upgrade from paparazzi2 ;-)

Makefile

@@ -103,7 +103,7 @@ receive: tmtc
 static_h :
 	PAPARAZZI_HOME=`pwd` PAPARAZZI_SRC=`pwd` make -f Makefile.gen
 
-ac_h :
+ac_h : static_h
 	PAPARAZZI_HOME=`pwd` PAPARAZZI_SRC=`pwd` $(TOOLS)/gen_aircraft.out $(AIRCRAFT)
 
 sim_ac: ac_h sim_sitl

conf/radios/cockpitMM.xml

@@ -1,9 +1,54 @@
-<radio name="cockpitMM">
+<?xml version="1.0"?>
- <channel ctl="D" function="ROLL"     min="1990" neutral="1485" max="982"  average="0"/>
+<!-- $Id$
- <channel ctl="C" function="PITCH"    min="1993" neutral="1490" max="984"  average="0"/>
+--
- <channel ctl="B" function="YAW"      min="1994" neutral="1490" max="986"  average="0"/>
+-- (c) 2003 Pascal Brisset, Antoine Drouin
- <channel ctl="A" function="THROTTLE" min="1992" neutral="1114" max="1114" average="0"/>
+--
- <channel ctl="G" function="GAIN1"    min="1996" neutral="1485" max="988"  average="10"/> <!-- center slider        -->
+-- This file is part of paparazzi.
- <channel ctl="E" function="MODE"     min="1997" neutral="1492" max="988" average="10"/> <!-- Top right switch     -->
+--
- <channel ctl="F" function="CALIB"    min="2000" neutral="1480" max="990" average="10"/> <!-- Top left rotary knob -->
+-- 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.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- min: min width of a pulse to be considered as a data pulse
+-- max: max width of a pulse to be considered as a data pulse
+-- sync: min width of a pulse to be considered as a synchro pulse
+-- min, max and sync are expressed in nano-seconds
+-->
+
+<!-- 
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- no: order in the PPM frame
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+Note: a command may be reversed by exchanging min and max values
+-->
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="cockpitMM" min="850" max="2100" sync="5000">
+ <channel ctl="D" function="ROLL"     min="2000" neutral="1498" max="1000" average="0"/>
+ <channel ctl="C" function="PITCH"    min="2000" neutral="1498" max="1000" average="0"/>
+ <channel ctl="B" function="YAW"      min="2000" neutral="1498" max="1000" average="0"/>
+ <channel ctl="A" function="THROTTLE" min="1120" neutral="1120" max="2000" average="0"/>
+ <channel ctl="G" function="GAIN1"    min="2000" neutral="1498" max="1000" average="10"/> <!-- center slider        -->
+ <channel ctl="E" function="MODE"     min="2000" neutral="1500" max="1000" average="10"/> <!-- Top right switch     -->
+ <channel ctl="F" function="CALIB"    min="2000" neutral="1500" max="1000" average="10"/> <!-- Top left rotary knob -->
 </radio>

conf/radios/radio.dtd

@@ -0,0 +1,18 @@
+<!-- Radio configuration DTD -->
+
+<!ELEMENT radio (channel+)>
+<!ELEMENT channel EMPTY>
+
+<!ATTLIST radio
+  name CDATA #REQUIRED
+  min CDATA #REQUIRED
+  max CDATA #REQUIRED
+  sync CDATA #REQUIRED>
+
+<!ATTLIST channel
+  ctl CDATA #REQUIRED
+  function CDATA #REQUIRED
+  min CDATA #REQUIRED
+  neutral CDATA #REQUIRED
+  max CDATA #REQUIRED
+  average CDATA #REQUIRED>

sw/airborne/autopilot/Makefile

@@ -65,7 +65,6 @@ $(TARGET).srcs	=							\
 	uart.c                                                          \
         estimator.c                                                     \
 	if_calib.c							\
-	traffic_info.c \
 	mainloop.c
 
 include ../../../conf/Makefile.local

sw/include/std.h

@@ -35,4 +35,11 @@
 /* Boolean values */
 typedef uint8_t bool_t;
 
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
 #endif /* STD_H */

sw/lib/ocaml/extXml.ml

@@ -30,7 +30,7 @@ let sep = Str.regexp "\\."
 
 let child xml ?select c =
   let rec find = function
-      Xml.Element (tag, _attributes, _children) as elt :: elts ->
+      Xml.Element (tag, attributes, _children) as elt :: elts ->
 	if tag = c then
 	  match select with
 	    None -> elt
@@ -85,3 +85,37 @@ let to_string_fmt = fun xml ->
 		    List.map (fun (a,v) -> (l a, v)) ats,
 		    List.map lower cs) in
   Xml.to_string_fmt (lower xml)
+
+
+let subst_attrib = fun attrib value xml ->
+  let u = String.uppercase in
+  let uattrib = u attrib in
+  match xml with
+    Xml.Element (tag, attrs, children) ->
+      let rec loop = function
+	  [] -> [(attrib, value)]
+	| (a,v) as c::ats ->
+	    if u a = uattrib then loop ats else c::loop ats in
+      Xml.Element (tag, 
+		   loop attrs,
+		   children)
+  | Xml.PCData _ -> xml
+
+
+let subst_child = fun t x xml ->
+  let u = String.uppercase in
+  match xml with
+    Xml.Element (tag, attrs, children) ->
+      Xml.Element (tag,
+		   attrs,
+		   List.map (fun xml -> if u (Xml.tag xml) = u t then x else xml) children)
+  | Xml.PCData _ -> xml
+
+
+let float_attrib = fun xml a ->
+  let v = attrib xml a in
+  try
+    float_of_string v
+  with
+    _ -> failwith (Printf.sprintf "Error: float expected in '%s'" v)
+

sw/lib/ocaml/extXml.mli

@@ -46,3 +46,8 @@ val attrib_or_default : Xml.xml -> string -> string -> string
 val to_string_fmt : Xml.xml -> string
 (** [to_string_fmt xml] Returns a formatted string where tag and attribute
 names are lowercase *)
+
+val subst_attrib : string -> string -> Xml.xml -> Xml.xml
+val subst_child : string -> Xml.xml -> Xml.xml -> Xml.xml
+val float_attrib : Xml.xml -> string -> float
+

sw/tools/fp_proc.ml

@@ -44,8 +44,6 @@ let parse_expression = fun s ->
 
 open Latlong
 
-let float_attrib = fun xml a -> float_of_string (ExtXml.attrib xml a)
-
 (* Translation and rotation *)
 type affine = { dx : float; dy : float; angle : float (* Deg Clockwise *) }
 
@@ -103,8 +101,8 @@ let transform_values = fun attribs_not_modified affine env attribs ->
     attribs
 
 let transform_waypoint = fun prefix affine xml ->
-  let x = float_attrib xml "x"
+  let x = ExtXml.float_attrib xml "x"
-  and y = float_attrib xml "y" in
+  and y = ExtXml.float_attrib xml "y" in
   let (x, y) = rotate affine.angle (x, y) in
   let (x, y) = (x+.affine.dx, y+.affine.dy) in
   let alt = try ["alt", ExtXml.attrib xml "alt"] with ExtXml.Error _ -> [] in
@@ -214,9 +212,9 @@ let parse_include = fun dir include_xml ->
   let proc_name = ExtXml.attrib include_xml "name" in
   let prefix = fun x -> proc_name ^ "." ^ x in
   let affine = { 
-    dx = float_attrib  include_xml "x";
+    dx = ExtXml.float_attrib  include_xml "x";
-    dy = float_attrib  include_xml "y";
+    dy = ExtXml.float_attrib  include_xml "y";
-    angle = float_attrib  include_xml "rotate"
+    angle = ExtXml.float_attrib  include_xml "rotate"
   } in
   let reroutes = 
     List.filter 
@@ -312,7 +310,7 @@ let xml_assoc_attrib = fun a v xmls ->
   | _ -> failwith "xml_assoc_attrib"
 
 let coords_of_waypoint = fun wp ->
-  (float_attrib wp "x", float_attrib wp "y")
+  (ExtXml.float_attrib wp "x", ExtXml.float_attrib wp "y")
   
 
 let new_waypoint = fun wp qdr dist waypoints ->
@@ -329,8 +327,8 @@ let new_waypoint = fun wp qdr dist waypoints ->
 
 let replace_wp = fun stage waypoints ->
   try
-    let qdr = float_attrib stage "wp_qdr"
+    let qdr = ExtXml.float_attrib stage "wp_qdr"
-    and dist = float_attrib stage "wp_dist" in
+    and dist = ExtXml.float_attrib stage "wp_dist" in
     let wp = ExtXml.attrib stage "wp" in
     
     let name = new_waypoint wp qdr dist waypoints in
@@ -343,8 +341,8 @@ let replace_wp = fun stage waypoints ->
 
 let replace_from = fun stage waypoints ->
   try
-    let qdr = float_attrib stage "from_qdr"
+    let qdr = ExtXml.float_attrib stage "from_qdr"
-    and dist = float_attrib stage "from_dist" in
+    and dist = ExtXml.float_attrib stage "from_dist" in
     let wp = ExtXml.attrib stage "from" in
     
     let name = new_waypoint wp qdr dist waypoints in

sw/tools/fp_syntax.ml

@@ -19,13 +19,6 @@ type expression =
 
 let c_var_of_ident = fun x -> "_var_" ^ x
 
-(* Valid unary and binary opetarors *)
-(*let binary_operators = ["+"; ">"; "-"; "*"]
-let unary_operators = ["!"; "-"]
-
-let is_binary = fun op -> List.mem op binary_operators
-let is_unary = fun op -> List.mem op unary_operators*)
-
 let rec sprint_expression = function
     Ident i when i.[0] = '$' -> sprintf "%s" (c_var_of_ident (String.sub i 1 (String.length i - 1)))
   | Ident i -> sprintf "%s" i
@@ -46,19 +39,27 @@ let functions = [
   "Qdr";
   "And";
   "Or";
+	"RcRoll";
   "RcEvent1";
-  "RcEvent2"] (*@ binary_operators @ unary_operators*)
+  "RcEvent2";
+	"RadOfDeg"] (*@ binary_operators @ unary_operators*)
 
 (* Valid identifiers *)
 let variables = [
   "launch";
   "estimator_z";
   "estimator_flight_time";
+	"estimator_hspeed_mod";
+  "estimator_theta";
+	"circle_count";
+  "vsupply";
   "stage_time";
+	"stage_time_ds";
   "block_time";
   "SECURITY_ALT";
   "GROUND_ALT";
   "TRUE";
+	"FALSE";
   "QFU"
 ]
 

sw/tools/gen_airframe.ml

@@ -48,8 +48,12 @@ let define_macro name n x =
 	  
 let parse_element = fun prefix s ->
   match Xml.tag s with
-    "define" ->
+    "define" -> begin
-      define (prefix^ExtXml.attrib s "name") (ExtXml.attrib s "value")
+			try	
+      	define (prefix^ExtXml.attrib s "name") (ExtXml.attrib s "value");
+      	define (prefix^(ExtXml.attrib s "name")^"_NB_SAMPLE") (ExtXml.attrib s "nb_sample");
+			with _ -> ();
+		end
   | "linear" ->
       let name = ExtXml.attrib s "name"
       and n = int_of_string (ExtXml.attrib s "arity") in
@@ -74,7 +78,9 @@ let parse_servo =
     servo_params.(no_servo) <- { min = min; neutral = neutral; max = max }
 
 
-let pprz_value = Str.regexp "@\\([A-Z]+\\)"
+(* Characters checked in Gen_radio.checl_function_name *)
+let pprz_value = Str.regexp "@\\([A-Z_0-9]+\\)"
+
 let var_value = Str.regexp "\\$\\([_a-z0-9]+\\)"
 let preprocess_command = fun s ->
   let s = Str.global_replace pprz_value "values[RADIO_\\1]" s in

sw/tools/gen_flight_plan.ml

@@ -27,6 +27,8 @@
 open Printf
 open Latlong
 
+let sof = string_of_float
+
 let check_expressions = ref true
 
 let parse_expression = Fp_proc.parse_expression
@@ -124,8 +126,15 @@ let stage = ref 0
 let output_label l = lprintf "Label(%s)\n" l
 
 let output_vmode x wp last_wp =
-  let pitch = try parsed_attrib x "pitch" with _ -> "0.0" in
+  let pitch = try Xml.attrib x "pitch" with _ -> "0.0" in
-  lprintf "nav_pitch = %s;\n" pitch;
+  if pitch = "auto"
+  then begin
+    lprintf "auto_pitch = TRUE;\n";
+    lprintf "nav_desired_gaz = TRIM_UPPRZ(%s*MAX_PPRZ);\n" (parsed_attrib x "gaz")
+  end else begin
+    lprintf "auto_pitch = FALSE;\n";
+    lprintf "nav_pitch = %s;\n" (parse pitch);
+  end;
   let vmode = try ExtXml.attrib x "vmode" with _ -> "alt" in
   begin
     match vmode with
@@ -141,18 +150,22 @@ let output_vmode x wp last_wp =
 	      try
 		check_altitude (float_of_string a) x
 	      with
+		(* Impossible to check the altitude on an expression: *)
 		Failure "float_of_string" -> ()
 	    end;
 	    a
 	  with _ ->
-	    if wp = "" then failwith "alt or waypoint required in alt vmode" else
+	    if wp = "" 
-	    sprintf "waypoints[%s].a" wp in
+	    then failwith "alt or waypoint required in alt vmode" 
+	    else sprintf "waypoints[%s].a" wp in
 	lprintf "desired_altitude = %s;\n" alt;
 	lprintf "pre_climb = 0.;\n"
     | "glide" ->
 	lprintf "vertical_mode = VERTICAL_MODE_AUTO_ALT;\n";
 	lprintf "glide_to(%s, %s);\n" last_wp wp
     | "gaz" ->
+	if (pitch = "auto") then
+	  failwith "auto pich mode not compatible with vmode=gaz";
 	lprintf "vertical_mode = VERTICAL_MODE_AUTO_GAZ;\n";
 	lprintf "nav_desired_gaz = TRIM_UPPRZ(%s*MAX_PPRZ);\n" (parsed_attrib x "gaz")
     | x -> failwith (sprintf "Unknown vmode '%s'" x)
@@ -194,8 +207,8 @@ let rec compile_stage = fun block x ->
     | "for" ->
        List.iter (compile_stage block) (Xml.children x);
        incr stage (* To count the loop stage *)
-    | "return_from_excpt" | "goto"  | "deroute" | "exit_block" | "follow"
+    | "return_from_excpt" | "goto"  | "deroute" | "exit_block"
-    | "heading" | "go" | "stay" | "xyz" | "circle" -> ()
+    | "heading" | "attitude" | "go" | "stay" | "xyz" | "set" | "circle" -> ()
     | s -> failwith (sprintf "Unknown stage: %s\n" s)
   end
 
@@ -256,6 +269,16 @@ let rec print_stage = fun index_of_waypoints x ->
 	let d = ExtXml.attrib x "distance" in
 	lprintf "Follow(%s, %s);\n" id d;
 	lprintf "return;\n"
+    | "attitude" ->
+	stage ();
+	let until = parsed_attrib x "until" in
+	lprintf "if (%s) NextStage() else {\n" until;
+	right ();
+	lprintf "lateral_mode = LATERAL_MODE_ROLL;\n";
+	lprintf "nav_desired_roll = RadOfDeg(%s);\n" (parsed_attrib x "roll");
+	ignore (output_vmode x "" "");
+	left (); lprintf "}\n";
+	lprintf "return;\n"
     | "go" ->
 	stage ();
 	let wp = 
@@ -311,6 +334,20 @@ let rec print_stage = fun index_of_waypoints x ->
 	    ExtXml.Error _ -> ()
 	end;
 	lprintf "return;\n"
+    | "set" ->
+	stage ();
+	let var = parsed_attrib  x "var" in
+	let valuee = parsed_attrib  x "value" in
+	lprintf "%s = %s;\n" var valuee;
+	begin
+	  try
+	    let c = parsed_attrib x "until" in
+	    lprintf "if (%s) NextStage();\n" c
+	  with
+	    ExtXml.Error _ ->
+	      lprintf "NextStage();\n";
+	end;
+	lprintf "return;\n"
     | s -> failwith "Unreachable"
   end;
   left ()
@@ -386,7 +423,29 @@ let check_distance = fun (hx, hy) max_d wp ->
   let d = sqrt ((x-.hx)**2. +. (y-.hy)**2.) in
   if d > max_d then
     fprintf stderr "\nWARNING: Waypoint '%s' too far from HOME (%.0f>%.0f)\n\n" (name_of wp) d max_d
+  
 
+(* Check coherence between global ref and waypoints ref *)
+(* Returns a patched xml with utm_x0 and utm_y0 set *)
+let check_geo_ref = fun xml ->
+  let get_float = fun x -> float_attrib xml x in
+  let lat0_deg = get_float "lat0"
+  and lon0_deg = get_float "lon0" in
+  let utm0 = utm_of WGS84 { posn_lat=(Deg>>Rad)lat0_deg;
+			    posn_long=(Deg>>Rad)lon0_deg } in
+
+  let max_d = get_float "max_dist_from_home" in
+  let check_zone = fun u ->
+    if (utm_of WGS84 (of_utm WGS84 u)).utm_zone <> utm0.utm_zone then
+      failwith "Fatal error: You are too close (less than twice the max distance) to an UTM zone border !" in
+  check_zone { utm0 with utm_x = utm0.utm_x +. 2.*.max_d };
+  check_zone { utm0 with utm_x = utm0.utm_x -. 2.*.max_d };
+
+  let wpts = ExtXml.child xml "waypoints" in
+  let wpts = ExtXml.subst_attrib "utm_x0" (sof utm0.utm_x) wpts in
+  let wpts = ExtXml.subst_attrib "utm_y0" (sof utm0.utm_y) wpts in
+  let x = ExtXml.subst_child "waypoints" wpts xml in
+  x
 
 let dummy_waypoint = 
   Xml.Element ("waypoint", 
@@ -397,7 +456,7 @@ let dummy_waypoint =
 
 
 let _ =
-  let xml_file = ref ""
+  let xml_file = ref "fligh_plan.xml"
   and dump = ref false in
   Arg.parse [("-dump", Arg.Set dump, "Dump compile result");
 	     ("-nocheck", Arg.Clear check_expressions, "Disable expression checking")]
@@ -407,9 +466,11 @@ let _ =
     failwith (sprintf "Usage: %s <xml-flight-plan-file>" Sys.argv.(0));
   try
     let xml = Xml.parse_file !xml_file in
+    
+    let xml = check_geo_ref xml in
+
     let dir = Filename.dirname !xml_file in
     let xml = Fp_proc.process_includes dir xml in
-    (*** prerr_endline (Xml.to_string_fmt xml); prerr_endline "\n\n\n"; ***)
     let xml = Fp_proc.process_relative_waypoints xml in
     let waypoints = ExtXml.child xml "waypoints"
     and blocks = Xml.children (ExtXml.child xml "blocks") in
@@ -474,9 +535,9 @@ let _ =
       lprintf "};\n";
       Xml2h.define "NB_WAYPOINT" (string_of_int (List.length waypoints));
 
-      Xml2h.define "GROUND_ALT" (string_of_float !ground_alt);
+      Xml2h.define "GROUND_ALT" (sof !ground_alt);
-      Xml2h.define "SECURITY_ALT" (string_of_float (!security_height +. !ground_alt));
+      Xml2h.define "SECURITY_ALT" (sof (!security_height +. !ground_alt));
-      Xml2h.define "MAX_DIST_FROM_HOME" (string_of_float mdfh);
+      Xml2h.define "MAX_DIST_FROM_HOME" (sof mdfh);
       
       let index_of_waypoints =
 	let i = ref (-1) in
@@ -489,3 +550,4 @@ let _ =
   with
     Xml.Error e -> prerr_endline (Xml.error e); exit 1
   | Dtd.Prove_error e ->  prerr_endline (Dtd.prove_error e); exit 1
+

sw/tools/gen_radio.ml

@@ -30,28 +30,83 @@ open Xml2h
 let h_name = "RADIO_H"
 
 let fos = float_of_string
+type us = int
 
-type channel = { min : string; max : string; neutral : string; averaged : string }
+type channel = { 
+    name : string;
+    min : us; 
+    max : us; 
+    neutral : us; 
+    averaged : bool }
 
-let default_neutral = "1600"
+
-let default_min = "1000"
+(* Characters used in Gen_airframe.pprz_value *)
-let default_max = "2200"
+let check_function_name = fun s ->
+  for i = 0 to String.length s - 1 do
+    match s.[i] with
+      'A'..'Z' | '0'..'9' | '_' -> ()
+    | _ ->
+	failwith (sprintf "Character '%c' not allowed in function name '%s'" s.[i] s)
+  done
 
 let parse_channel =
   let no_channel = ref 0 in
   fun c ->
+    let name = ExtXml.attrib c "function"  in
+    check_function_name name;
     let ctl = "RADIO_CTL_"^ExtXml.attrib c "ctl"
-    and fct = "RADIO_" ^ ExtXml.attrib c "function" in
+    and fct = "RADIO_" ^ name in
     define ctl (string_of_int !no_channel);
     define fct ctl;
     no_channel := !no_channel + 1;
-    { min = ExtXml.attrib_or_default c "min" default_min;
+    let int_attrib = fun x -> int_of_string (ExtXml.attrib c x) in
-      neutral = ExtXml.attrib_or_default c "neutral" default_neutral;
+    { min = int_attrib "min";
-      max = ExtXml.attrib_or_default c "max" default_max;
+      neutral = int_attrib "neutral";
-      averaged = ExtXml.attrib_or_default c "average" "0"
+      max = int_attrib "max";
+      averaged = ExtXml.attrib_or_default c "average" "0" <> "0";
+      name = name
     }
 
 
+let gen_last_radio_from_ppm = fun channels ->
+  printf "#define LastRadioFromPpm() {\\\n";
+  printf "  static uint8_t avg_cpt = 0; /* Counter for averaging */\\\n";
+  printf "   int16_t tmp_radio;\\\n";
+  List.iter
+    (fun c ->
+      printf "  tmp_radio = ppm_pulses[RADIO_%s] - (CLOCK*%d);\\\n" c.name c.neutral;
+      let period = if c.averaged then "AVERAGING_PERIOD" else "1" in
+      let value, min_pprz = 
+	if c.neutral = c.min then
+	  sprintf "tmp_radio * (MAX_PPRZ / %s / (float)(CLOCK*(%d-%d)))" period c.max c.min, "0"
+	else
+	  sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/%s/(float)(CLOCK*(%d-%d))) : (MIN_PPRZ/%s/(float)(CLOCK*(%d-%d))))" period c.max c.neutral period c.min c.neutral, "MIN_PPRZ" in
+      if c.averaged then begin
+	printf "  avg_last_radio[RADIO_%s] += %s;\\\n" c.name value
+      end else begin
+	printf "  last_radio[RADIO_%s] = %s;\\\n" c.name value;
+	printf "  if (last_radio[RADIO_%s] > MAX_PPRZ) last_radio[RADIO_%s] = MAX_PPRZ;\\\n else if (last_radio[RADIO_%s] < %s) last_radio[RADIO_%s] = %s; \\\n\\\n" c.name c.name c.name min_pprz c.name min_pprz;
+      end
+      )
+    channels;
+  printf "avg_cpt++;\\\n";
+  printf "  if (avg_cpt == AVERAGING_PERIOD) {\\\n";
+  printf "    avg_cpt = 0;\\\n";
+  List.iter
+    (fun c ->
+      if c.averaged then begin
+	printf "    last_radio[RADIO_%s] = avg_last_radio[RADIO_%s];\\\n" c.name c.name;
+	printf "    avg_last_radio[RADIO_%s] = 0;\\\n" c.name;
+	printf "  if (last_radio[RADIO_%s] > MAX_PPRZ) last_radio[RADIO_%s] = MAX_PPRZ;\\\n else if (last_radio[RADIO_%s] < MIN_PPRZ) last_radio[RADIO_%s] = MIN_PPRZ; \\\n\\\n" c.name c.name c.name c.name;
+      end
+    )
+    channels;
+  printf "    last_radio_contains_avg_channels = TRUE;\\\n";
+  printf " }\\\n";
+  printf "}\n"
+
+
+
 let _ =
   if Array.length Sys.argv < 2 then
     failwith "Usage: gen_radio xml_file";
@@ -71,19 +126,19 @@ let _ =
   define "RADIO_CTL_NB" (string_of_int (List.length channels));
   nl ();
   
-  (* For compatibility *)
-  define "PPM_PULSE_NEUTRAL_US" default_neutral;
-  nl ();
   let channels_params = List.map parse_channel channels in 
   nl ();
-  define "RADIO_MINS_US" (sprint_float_array (List.map (fun x -> x.min) channels_params));
+  
-  define "RADIO_NEUTRALS_US" (sprint_float_array (List.map (fun x -> x.neutral) channels_params));
+  let ppm_min = ExtXml.attrib xml "min" in
-  define "RADIO_MAXS_US" (sprint_float_array (List.map (fun x -> x.max) channels_params));
+  let ppm_max = ExtXml.attrib xml "max" in
-  define "RADIO_AVERAGED" (sprint_float_array (List.map (fun x -> x.averaged) channels_params));
+  let ppm_sync= ExtXml.attrib xml "sync" in
-  define "RADIO_NEUTRALS_PPM" (sprint_float_array (List.map (fun x -> string_of_int ((int_of_string x.neutral)*16)) channels_params));
+
-  define "RADIO_TRAVEL_PPM" (sprint_float_array (List.map (fun x -> string_of_float (9600. *. 2. /. (float ((int_of_string x.max) - (int_of_string x.min))) /. 16.)) channels_params));
+  printf "#define PPM_MIN_PULSE_WIDTH %sul*CLOCK\n" ppm_min;
+  printf "#define PPM_MAX_PULSE_WIDTH %sul*CLOCK\n" ppm_max;
+  printf "#define PPM_SYNC_PULSE (uint8_t)(((uint32_t)(%sul*CLOCK))/1024ul)\n" ppm_sync;
   nl ();
-  define "AveragedChannel(ch)" "(((int[])RADIO_AVERAGED)[ch])";
+
+  gen_last_radio_from_ppm channels_params;
   
   printf "\n#endif // %s\n" h_name