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[gps][sim] separate gps_sim and gps_nps modules

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This commit is contained in:
Felix Ruess
2016-04-23 16:21:10 +02:00
parent 8afa5f01b2
commit 2374f82a98
14 changed files with 75 additions and 98 deletions
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conf/airframes/examples/quadrotor_lisa_mx.xml
+1
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@@ -17,6 +17,7 @@
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="gps" type="nps"/>
</target>
<module name="radio_control" type="spektrum">
conf/modules/gps_furuno.xml
-12
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@@ -49,16 +49,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_mediatek_diy.xml
-12
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@@ -45,16 +45,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_nmea.xml
-12
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@@ -45,16 +45,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_nps.xml
+22
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@@ -0,0 +1,22 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_nps">
<doc>
<description>
Simulated GPS for NPS.
For NPS simulator. Can model GPS noise, bias and latency.
The GPS sensor configuration is done in the header file referenced by NPS_SENSORS_PARAMS.
</description>
</doc>
<header>
<file name="gps.h" dir="subsystems"/>
</header>
<init fun="gps_nps_init()"/>
<!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
</module>
conf/modules/gps_piksi.xml
-12
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@@ -49,16 +49,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_sim.xml
+21
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@@ -0,0 +1,21 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_sim">
<doc>
<description>
Simulated GPS
For simple fixedwing OCaml simulator. Does not model any GPS inaccuracies/noise.
</description>
</doc>
<header>
<file name="gps.h" dir="subsystems"/>
</header>
<init fun="gps_sim_init()"/>
<!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_sim_hitl.xml
+28
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@@ -0,0 +1,28 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_sim_hitl">
<doc>
<description>
Sim HITL GPS
Simulate GPS for HITL (HardwareInTheLoop) from rotorcrafts horizontal/vertical reference system.
</description>
<configure name="GPS_LED" value="2" description="LED number to indicate fix or none"/>
</doc>
<header>
<file name="gps.h" dir="subsystems"/>
</header>
<init fun="gps_sim_hitl_init()"/>
<!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
<event fun="gps_sim_hitl_event()"/>
<makefile target="ap" firmware="rotorcraft">
<configure name="GPS_LED" default="none"/>
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_hitl.c" dir="subsystems/gps"/>
<define name="HITL"/>
<define name="USE_GPS"/>
<define name="GPS_LED" value="$(GPS_LED)" cond="ifneq ($(GPS_LED),none)"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_hitl.h" type="string"/>
</makefile>
</module>
conf/modules/gps_sirf.xml
-12
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@@ -45,16 +45,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_skytraq.xml
-12
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@@ -45,16 +45,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_ublox.xml
-12
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@@ -46,17 +46,5 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
conf/modules/gps_ubx_i2c.xml
+2 -1
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@@ -4,6 +4,7 @@
<doc>
<description>
U-blox GPS (I2C)
Extends the gps_ublox to provide I2C connectivity.
</description>
<configure name="GPS_UBX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c1)"/>
</doc>
@@ -17,7 +18,7 @@
<periodic fun="gps_ubx_i2c_periodic()" freq="10."/>
<event fun="GpsUbxi2cEvent()"/>
<makefile>
<makefile target="ap">
<configure name="GPS_UBX_I2C_DEV" default="i2c1" case="upper|lower"/>
<define name="USE_$(GPS_UBX_I2C_DEV_UPPER)"/>
<define name="GPS_UBX_I2C_DEV" value="$(GPS_UBX_I2C_DEV_LOWER)"/>
conf/modules/gps_udp.xml
-12
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@@ -38,16 +38,4 @@
endif
</raw>
</makefile>
<makefile target="nps">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim_nps.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
</makefile>
<makefile target="sim">
<file name="gps.c" dir="subsystems"/>
<file name="gps_sim.c" dir="subsystems/gps"/>
<define name="USE_GPS"/>
<define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
</makefile>
</module>
sw/airborne/subsystems/gps/gps_sim_nps.h
+1 -1
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@@ -11,6 +11,6 @@ extern bool gps_has_fix;
extern void gps_feed_value();
extern void gps_nps_impl_init();
extern void gps_nps_init();
#endif /* GPS_SIM_NPS_H */