc: libpprz cockpit
 	$(MAKE) -C $(TMTC)
 
-tmtc.opt: libpprz cockpit.opt multimon
+tmtc.opt: libpprz cockpit.opt
 	$(MAKE) -C $(TMTC) opt
 
 generators: libpprz
@@ -184,24 +181,19 @@ $(PPRZCENTER): libpprz
 
 $(LOGALIZER): libpprz
 
+static_h: pprzlink_protocol $(GEN_HEADERS)
 
-static_h: $(GEN_HEADERS)
-
-$(MESSAGES_H) : $(MESSAGES_XML) generators
+pprzlink_protocol :
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages.out $< telemetry > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
+	$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
+ifeq ("$(wildcard $(CUSTOM_MESSAGES_XML))","")
+	@echo GENERATE $@ with default messages
+	$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE $(MAKE) -C $(PPRZLINK_DIR) pymessages
+else
+	@echo GENERATE $@ with custome messages from $(CUSTOM_MESSAGES_XML)
+	$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) pymessages
+endif
 
-$(MESSAGES2_H) : $(MESSAGES_XML) generators
-	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages2.out $< telemetry > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
 
 $(UBX_PROTOCOL_H) : $(UBX_XML) generators
 	@echo GENERATE $@
@@ -224,20 +216,6 @@ $(XSENS_PROTOCOL_H) : $(XSENS_XML) generators
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
-$(DL_PROTOCOL_H) : $(MESSAGES_XML) generators
-	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages.out $< datalink > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
-
-$(DL_PROTOCOL2_H) : $(MESSAGES_XML) generators
-	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages2.out $< datalink > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
-
 $(ABI_MESSAGES_H) : $(ABI_XML) generators
 	@echo GENERATE $@
 	$(eval $@_TMP := $(shell $(MKTEMP)))
@@ -245,14 +223,6 @@ $(ABI_MESSAGES_H) : $(ABI_XML) generators
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
-$(INTERMCU_MSG_H) : $(MESSAGES_XML) generators
-	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages.out $< intermcu > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
-
 $(MAVLINK_PROTOCOL_H) :
 	$(Q)make -C $(PAPARAZZI_HOME)/sw/ext mavlink
 
@@ -298,6 +268,7 @@ dox:
 clean:
 	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml paparazzi
 	$(Q)rm -f  $(GEN_HEADERS)
+	$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) uninstall
 	$(Q)rm -fr $(MAVLINK_DIR)
 	$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
 	$(Q)$(MAKE) -C $(EXT) clean
@@ -349,7 +320,7 @@ test_sim: all
 	prove tests/sim
 
 .PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \
-subdirs $(SUBDIRS) conf ext libpprz multimon cockpit cockpit.opt tmtc tmtc.opt generators\
+subdirs $(SUBDIRS) conf ext libpprz cockpit cockpit.opt tmtc tmtc.opt generators\
 static sim_static lpctools commands \
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test test_examples test_math test_sim test_all_confs

Makefile.ac

@@ -28,9 +28,10 @@ include conf/Makefile.local
 # main directory where the generated files and compilation results for an aircraft are stored
 AIRCRAFT_BUILD_DIR = $(PAPARAZZI_HOME)/var/aircrafts/$(AIRCRAFT)
 CONF=$(PAPARAZZI_HOME)/conf
+VAR=$(PAPARAZZI_HOME)/var
 CONF_XML ?= $(CONF)/conf.xml
 AIRBORNE=sw/airborne
-MESSAGES_XML = $(CONF)/messages.xml
+MESSAGES_XML = $(VAR)/messages.xml
 
 # make sure the TARGET variable is set if needed for current make target
 ifneq (,$(findstring $(MAKECMDGOALS),all_ac_h radio_ac_h flight_plan_ac_h))

conf/Makefile.sim

@@ -33,7 +33,7 @@ CC = gcc
 SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
 CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
 PKG = -package glibivy,pprz
-LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz,pprzlink
 SIMSITLML = $(OBJDIR)/simsitl.ml
 SITLCMA = $(SIMDIR)/sitl.cma
 OPT ?= 2

conf/abi.dtd

@@ -10,7 +10,6 @@
 <!ATTLIST message
   name CDATA #REQUIRED
   id   CDATA #REQUIRED
-  link CDATA #IMPLIED
 >
 
 <!ELEMENT description (#PCDATA)>
@@ -19,10 +18,6 @@
 <!ATTLIST field
   name CDATA #REQUIRED
   type CDATA #REQUIRED
-  format CDATA #IMPLIED
   unit CDATA #IMPLIED
-  values CDATA #IMPLIED
-  alt_unit CDATA #IMPLIED
-  alt_unit_coef CDATA #IMPLIED
 >
 

conf/abi.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!DOCTYPE protocol SYSTEM "messages.dtd">
+<!DOCTYPE protocol SYSTEM "abi.dtd">
 <protocol>
 
   <msg_class name="airborne">
@@ -72,6 +72,12 @@
       <field name="z" type="float" unit="m/s"/>
       <field name="noise" type="float"/>
     </message>
+    
+    <message name="RSSI" id="13">
+      <field name="ac_id" type="uint8_t"/>
+      <field name="source_strength" type="int8_t" unit="dB"/>
+      <field name="rssi" type="int8_t" unit="dB"/>
+    </message>
 
   </msg_class>
 

conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml

@@ -159,13 +159,7 @@
 
   <section name="INS" prefix="INS_">
     <define name="USE_GPS_ALT" value="1"/>
-  </section>
-
-  <section name="GPS" prefix="GPS_">
-    <define name="USE_DATALINK_SMALL" value="1"/>
-    <define name="LOCAL_ECEF_ORIGIN_X" value="392433200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Y" value="30036200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Z" value="500219700"/>
+    <define name="USE_GPS_ALT_SPEED" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -183,8 +177,6 @@
     <define name="H_Z" value="0.92060036"/>
     <define name="USE_GPS_HEADING" value="1"/>
   </section>
-<define name="USE_GPS" value="TRUE"/>
- <define name="USE_GPS_HEADING" value="TRUE"/>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="PGAIN" value="290"/>

conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml

@@ -173,13 +173,6 @@
     <define name="USE_GPS_ALT" value="1"/>
   </section>
 
-  <section name="GPS" prefix="GPS_">
-    <define name="USE_DATALINK_SMALL" value="1"/>
-    <define name="LOCAL_ECEF_ORIGIN_X" value="392433200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Y" value="30036200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Z" value="500219700"/>
-  </section>
-
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP" value="276"/>
    <define name="HOVER_KD" value="455"/>

conf/airframes/LS/ls_quadrotor_bebop_small_gps_messages.xml

@@ -102,13 +102,6 @@
     <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
   </section>
 
-  <section name="GPS" prefix="GPS_">
-    <define name="USE_DATALINK_SMALL" value="1"/>
-    <define name="LOCAL_ECEF_ORIGIN_X" value="392433200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Y" value="30036200"/>
-    <define name="LOCAL_ECEF_ORIGIN_Z" value="500219700"/>
-  </section>
-
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
     <!-- setpoints -->
     <define name="SP_MAX_P" value="140" unit="deg/s"/>

conf/airframes/TUDELFT/tudelft_bebop_flip.xml

@@ -21,7 +21,6 @@
     <subsystem name="stabilization" type="indi"/>
     <subsystem name="ahrs"          type="float_mlkf"/>
     <subsystem name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="FALSE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
       <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
     </subsystem>

conf/firmwares/setup.makefile

@@ -110,7 +110,7 @@ setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(SETUP_ACTUATORS_MODEM_PORT_LOWER)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+setup_actuators.srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c
 
 setup_actuators.srcs   += subsystems/actuators.c
 setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -196,7 +196,7 @@ sim.CFLAGS 		+= -DSITL
 sim.srcs 		+= $(SRC_ARCH)/sim_ap.c
 
 sim.CFLAGS 		+= -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
-sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
+sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
 
 sim.srcs 		+= $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
 

conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile

@@ -1,27 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
-# UBlox LEA 4P
+include $(CFG_SHARED)/gps_ublox.makefile
 
-GPS_LED ?= none
-UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
-
-ap.CFLAGS += -DUSE_GPS -DUBX
-ap.CFLAGS += -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
-
-ifneq ($(GPS_LED),none)
-  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
-endif
-
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-sim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-
-nps.CFLAGS += -DUSE_GPS
-nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
-nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
-nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+$(info Please replace <subsystem name="gps" type="ublox_utm"/> with <subsystem name="gps" type="ublox"/>)

conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile

@@ -7,7 +7,7 @@ ifeq ($(TARGET),fbw)
   INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
   fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B230400
   fbw.CFLAGS += -DINTER_MCU_FBW
-  fbw.srcs += subsystems/datalink/pprz_transport.c
+  fbw.srcs += $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c
   fbw.srcs += subsystems/intermcu/intermcu_fbw.c
 else
   INTERMCU_PORT ?= UART3
@@ -18,6 +18,6 @@ else
   $(TARGET).CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 
 	ap.srcs += subsystems/intermcu/intermcu_ap.c
-	ap.srcs += subsystems/datalink/pprz_transport.c
+	ap.srcs += (PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c
 	$(TARGET).srcs += subsystems/radio_control.c
 endif

conf/firmwares/subsystems/shared/gps_ublox.makefile

@@ -1,5 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
-# UBlox LEA 5H
+# UBlox LEA
 
 GPS_LED ?= none
 UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)

conf/firmwares/subsystems/shared/imu_apogee_mpu9150.makefile

@@ -0,0 +1,16 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Apogee IMU
+#
+
+include $(CFG_SHARED)/imu_apogee.makefile
+
+IMU_APOGEE_MPU9150_CFLAGS = -DAPOGEE_USE_MPU9150
+IMU_APOGEE_MPU9150_SRCS = peripherals/ak8975.c
+
+# add it for all targets except sim, fbw and nps
+ifeq (,$(findstring $(TARGET),sim fbw nps))
+$(TARGET).CFLAGS += $(IMU_APOGEE_MPU9150_CFLAGS)
+$(TARGET).srcs += $(IMU_APOGEE_MPU9150_SRCS)
+endif
+

conf/firmwares/subsystems/shared/sdlog.makefile

@@ -1,7 +1,7 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 sdlog_CFLAGS = -DDOWNLINK -DUSE_PPRZLOG
-sdlog_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprzlog_transport.c
+sdlog_srcs = subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprzlog_transport.c
 
 ap.CFLAGS += $(sdlog_CFLAGS)
 ap.srcs += $(sdlog_srcs)

conf/firmwares/subsystems/shared/telemetry_bluegiga.makefile

@@ -32,4 +32,4 @@ ap.CFLAGS += -DMODEM_LED=$(MODEM_LED)
 endif
 
 ap.srcs += $(SRC_SUBSYSTEMS)/datalink/downlink.c $(SRC_SUBSYSTEMS)/datalink/bluegiga.c
-ap.srcs += $(SRC_SUBSYSTEMS)/datalink/pprz_transport.c $(SRC_SUBSYSTEMS)/datalink/telemetry.c
+ap.srcs += $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c $(SRC_SUBSYSTEMS)/datalink/telemetry.c

conf/firmwares/subsystems/shared/telemetry_ivy.makefile

@@ -1,3 +1,3 @@
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
-$(TARGET).srcs += subsystems/datalink/ivy_transport.c
+$(TARGET).srcs += $(PAPARAZZI_HOME)/var/share/pprzlink/src/ivy_transport.c
 $(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c

conf/firmwares/subsystems/shared/telemetry_superbitrf.makefile

@@ -7,4 +7,4 @@ $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
 
 $(TARGET).srcs += peripherals/cyrf6936.c
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/superbitrf.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/superbitrf.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c

conf/firmwares/subsystems/shared/telemetry_transparent.makefile

@@ -13,5 +13,5 @@ $(TARGET).CFLAGS += -D$(PPRZ_MODEM_PORT_UPPER)_BAUD=$(MODEM_BAUD)
 
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
 

conf/firmwares/subsystems/shared/telemetry_transparent_udp.makefile

@@ -19,5 +19,5 @@ TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
 
 
 $(TARGET).CFLAGS += $(MODEM_CFLAGS) $(TELEM_CFLAGS)
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
 

conf/firmwares/subsystems/shared/telemetry_transparent_usb.makefile

@@ -4,7 +4,7 @@
 $(TARGET).CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
 $(TARGET).CFLAGS += -DPERIODIC_TELEMETRY
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
 
 ifeq ($(ARCH), lpc21)
 $(TARGET).srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c

conf/firmwares/subsystems/shared/telemetry_w5100.makefile

@@ -10,7 +10,7 @@ W5100_MULTICAST_PORT ?= "1234"
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=chip0
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=W5100
 $(TARGET).CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
 
 ifeq ($(ARCH), lpc21)
 # only an issue of setting the DRDY pin in w5100.c, which is stm32 specific

conf/firmwares/subsystems/shared/telemetry_xbee_api.makefile

@@ -14,4 +14,4 @@ $(TARGET).CFLAGS += -D$(XBEE_MODEM_PORT_UPPER)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(
 
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/xbee_transport.c subsystems/datalink/telemetry.c

conf/firmwares/test_progs.makefile

@@ -70,7 +70,7 @@ endif
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-COMMON_TELEMETRY_SRCS   = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+COMMON_TELEMETRY_SRCS   = subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c
 
 # check if we are using UDP
 ifneq (,$(findstring UDP, $(MODEM_DEV)))