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This commit is contained in:
Pascal Brisset
2006-08-26 21:21:55 +00:00
parent dfc179225b
commit 28582042f2
27 changed files with 307 additions and 390 deletions
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Makefile
+36 -70
View File
@@ -38,8 +38,15 @@ MULTIMON=sw/ground_segment/multimon
VISU3D=sw/ground_segment/visu3d VISU3D=sw/ground_segment/visu3d
LOGALIZER=sw/logalizer LOGALIZER=sw/logalizer
SIMULATOR=sw/simulator SIMULATOR=sw/simulator
SUPERVISION=sw/supervision/paparazzi.pl MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
MAKE=make CONF=$(PAPARAZZI_SRC)/conf
STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
MESSAGES_H=$(STATICINCLUDE)/messages.h
MESSAGES_FBW_H=$(STATICINCLUDE)/messages_fbw.h
UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
all: static all: static
@@ -52,15 +59,7 @@ conf/%.xml :conf/%.xml.example
[ -L $@ ] || [ -f $@ ] || cp $< $@ [ -L $@ ] || [ -f $@ ] || cp $< $@
demo: static ac1 ac2 ac3 demo: static
PAPARAZZI_HOME=$(PAPARAZZI_SRC) PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(SUPERVISION)
ac1 : conf sim_static
make AIRCRAFT=Twin1 PAPARAZZI_HOME=$(PAPARAZZI_SRC) sim
ac2 : conf sim_static
make AIRCRAFT=Twin2 PAPARAZZI_HOME=$(PAPARAZZI_SRC) sim
ac3 : conf sim_static
make AIRCRAFT=Twin3 PAPARAZZI_HOME=$(PAPARAZZI_SRC) sim
lib: lib:
cd $(LIB)/ocaml; $(MAKE) cd $(LIB)/ocaml; $(MAKE)
@@ -86,63 +85,29 @@ multimon:
visu3d: lib visu3d: lib
cd $(VISU3D); $(MAKE) cd $(VISU3D); $(MAKE)
%.compile: ac_h static_h : $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
cd $(AIRBORNE); $(MAKE) TARGET=$* all
%.wr_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* wr_fuses
%.rd_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* rd_fuses
%.check_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* check_fuses
%.erase: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* erase
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
sim: ac_h sim_static
cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim all
fbw : fbw.compile
ap: ap.compile
upload_fbw: fbw.upload
upload_ap: ap.upload
erase_fbw: fbw.erase
erase_ap: ap.erase
wr_fuses_ap: ap.wr_fuses $(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) $(TOOLS)/gen_messages.out
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
$(Q)mv /tmp/msg.h $@
$(Q)chmod a+r $@
wr_fuses_fbw: fbw.wr_fuses $(UBX_PROTOCOL_H) : $(UBX_XML)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
$(Q)mv /tmp/ubx.h $@
rd_fuses_ap: ap.rd_fuses $(DL_PROTOCOL_H) : $(MESSAGES_XML)
@echo BUILD $@
rd_fuses_fbw: fbw.rd_fuses $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $< datalink > /tmp/dl.h
$(Q)mv /tmp/dl.h $@
check_fuses_ap: ap.check_fuses
check_fuses_fbw: fbw.check_fuses
static_h :
PAPARAZZI_HOME=`pwd` PAPARAZZI_SRC=`pwd` make -f Makefile.gen
ac_h : tools static_h
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo BUILD $(AIRCRAFT)
$(Q)PAPARAZZI_HOME=`pwd` PAPARAZZI_SRC=`pwd` Q=$(Q) $(TOOLS)/gen_aircraft.out $(AIRCRAFT)
hard_ac: ac_h fbw ap
ac: hard_ac
include Makefile.ac
sim : sim_static
ac_h : tools static_h
##### preliminary hard wired arm7 bootloader rules ##### preliminary hard wired arm7 bootloader rules
# #
@@ -164,27 +129,28 @@ doxygen:
mkdir -p dox mkdir -p dox
doxygen Doxyfile doxygen Doxyfile
clean_ac :
rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
run_sitl : run_sitl :
$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
install : install :
make -f conf/Makefile.install PREFIX=$(PREFIX) make -f Makefile.install PREFIX=$(PREFIX)
uninstall : uninstall :
make -f conf/Makefile.install PREFIX=$(PREFIX) uninstall make -f Makefile.install PREFIX=$(PREFIX) uninstall
DISTRO=etch DISTRO=sarge
deb : deb :
chmod u+x debian/rules chmod u+x debian/rules
cp debian/control.$(DISTRO) debian/control cp debian/control.$(DISTRO) debian/control
cp debian/changelog.$(DISTRO) debian/changelog cp debian/changelog.$(DISTRO) debian/changelog
dpkg-buildpackage -rfakeroot dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
fast_deb:
make deb OCAMLC=ocamlc.opt DEBFLAGS=-b
clean: clean:
rm -fr dox rm -fr dox
rm -f $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \; find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \;
find . -name '*~' -exec rm -f {} \; find . -name '*~' -exec rm -f {} \;
Makefile.ac
+80 -5
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@@ -21,10 +21,13 @@
# Preprocessing of XML configuration files # Preprocessing of XML configuration files
PAPARAZZI_SRC=$(shell pwd)
include conf/Makefile.local include conf/Makefile.local
CONF=$(PAPARAZZI_HOME)/conf CONF=$(PAPARAZZI_HOME)/conf
CONF_XML=$(CONF)/conf.xml CONF_XML=$(CONF)/conf.xml
AIRBORNE=sw/airborne
MESSAGES_XML = $(CONF)/messages.xml MESSAGES_XML = $(CONF)/messages.xml
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT) ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
AIRFRAME_H=$(ACINCLUDE)/airframe.h AIRFRAME_H=$(ACINCLUDE)/airframe.h
@@ -34,13 +37,42 @@ FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
SETTINGS_H=$(ACINCLUDE)/settings.h SETTINGS_H=$(ACINCLUDE)/settings.h
MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
ifeq ($(PAPARAZZI_SRC),/usr/share/paparazzi)
SUPERVISION=paparazzi
else
SUPERVISION=sw/supervision/paparazzi.pl
endif
MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
# "make Q=''" to get full echo # "make Q=''" to get full echo
Q=@ Q=@
all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H) help:
@echo "'paparazzi-make init' to init your configuration"
@echo "'paparazzi-make demo' to compile demo aircraft and simulate them"
@echo "'paparazzi-make AIRCRAFT=<ac_name> [sim|ap.<action>|fbw.<action>|clean_ac]' where <action> is 'compile' or 'upload'"
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML) init:
@echo "Copying config example in your $(PAPARAZZI_HOME) directory"
@mkdir -p $(PAPARAZZI_HOME)
cp -a conf $(PAPARAZZI_HOME)
cp -a data $(PAPARAZZI_HOME)
demo: ac1 ac2 ac3
PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(SUPERVISION)
ac1 :
make -f Makefile.ac AIRCRAFT=Twin1 sim
ac2 :
make -f Makefile.ac AIRCRAFT=TJ1 sim
ac3 :
make -f Makefile.ac AIRCRAFT=MJ5 sim
all_ac_h: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML)
@echo BUILD $@ @echo BUILD $@
$(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $< > /tmp/airframe.h $(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $< > /tmp/airframe.h
$(Q)mv /tmp/airframe.h $@ $(Q)mv /tmp/airframe.h $@
@@ -70,9 +102,52 @@ $(SETTINGS_H) : $(CONF)/$(SETTINGS) $(CONF_XML) $(TOOLS)/gen_settings.out
$(Q)$(TOOLS)/gen_settings.out $< > $@ $(Q)$(TOOLS)/gen_settings.out $< > $@
$(Q)chmod a+r $@ $(Q)chmod a+r $@
$(MAKEFILE_AC) : $(CONF)/$(AIRFRAME) $(MAKEFILE_AC) : $(CONF)/$(AIRFRAME_XML)
@echo BUILD $@ @echo BUILD $@
$(Q)$(TOOLS)/extract_makefile.out $< > $@ $(Q)$(TOOLS)/extract_makefile.out $< > $@
clean :
rm -f $(ACINCLUDE)/*.h ac_h :
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo BUILD $(AIRCRAFT)
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) Q=$(Q) $(TOOLS)/gen_aircraft.out $(AIRCRAFT)
%.compile: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=$* all
%.wr_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* wr_fuses
%.rd_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* rd_fuses
%.check_fuses: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* check_fuses
%.erase: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* erase
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
sim: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim all
# Rules for backward compatibility (old guys are used to !)
fbw : fbw.compile
ap: ap.compile
upload_fbw: fbw.upload
upload_ap: ap.upload
erase_fbw: fbw.erase
erase_ap: ap.erase
wr_fuses_ap: ap.wr_fuses
wr_fuses_fbw: fbw.wr_fuses
rd_fuses_ap: ap.rd_fuses
rd_fuses_fbw: fbw.rd_fuses
check_fuses_ap: ap.check_fuses
check_fuses_fbw: fbw.check_fuses
hard_ac ac: ac_h fbw ap
clean_ac :
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
Makefile.gen
-61
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@@ -1,61 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Paparazzi main $Id$
# Copyright (C) 2004-2006 Pascal Brisset Antoine Drouin
#
# 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.
# Preprocessing of XML configuration files
# Quiet compilation
Q=@
include conf/Makefile.local
CONF=conf
XML_GET=sw/lib/ocaml/xml_get.out
STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
MESSAGES_H=$(STATICINCLUDE)/messages.h
MESSAGES_FBW_H=$(STATICINCLUDE)/messages_fbw.h
UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
static: $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) $(TOOLS)/gen_messages.out
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)$(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
$(Q)mv /tmp/msg.h $@
$(Q)chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML)
@echo BUILD $@
$(Q)$(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
$(Q)mv /tmp/ubx.h $@
$(DL_PROTOCOL_H) : $(MESSAGES_XML)
@echo BUILD $@
$(Q)$(TOOLS)/gen_messages.out $< datalink > /tmp/dl.h
$(Q)mv /tmp/dl.h $@
clean :
rm -f $(H_OF_XML)
Makefile.install
+93
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@@ -0,0 +1,93 @@
# Hey Emacs, this is a -*- makefile -*-
PREFIX=/usr
DESTDIR=$(PREFIX)/share/paparazzi
install: install_data install_conf install_bin install_libs install_tools install_airborne_sources
install_data:
install -d $(DESTDIR)/data/maps
install data/maps/*.xml data/maps/*.gif data/maps/*.png $(DESTDIR)/data/maps
install -d $(DESTDIR)/data/pictures
install data/pictures/*.gif data/pictures/*.svg data/pictures/*.jpg $(DESTDIR)/data/pictures
install -d $(DESTDIR)/data/srtm
install data/srtm/N43E001.hgt.bz2 $(DESTDIR)/data/srtm
install_conf:
install -d $(DESTDIR)/conf
install conf/conf.xml.example $(DESTDIR)/conf/conf.xml
install conf/control_panel.xml.example $(DESTDIR)/conf/control_panel.xml
install conf/messages.xml $(DESTDIR)/conf/
install conf/messages.dtd $(DESTDIR)/conf/
install conf/gui.xml $(DESTDIR)/conf/
cp -a conf/airframes $(DESTDIR)/conf/
cp -a conf/autopilot $(DESTDIR)/conf/
cp -a conf/flight_plans $(DESTDIR)/conf/
cp -a conf/gps $(DESTDIR)/conf/
cp -a conf/radios $(DESTDIR)/conf/
cp -a conf/telemetry $(DESTDIR)/conf/
cp -a conf/settings $(DESTDIR)/conf/
cp -a conf/gcs $(DESTDIR)/conf/
install_bin:
install -d $(PREFIX)/bin/
install sw/supervision/paparazzi.pl $(PREFIX)/bin/paparazzi
install paparazzi-make $(PREFIX)/bin/
install -d $(DESTDIR)/sw/simulator
install sw/simulator/gaia $(DESTDIR)/sw/simulator
install sw/simulator/simsitl.pl $(DESTDIR)/sw/simulator
install -d $(DESTDIR)/sw/ground_segment/cockpit
install -d $(DESTDIR)/sw/ground_segment/tmtc
install sw/ground_segment/cockpit/gcs $(DESTDIR)/sw/ground_segment/cockpit
install sw/ground_segment/tmtc/server $(DESTDIR)/sw/ground_segment/tmtc
install sw/ground_segment/tmtc/link $(DESTDIR)/sw/ground_segment/tmtc
install sw/ground_segment/tmtc/messages $(DESTDIR)/sw/ground_segment/tmtc
install -d $(DESTDIR)/sw/logalizer
install sw/logalizer/play $(DESTDIR)/sw/logalizer
install sw/logalizer/plot.pl $(DESTDIR)/sw/logalizer
install_libs:
install -d $(PREFIX)/lib/perl5/Paparazzi
install sw/lib/perl/Paparazzi/*.pm $(PREFIX)/lib/perl5/Paparazzi
install sw/supervision/Paparazzi/*.pm $(PREFIX)/lib/perl5/Paparazzi
install -d $(DESTDIR)/sw/lib/ocaml
install sw/lib/ocaml/*.cma $(DESTDIR)/sw/lib/ocaml
install sw/lib/ocaml/*.so $(DESTDIR)/sw/lib/ocaml
install sw/lib/ocaml/*.a $(DESTDIR)/sw/lib/ocaml
install sw/lib/ocaml/*.cmi $(DESTDIR)/sw/lib/ocaml
install_tools:
install Makefile.ac $(DESTDIR)
install -d $(DESTDIR)/sw/tools/
install conf/Makefile* $(DESTDIR)/conf
install sw/tools/*.out $(DESTDIR)/sw/tools/
install sw/tools/extract_makefile.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_aircraft.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_airframe.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_flight_plan.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_messages.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_periodic.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_radio.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/
install sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/
install -d $(DESTDIR)/sw/simulator
install sw/simulator/sitl.cma $(DESTDIR)/sw/simulator
install sw/simulator/simsitl.ml $(DESTDIR)/sw/simulator
install sw/simulator/sim.cmi $(DESTDIR)/sw/simulator
install sw/simulator/sitl.cmi $(DESTDIR)/sw/simulator
install sw/simulator/libsitl.a $(DESTDIR)/sw/simulator
install_airborne_sources:
install -d $(DESTDIR)/sw/
cp -a sw/airborne $(DESTDIR)/sw
install -d $(DESTDIR)/sw/include
install sw/include/std.h $(DESTDIR)/sw/include
install var/include/*.h $(DESTDIR)/sw/include
install_skel:
# cp -a conf $(DESTDIR)/
# cp -a data $(DESTDIR)/
# install -d $(DESTDIR)/var
conf/Makefile.install
-88
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@@ -1,88 +0,0 @@
PREFIX=/usr
DESTDIR=$(PREFIX)/share/paparazzi
install: install_demo install_data install_conf install_bin install_libs install_tools install_airborne_sources
install_demo:
install -d $(DESTDIR)/var
cp -a var/Twin1 $(DESTDIR)/var
cp -a var/Twin2 $(DESTDIR)/var
cp -a var/Twin3 $(DESTDIR)/var
install_data:
install -d $(DESTDIR)/data/maps
install -t $(DESTDIR)/data/maps data/maps/*.xml
install -t $(DESTDIR)/data/maps data/maps/*.gif
install -d $(DESTDIR)/data/pictures
install -t $(DESTDIR)/data/pictures data/pictures/*.gif
install -t $(DESTDIR)/data/pictures data/pictures/*.svg
install -t $(DESTDIR)/data/pictures data/pictures/*.jpg
install -d $(DESTDIR)/data/srtm
install -t $(DESTDIR)/data/srtm data/srtm/N43E001.hgt.bz2
install_conf:
install -d $(DESTDIR)/conf
install conf/conf.xml.example $(DESTDIR)/conf/conf.xml
install conf/control_panel.xml.example.sys $(DESTDIR)/conf/control_panel.xml
install conf/messages.xml $(DESTDIR)/conf/
install conf/messages.dtd $(DESTDIR)/conf/
install conf/gui.xml $(DESTDIR)/conf/
install conf/Makefile.install $(DESTDIR)/conf/
cp -a conf/airframes $(DESTDIR)/conf/
cp -a conf/autopilot $(DESTDIR)/conf/
cp -a conf/flight_plans $(DESTDIR)/conf/
cp -a conf/gps $(DESTDIR)/conf/
cp -a conf/radios $(DESTDIR)/conf/
cp -a conf/telemetry $(DESTDIR)/conf/
install_bin:
install -d $(PREFIX)/bin/
install sw/supervision/paparazzi.pl $(PREFIX)/bin/paparazzi
install -d $(DESTDIR)/bin/
install sw/simulator/gaia $(DESTDIR)/bin/
install sw/simulator/simsitl.pl $(DESTDIR)/bin/
install sw/ground_segment/cockpit/gcs $(DESTDIR)/bin/
install sw/ground_segment/tmtc/server $(DESTDIR)/bin/
install sw/ground_segment/tmtc/link $(DESTDIR)/bin/
install sw/ground_segment/tmtc/messages $(DESTDIR)/bin/
install sw/logalizer/play $(DESTDIR)/bin/
install sw/logalizer/plot.pl $(DESTDIR)/bin/
install_libs:
install -d $(PREFIX)/lib/perl5/Paparazzi
install sw/lib/perl/Paparazzi/*.pm $(PREFIX)/lib/perl5/Paparazzi
install sw/supervision/Paparazzi/*.pm $(PREFIX)/lib/perl5/Paparazzi
install -d $(DESTDIR)/sw/lib/ocaml
install -t $(DESTDIR)/sw/lib/ocaml sw/lib/ocaml/*.cma
install -t $(DESTDIR)/sw/lib/ocaml sw/lib/ocaml/*.so
install -t $(DESTDIR)/sw/lib/ocaml sw/lib/ocaml/*.a
install -t $(DESTDIR)/sw/lib/ocaml sw/lib/ocaml/*.cmi
install_tools:
install -t $(DESTDIR) Makefile*
install -d $(DESTDIR)/sw/tools/
install -t $(DESTDIR)/conf conf/Makefile*
install -t $(DESTDIR)/bin/ sw/tools/*.out
install -t $(DESTDIR)/bin/ sw/tools/extract_makefile.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_aircraft.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_airframe.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_flight_plan.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_messages.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_periodic.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_radio.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_settings.ml
install -t $(DESTDIR)/bin/ sw/tools/gen_ubx.ml
install -d $(DESTDIR)/sw/simulator
install -t $(DESTDIR)/sw/simulator sw/simulator/Makefile
install_airborne_sources:
install -d $(DESTDIR)/sw/
cp -a sw/airborne $(DESTDIR)/sw
install_skel:
# cp -a conf $(DESTDIR)/
# cp -a data $(DESTDIR)/
# install -d $(DESTDIR)/var
conf/Makefile.sim
+1 -1
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@@ -30,7 +30,7 @@
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/sim SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/sim
CC = gcc CC = gcc
OCAMLC = ocamlc OCAMLC = ocamlc -g
SIMDIR = $(PAPARAZZI_SRC)/sw/simulator SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
CAMLINCLUDES = -I +lablgtk2 -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) CAMLINCLUDES = -I +lablgtk2 -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR)
SIMSITLML = $(OBJDIR)/simsitl.ml SIMSITLML = $(OBJDIR)/simsitl.ml
conf/airframes/microjet5.xml
-6
View File
@@ -116,12 +116,6 @@
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
</section> </section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="2."/>
<define name="YAW_RESPONSE_FACTOR" value="1.35"/>
<define name="WEIGHT" value="1.3"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="CLIMB_GAZ" value="0.95"/><!-- Gaz for Aggressive Climb --> <define name="CLIMB_GAZ" value="0.95"/><!-- Gaz for Aggressive Climb -->
<define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent --> <define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent -->
conf/airframes/twinjet1.xml
-2
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@@ -125,8 +125,6 @@
</section> </section>
<section name="SIMU"> <section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="2."/>
<define name="YAW_RESPONSE_FACTOR" value="1.25"/>
<define name="WEIGHT" value="1.3"/> <define name="WEIGHT" value="1.3"/>
</section> </section>
conf/conf.xml.example
+12 -9
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@@ -43,7 +43,7 @@
airframe="airframes/microjet1.xml" airframe="airframes/microjet1.xml"
radio="radios/cockpitMM.xml" radio="radios/cockpitMM.xml"
telemetry="telemetry/default.xml" telemetry="telemetry/default.xml"
flight_plan="flight_plans/dummy.xml" flight_plan="flight_plans/muret_demo_1.xml"
/> />
<aircraft <aircraft
@@ -91,7 +91,8 @@
airframe="airframes/twinjet1.xml" airframe="airframes/twinjet1.xml"
radio="radios/cockpitMM.xml" radio="radios/cockpitMM.xml"
telemetry="telemetry/default.xml" telemetry="telemetry/default.xml"
flight_plan="flight_plans/dummy.xml" flight_plan="flight_plans/generic.xml"
settings="settings/tuning.xml"
/> />
<!-- tiny testbench --> <!-- tiny testbench -->
@@ -104,6 +105,15 @@
flight_plan="flight_plans/dummy.xml" flight_plan="flight_plans/dummy.xml"
/> />
<aircraft
name="MJ5"
ac_id="12"
airframe="airframes/microjet5.xml"
radio="radios/cockpitMM.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/muret_demo_1.xml"
/>
<!-- classix testbench --> <!-- classix testbench -->
<aircraft <aircraft
name="TS5" name="TS5"
@@ -113,11 +123,4 @@
telemetry="telemetry/default.xml" telemetry="telemetry/default.xml"
flight_plan="flight_plans/dummy.xml" flight_plan="flight_plans/dummy.xml"
/> />
<ground name="desktop" ivy_bus="127:2010">
<link name="downlink" port="/dev/ttyS0" protocol="pprz/modem"/>
<link name="datalink" port="/dev/ttyS1" protocol="pprz/coronis"/>
<link name="ap" port="/dev/ttyS1" protocol="pprz"/>
<link name="fbw" port="/dev/ttyS0" protocol="pprz"/>
</ground>
</conf> </conf>
conf/control_panel.xml.example
+29 -19
View File
@@ -15,40 +15,38 @@
<program name="server" command="sw/ground_segment/tmtc/server"> <program name="server" command="sw/ground_segment/tmtc/server">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="link" command="sw/ground_segment/tmtc/link"> <program name="link" command="sw/ground_segment/tmtc/link">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="gcs" command="sw/ground_segment/cockpit/gcs"> <program name="gcs" command="sw/ground_segment/cockpit/gcs">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="map 3d" command="sw/ground_segment/visu3d/mapGL">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-m" variable="map"/>
<arg flag="-f" variable="flight_plan"/>
</program>
<program name="messages" command="sw/ground_segment/tmtc/messages"> <program name="messages" command="sw/ground_segment/tmtc/messages">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="speech" command="sw/ground_segment/speech/paparazzi_speak.pl">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="wind" command ="sw/ground_segment/wind/wind">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="plot" command ="sw/logalizer/plot.pl"/> <program name="plot" command ="sw/logalizer/plot.pl"/>
<program name="play" command="sw/logalizer/play"> <program name="play" command="sw/logalizer/play">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="sim" command="sw/simulator/simsitl.pl"> <program name="sim" command="sw/simulator/simsitl.pl">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="hitl" command="sw/simulator/simhitl"> <program name="hitl" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/> <arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/> <arg flag="-ap" variable="ap_serial_port"/>
</program> </program>
<program name="gaia" command="sw/simulator/gaia"> <program name="gaia" command="sw/simulator/gaia">
<arg flag="-b" variable="ivy_bus"/> <arg flag="-b" variable="ivy_bus"/>
</program> </program>
<program name="http server" command="sw/ground_segment/tmtc/boa"/> <program name="http server" command="sw/ground_segment/tmtc/boa"/>
</section> </section>
@@ -57,11 +55,10 @@
<section name="sessions"> <section name="sessions">
<session name=" Sim1@Muret"> <session name="Muret sim">
<program name="server"><arg flag="-n"/></program> <program name="server"><arg flag="-n"/></program>
<program name="sim"><arg flag="-a" constant="Twin3"/></program> <program name="sim"><arg flag="-a" constant="MJ5"/></program>
<program name="gcs"> <program name="gcs">
<arg flag="-mercator" constant=""/>
<arg flag="-ref" constant="WGS84 43.4623 1.2730"/> <arg flag="-ref" constant="WGS84 43.4623 1.2730"/>
<arg flag="-center" constant="WGS84 43.4623 1.2730"/> <arg flag="-center" constant="WGS84 43.4623 1.2730"/>
<arg flag="-zoom" constant="0.75"/> <arg flag="-zoom" constant="0.75"/>
@@ -72,15 +69,28 @@
<session name="Generic sim"> <session name="Generic sim">
<program name="server"/> <program name="server"/>
<program name="gcs"> <program name="gcs">
<arg flag="-mercator" constant=""/>
<arg flag="-google_fill" constant=""/>
<arg flag="-center_ac" constant=""/>
<arg flag="-no_alarm" constant=""/>
<!-- <arg flag="-mplayer" constant="rtsp://localhost:7070/webcam"/> --> <!-- <arg flag="-mplayer" constant="rtsp://localhost:7070/webcam"/> -->
</program> </program>
<program name="sim"><arg flag="-a" constant="Plaster"/></program> <program name="sim"><arg flag="-a" constant="TJ1"/></program>
<program name="messages"><arg flag="-c" constant="telemetry:*"/><arg flag="-c" constant="ground:ground"/></program>
</session> </session>
<session name="Multi-A/C sim">
<program name="sim"><arg flag="-a" constant="MJ5"/></program>
<program name="sim"><arg flag="-a" constant="TJ1"/></program>
<program name="server"/>
<program name="gcs"/>
</session>
<session name="Generic flight">
<program name="link">
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-uplink" constant=""/>
</program>
<program name="server"/>
<program name="gcs"/>
</session>
</section> </section>
conf/control_panel.xml.example.sys
-89
View File
@@ -1,89 +0,0 @@
<?xml version="1.0"?>
<control_panel name="paparazzi control panel">
<section name="variables">
<variable name="render" value="1"/>
<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
<variable name="fbw_serial_port" value="/dev/ttyS1"/>
<variable name="ap_serial_port" value="/dev/ttyS0"/>
<variable name="ivy_bus" value="127:2010"/>
<variable name="map" value="muret_UTM.xml"/>
<variable name="flight_plan" value="flight_plans/muret1.xml"/>
</section>
<section name="programs">
<program name="server" command="bin/server">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="link" command="bin/link">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="cockpit" command="bin/cockpit.pl">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-r" variable="render"/>
</program>
<program name="map 2d" command="bin/map2d">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="map 3d" command="bin/mapGL">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-m" variable="map"/>
<arg flag="-f" variable="flight_plan"/>
</program>
<program name="messages" command="bin/messages">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="speech" command="bin/paparazzi_speak.pl">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="wind" command ="sw/ground_segment/wind/wind">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="plot" command ="sw/logalizer/plot.pl"/>
<program name="play" command="sw/logalizer/play">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="sim" command="bin/simsitl.pl">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="hitl" command="bin/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
</program>
<program name="gaia" command="bin/gaia">
<arg flag="-b" variable="ivy_bus"/>
</program>
<program name="configurator" command="sw/configurator/configurator"/>
<program name="medit" command="sw/configurator/medit"/>
<program name="make aircraft" command="sw/configurator/configurator"/>
<program name="http server" command="sw/ground_segment/tmtc/boa"/>
<program name="stereo" command="sw/ground_segment/tmtc/stereo_demod"/>
</section>
<section name="sessions">
<session name=" Sim1@Muret">
<program name="server"><arg flag="-n"/></program>
<program name="sim"><arg flag="-a" constant="Twin3"/></program>
<program name="cockpit">
<arg flag="-render" constant="0"/>
<arg flag="-vertical" constant="1"/>
</program>
<program name="map 2d">
<arg flag="-mercator" constant=""/>
<arg flag="-ref" constant="WGS84 43.46223 1.272890"/>
<arg flag="-center" constant="WGS84 43.4623 1.2730"/>
<arg flag="-zoom" constant="0.75"/>
<arg flag="-strip" constant=""/>
</program>
<program name="gaia"/>
</session>
</section>
</control_panel>
debian/changelog.etch
Vendored
+1 -1
View File
@@ -1,4 +1,4 @@
paparazzi (3.1-rc1) unstable; urgency=low paparazzi (3.1-2) unstable; urgency=low
* Introduction of binary package. * Introduction of binary package.
debian/changelog.sarge
Vendored
+7
View File
@@ -1,3 +1,10 @@
paparazzi (3.1-1) unstable; urgency=low
* Initial Release.
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 26 Aug 2006 22:28:35 +0200
paparazzi (1.0-3) unstable; urgency=low paparazzi (1.0-3) unstable; urgency=low
* Initial Release. * Initial Release.
debian/control.etch
Vendored
+3 -3
View File
@@ -8,9 +8,9 @@ Standards-Version: 3.6.1
Package: paparazzi-base Package: paparazzi-base
Architecture: any Architecture: any
Suggests: mlview, lustre, paparazzi-avr, paparazzi-arm Suggests: paparazzi-avr, paparazzi-arm7
Recommends: eagle, cvs, gs-common, tetex-extra, dia-gnome Recommends: eagle, cvs, gs-common, tetex-extra, dia-gnome
Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, libfile-ncopy-perl, libtext-csv-perl, make, gcc, patch, gnuplot, bzip2, boa, liblablgtk2-ocaml-dev, liblablgtk2-gl-ocaml-dev, liblablgtk2-gnome-ocaml-dev Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl
Description: Paparazzi Meta Package : common support Description: Paparazzi Meta Package : common support
@@ -28,6 +28,6 @@ Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin Package: paparazzi-bin
Architecture: i386 Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, zinc-perl, zinc-tk, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, liblablgtk2-ocaml-dev, gcc-avr, avr-libc, binutils-avr, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, uisp, libfile-ncopy-perl, libtext-csv-perl, digikit, make, gcc, patch, boa, dia-gnome, tetex-extra Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl
Description: Paparazzi main package Description: Paparazzi main package
debian/control.sarge
Vendored
+3 -3
View File
@@ -8,9 +8,9 @@ Standards-Version: 3.6.1
Package: paparazzi-base Package: paparazzi-base
Architecture: any Architecture: any
Suggests: mlview, lustre, paparazzi-avr, paparazzi-arm Suggests: paparazzi-arm7, paparazzi-avr
Recommends: eagle, cvs, gs-common, tetex-extra, dia-gnome Recommends: eagle, cvs, gs-common, tetex-extra, dia-gnome
Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, zinc-perl, zinc-tk, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, liblablgtk2-ocaml-dev, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, libfile-ncopy-perl, libtext-csv-perl, make, gcc, patch, gnuplot, digikit, bzip2, liblablgtk2-gnome-ocaml-dev, boa, bleriot-fonts Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl
Description: Paparazzi Meta Package : common support Description: Paparazzi Meta Package : common support
@@ -28,6 +28,6 @@ Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin Package: paparazzi-bin
Architecture: i386 Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, zinc-perl, zinc-tk, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, liblablgtk2-ocaml-dev, gcc-avr, avr-libc, binutils-avr, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, uisp, libfile-ncopy-perl, libtext-csv-perl, digikit, make, gcc, patch, boa, dia-gnome, tetex-extra Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl
Description: Paparazzi main package Description: Paparazzi main package
paparazzi-make
Executable
+3
View File
@@ -0,0 +1,3 @@
#!/bin/bash
make -C /usr/share/paparazzi -f Makefile.ac $*
sw/airborne/Makefile
+3 -1
View File
@@ -29,10 +29,12 @@ INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(P
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR) SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR)
ifneq ($(MAKECMDGOALS),clean)
include $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/Makefile.ac include $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/Makefile.ac
$(TARGET).srcs += $($(TARGET).EXTRA_SRCS) $(TARGET).srcs += $($(TARGET).EXTRA_SRCS)
include ../../conf/Makefile.local include ../../conf/Makefile.local
include ../../conf/Makefile.$(ARCHI) include ../../conf/Makefile.$(ARCHI)
endif
$(TARGET).install : warn_conf $(TARGET).install : warn_conf
@@ -46,4 +48,4 @@ warn_conf :
@echo @echo
clean : clean :
rm *~ rm -f *~
sw/ground_segment/cockpit/Makefile
+10 -8
View File
@@ -23,9 +23,11 @@
# Quiet compilation # Quiet compilation
Q=@ Q=@
OCAMLC=ocamlc -thread -I +xml-light OCAMLC=ocamlc
OCAMLOPT=ocamlopt -thread -I +xml-light OCAMLCFLAGS=-thread
INCLUDES=-I +lablgtk2 -I ../../lib/ocaml OCAMLOPT=ocamlopt -thread
OCAMLOPTFLAGS=-thread
INCLUDES=-I +lablgtk2 -I ../../lib/ocaml -I +xml-light
LIBS=glibivy-ocaml.cma lablgtk.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma LIBS=glibivy-ocaml.cma lablgtk.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma
CMXA=$(LIBS:.cma=.cmxa) CMXA=$(LIBS:.cma=.cmxa)
@@ -45,22 +47,22 @@ map2d : gcs
$(MAIN) : $(CMO) $(MAIN) : $(CMO)
@echo OL $@ @echo OL $@
$(Q)$(OCAMLC) -custom $(INCLUDES) $(LIBS) threads.cma gtkThread.cmo gtkInit.cmo $(CMO) -o $@ $(Q)$(OCAMLC) $(OCAMLCFLAGS) -custom $(INCLUDES) $(LIBS) threads.cma gtkThread.cmo gtkInit.cmo $(CMO) -o $@
$(MAIN).opt : $(CMX) $(MAIN).opt : $(CMX)
@echo OOL $@ @echo OOL $@
$(Q)$(OCAMLOPT) $(INCLUDES) str.cmxa unix.cmxa xml-light.cmxa $(LIBS:.cma=.cmxa) threads.cmxa gtkThread.cmx gtkInit.cmx $(CMX) -o $@ $(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) str.cmxa unix.cmxa xml-light.cmxa $(LIBS:.cma=.cmxa) threads.cmxa gtkThread.cmx gtkInit.cmx $(CMX) -o $@
%.cmo: %.ml ../../lib/ocaml/lib-pprz.cma ../../lib/ocaml/xlib-pprz.cma %.cmo: %.ml ../../lib/ocaml/lib-pprz.cma ../../lib/ocaml/xlib-pprz.cma
@echo OC $< @echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) -c $< $(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
%.cmi: %.mli ../../lib/ocaml/lib-pprz.cma ../../lib/ocaml/xlib-pprz.cma %.cmi: %.mli ../../lib/ocaml/lib-pprz.cma ../../lib/ocaml/xlib-pprz.cma
@echo OCI $< @echo OCI $<
$(Q)$(OCAMLC) $(INCLUDES) -c $< $(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
%.cmx: %.ml %.cmx: %.ml
@echo OOC $< @echo OOC $<
$(Q)$(OCAMLOPT) $(INCLUDES) -c $< $(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) -c $<
clean: clean:
sw/ground_segment/tmtc/server.ml
+1 -2
View File
@@ -691,8 +691,7 @@ let ivy_server = fun http ->
(* main loop *) (* main loop *)
let _ = let _ =
let xml_ground = ExtXml.child conf_xml "ground" in let ivy_bus = ref "127.255.255.255:2010"
let ivy_bus = ref (ExtXml.attrib xml_ground "ivy_bus")
and logging = ref true and logging = ref true
and http = ref false in and http = ref false in
sw/lib/perl/Paparazzi/Environment.pm
+3 -3
View File
@@ -16,9 +16,9 @@ if (defined $ENV{PAPARAZZI_SRC}) {
if (defined $ENV{PAPARAZZI_HOME}) { if (defined $ENV{PAPARAZZI_HOME}) {
$paparazzi_home = $ENV{PAPARAZZI_HOME} $paparazzi_home = $ENV{PAPARAZZI_HOME}
} }
else { #else {
$paparazzi_home = "/usr/share/paparazzi" unless defined $ENV{PAPARAZZI_SRC}; # $paparazzi_home = "/usr/share/paparazzi" unless defined $ENV{PAPARAZZI_SRC};
} #}
#print "\nEnvironment : "; #print "\nEnvironment : ";
#if (defined $paparazzi_src) { #if (defined $paparazzi_src) {
# print "source directory mode\n paparazzi_src $paparazzi_src\n"; # print "source directory mode\n paparazzi_src $paparazzi_src\n";
sw/simulator/Makefile
+4 -4
View File
@@ -32,9 +32,9 @@ SIMSCMO=$(SIMSML:%.ml=%.cmo)
SIMSCMX=$(SIMSML:%.ml=%.cmx) SIMSCMX=$(SIMSML:%.ml=%.cmx)
OCAMLC = ocamlc -I +xml-light OCAMLC = ocamlc -g
OCAMLOPT=ocamlopt -I +xml-light -p OCAMLOPT=ocamlopt
INCLUDES= -I +lablgtk2 -I ../lib/ocaml INCLUDES= -I +lablgtk2 -I ../lib/ocaml -I +xml-light
AIRBORNE = ../airborne AIRBORNE = ../airborne
VARINCLUDE=$(PAPARAZZI_HOME)/var/include VARINCLUDE=$(PAPARAZZI_HOME)/var/include
@@ -74,7 +74,7 @@ gaia : gaia.cmo
$(Q)$(OCAMLC) $(INCLUDES) -c $< $(Q)$(OCAMLC) $(INCLUDES) -c $<
clean : clean :
\rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia
# #
# Dependencies # Dependencies
sw/simulator/data.ml
-1
View File
@@ -32,7 +32,6 @@ let (//) = Filename.concat
let user_conf_path = Env.paparazzi_home // "conf" let user_conf_path = Env.paparazzi_home // "conf"
let conf_xml = Xml.parse_file (user_conf_path // "conf.xml") let conf_xml = Xml.parse_file (user_conf_path // "conf.xml")
let ground = ExtXml.child conf_xml "ground"
let messages_ap = let messages_ap =
(* let xml = Xml.parse_file (pprz_conf_path // "messages.xml") in *) (* let xml = Xml.parse_file (pprz_conf_path // "messages.xml") in *)
sw/simulator/data.mli
-1
View File
@@ -26,7 +26,6 @@
val user_conf_path : string val user_conf_path : string
val conf_xml : Xml.xml val conf_xml : Xml.xml
val ground : Xml.xml
val messages_ap : Xml.xml val messages_ap : Xml.xml
type aircraft = { type aircraft = {
name : string; name : string;
sw/simulator/flightModel.ml
+9 -6
View File
@@ -75,9 +75,6 @@ module Make(A:Data.MISSION) = struct
Not_found -> Not_found ->
failwith (Printf.sprintf "Child 'section' with 'name=%s' expected in '%s'\n" name (Xml.to_string A.ac.airframe)) failwith (Printf.sprintf "Child 'section' with 'name=%s' expected in '%s'\n" name (Xml.to_string A.ac.airframe))
let simu_section = section "SIMU"
let defined_value = fun sect name -> let defined_value = fun sect name ->
try try
(Xml.attrib (ExtXml.child sect ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value") (Xml.attrib (ExtXml.child sect ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value")
@@ -87,11 +84,17 @@ module Make(A:Data.MISSION) = struct
let float_value = fun section s -> float_of_string (defined_value section s) let float_value = fun section s -> float_of_string (defined_value section s)
let roll_response_factor = float_value simu_section "ROLL_RESPONSE_FACTOR" let simu_section =
try section "SIMU" with _ -> Xml.Element("", [], [])
let yaw_response_factor = float_value simu_section "YAW_RESPONSE_FACTOR" let roll_response_factor =
try float_value simu_section "ROLL_RESPONSE_FACTOR" with _ -> 10.
let weight = float_value simu_section "WEIGHT" let yaw_response_factor =
try float_value simu_section "YAW_RESPONSE_FACTOR" with _ -> 1.
let weight =
try float_value simu_section "WEIGHT" with _ -> 1.
let max_phi = 0.7 (* rad *) let max_phi = 0.7 (* rad *)
let bound = fun x mi ma -> if x > ma then ma else if x < mi then mi else x let bound = fun x mi ma -> if x > ma then ma else if x < mi then mi else x
sw/simulator/simsitl.pl
+1 -1
View File
@@ -21,7 +21,7 @@ my @args = ();
push @args, "-b", $options->{ivy_bus}; push @args, "-b", $options->{ivy_bus};
push @args, "-fg", $options->{fg} if defined $options->{fg}; push @args, "-fg", $options->{fg} if defined $options->{fg};
my $sim_binary = Paparazzi::Environment::paparazzi_home()."/var/".$options->{aircraft}."/sim/simsitl"; my $sim_binary = Paparazzi::Environment::paparazzi_home()."/var/".$options->{aircraft}."/sim/simsitl";
die "$sim_binary not found. try make AIRCRAFT=$options->{aircraft} ac\n" unless -e $sim_binary; die "$sim_binary not found. try make AIRCRAFT=$options->{aircraft} sim\n" unless -e $sim_binary;
exec ($sim_binary, @args) exec ($sim_binary, @args)
sw/tools/Makefile
+6 -5
View File
@@ -23,7 +23,8 @@
Q=@ Q=@
OCAML=ocaml OCAML=ocaml
OCAMLC=ocamlc -I ../lib/ocaml -I +xml-light OCAMLC=ocamlc
INCLUDES=-I ../lib/ocaml -I +xml-light
OCAMLLEX=ocamllex OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc OCAMLYACC=ocamlyacc
@@ -34,7 +35,7 @@ ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
gen_flight_plan.out : $(FP_CMO) ../lib/ocaml/lib-pprz.cma gen_flight_plan.out : $(FP_CMO) ../lib/ocaml/lib-pprz.cma
@echo OL $@ @echo OL $@
$(Q)$(OCAMLC) -custom -o $@ ivy-ocaml.cma lib-pprz.cma $^ $(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ ivy-ocaml.cma lib-pprz.cma $^
fp_parser.cmo : fp_parser.cmi fp_syntax.cmi fp_parser.cmo : fp_parser.cmi fp_syntax.cmi
fp_parser.cmi : fp_parser.ml fp_syntax.cmi fp_parser.cmi : fp_parser.ml fp_syntax.cmi
@@ -46,18 +47,18 @@ fp_syntax.cmo : fp_syntax.cmi
%.out : %.ml %.out : %.ml
@echo OC $< @echo OC $<
$(Q)$(OCAMLC) -o $@ ivy-ocaml.cma lib-pprz.cma $< $(Q)$(OCAMLC) $(INCLUDES) -o $@ ivy-ocaml.cma lib-pprz.cma $<
@cat ../../pprz_src_test.sh > $@ @cat ../../pprz_src_test.sh > $@
@echo '$(OCAML) -I +xml-light -I $$PAPARAZZI_SRC/sw/lib/ocaml ivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@ @echo '$(OCAML) -I +xml-light -I $$PAPARAZZI_SRC/sw/lib/ocaml ivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@
@chmod a+x $@ @chmod a+x $@
%.cmo : %.ml ../lib/ocaml/lib-pprz.cma %.cmo : %.ml ../lib/ocaml/lib-pprz.cma
@echo OC $< @echo OC $<
$(Q)$(OCAMLC) -c $< $(Q)$(OCAMLC) $(INCLUDES) -c $<
%.cmi : %.mli %.cmi : %.mli
@echo OC $< @echo OC $<
$(Q)$(OCAMLC) -c $< $(Q)$(OCAMLC) $(INCLUDES) -c $<
%.ml : %.mll %.ml : %.mll
@echo OC $< @echo OC $<
sw/tools/gen_aircraft.ml
+2 -1
View File
@@ -37,6 +37,7 @@ let _ =
let aircraft_dir = paparazzi_home // "var" // aircraft in let aircraft_dir = paparazzi_home // "var" // aircraft in
mkdir (paparazzi_home // "var");
mkdir aircraft_dir; mkdir aircraft_dir;
mkdir (aircraft_dir // "fbw"); mkdir (aircraft_dir // "fbw");
mkdir (aircraft_dir // "autopilot"); mkdir (aircraft_dir // "autopilot");
@@ -48,7 +49,7 @@ let _ =
fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft; fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft;
"settings/basic.xml" in "settings/basic.xml" in
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME=%s RADIO=%s FLIGHT_PLAN=%s TELEMETRY=%s SETTINGS=%s" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") (value "telemetry") settings in let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s RADIO=%s FLIGHT_PLAN=%s TELEMETRY=%s SETTINGS=%s all_ac_h" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") (value "telemetry") settings in
begin (** Quiet is speficied in the Makefile *) begin (** Quiet is speficied in the Makefile *)
try if Sys.getenv "Q" <> "@" then raise Not_found with try if Sys.getenv "Q" <> "@" then raise Not_found with
Not_found -> prerr_endline c Not_found -> prerr_endline c