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Merge branch 'master' into ahrs_int_cmpl_quat_correction_scaling

Browse Source 
get latest code for testing, relevant fixes from master:
- horizontal guidance fixes
- use normal stabilization subsystem in NPS, was always euler in NPS before
This commit is contained in:
Felix Ruess
2013-04-04 01:34:18 +02:00
parent f39cc5c25b bf9e273974
commit 2b712a1b51
325 changed files with 11572 additions and 14201 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+1 -17
View File
@@ -31,23 +31,6 @@
/build.properties
/META-INF
# Debian related files
*.deb
*.dsc
*.changes
*.substvars
*.debhelper.log
*-stamp
/debian/control
/debian/changelog
/debian/files
/debian/paparazzi-arm7
/debian/paparazzi-avr
/debian/paparazzi-dev
/debian/paparazzi-bin
/sw/lib/ocaml/ivy/debian/changelog
/sw/lib/ocaml/ivy/debian/files
/sw/lib/ocaml/ivy/debian/ivy-ocaml
/var
/dox
@@ -118,6 +101,7 @@
/sw/lib/ocaml/expr_parser.mli
/sw/lib/ocaml/gtk_papget_led_editor.ml
/sw/lib/ocaml/expr_lexer.ml
/sw/lib/ocaml/META.pprz
# /sw/logalizer/
/sw/logalizer/plot
Makefile
+62 -46
View File
@@ -45,6 +45,14 @@ OCAML=$(shell which ocaml)
OCAMLRUN=$(shell which ocamlrun)
BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
# default mktemp in OS X doesn't work, use gmktemp with macports coreutils
UNAME = $(shell uname -s)
ifeq ("$(UNAME)","Darwin")
MKTEMP = gmktemp
else
MKTEMP = mktemp
endif
#
# define some paths
#
@@ -57,6 +65,7 @@ MULTIMON=sw/ground_segment/multimon
COCKPIT=sw/ground_segment/cockpit
TMTC=sw/ground_segment/tmtc
TOOLS=$(PAPARAZZI_SRC)/sw/tools
JOYSTICK=sw/ground_segment/joystick
EXT=sw/ext
#
@@ -92,9 +101,6 @@ ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
# default directory for temporary files
TMPDIR ?= /tmp
all: ground_segment ext lpctools
print_build_version:
@@ -111,26 +117,29 @@ conf/%.xml :conf/%.xml.example
[ -L $@ ] || [ -f $@ ] || cp $< $@
ground_segment: print_build_version update_google_version conf lib subdirs commands static
ground_segment: print_build_version update_google_version conf libpprz subdirs commands static
static: cockpit tmtc tools sim_static static_h
static: cockpit tmtc tools sim_static joystick static_h
lib:
libpprz:
$(MAKE) -C $(LIB)/ocaml
multimon:
$(MAKE) -C $(MULTIMON)
cockpit: lib
cockpit: libpprz
$(MAKE) -C $(COCKPIT)
tmtc: lib cockpit multimon
tmtc: libpprz cockpit multimon
$(MAKE) -C $(TMTC)
tools: lib
tools: libpprz
$(MAKE) -C $(TOOLS)
sim_static: lib
joystick: libpprz
$(MAKE) -C $(JOYSTICK)
sim_static: libpprz
$(MAKE) -C $(SIMULATOR)
ext:
@@ -144,56 +153,70 @@ subdirs: $(SUBDIRS)
$(SUBDIRS):
$(MAKE) -C $@
$(PPRZCENTER): lib
$(PPRZCENTER): libpprz
$(LOGALIZER): lib
$(LOGALIZER): libpprz
static_h: $(GEN_HEADERS)
$(MESSAGES_H) : $(MESSAGES_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > $(TMPDIR)/msg.h
$(Q)mv $(TMPDIR)/msg.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(MESSAGES2_H) : $(MESSAGES_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > $(TMPDIR)/msg2.h
$(Q)mv $(TMPDIR)/msg2.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > $(TMPDIR)/ubx.h
$(Q)mv $(TMPDIR)/ubx.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(MTK_PROTOCOL_H) : $(MTK_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > $(TMPDIR)/mtk.h
$(Q)mv $(TMPDIR)/mtk.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(XSENS_PROTOCOL_H) : $(XSENS_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > $(TMPDIR)/xsens.h
$(Q)mv $(TMPDIR)/xsens.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(DL_PROTOCOL_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > $(TMPDIR)/dl.h
$(Q)mv $(TMPDIR)/dl.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > $(TMPDIR)/dl2.h
$(Q)mv $(TMPDIR)/dl2.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $(TMPDIR)/abi.h
$(Q)mv $(TMPDIR)/abi.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
include Makefile.ac
@@ -218,19 +241,12 @@ paparazzi:
chmod a+x $@
install :
$(MAKE) -f Makefile.install PREFIX=$(PREFIX)
uninstall :
$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
#
# Cleaning
#
clean:
$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin paparazzi
$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml
$(Q)rm -f $(GEN_HEADERS)
$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
$(Q)$(MAKE) -C $(EXT) clean
@@ -274,7 +290,7 @@ test: all replace_current_conf_xml run_tests restore_conf_xml
.PHONY: all print_build_version update_google_version ground_segment \
subdirs $(SUBDIRS) conf ext lib multimon cockpit tmtc tools\
static sim_static lpctools commands install uninstall \
subdirs $(SUBDIRS) conf ext libpprz multimon cockpit tmtc tools\
static sim_static lpctools commands \
clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
test replace_current_conf_xml run_tests restore_conf_xml
Makefile.ac
+42 -24
View File
@@ -49,6 +49,13 @@ MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
AUTOPILOT_H=$(AC_GENERATED)/autopilot_core.h
AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5
UNAME = $(shell uname -s)
ifeq ("$(UNAME)","Darwin")
MKTEMP = gmktemp
else
MKTEMP = mktemp
endif
# "make Q=''" to get full echo
Q=@
@@ -62,9 +69,6 @@ endif
# telemetry periodic frequency defaults to 60Hz
TELEMETRY_FREQUENCY ?= 60
# default directory for temporary files
TMPDIR ?= /tmp
init:
@[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your $(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf $(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p $(PAPARAZZI_HOME)/var/maps; mkdir -p $(PAPARAZZI_HOME)/var/include)
@@ -89,56 +93,70 @@ makefile_ac: $(MAKEFILE_AC)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML) $(AIRCRAFT_MD5)
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $(MD5SUM) $< > $(TMPDIR)/airframe.h
$(Q)mv $(TMPDIR)/airframe.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $(MD5SUM) $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(Q)cp $(CONF)/airframes/airframe.dtd $(AIRCRAFT_CONF_DIR)/airframes
$(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(TOOLS)/gen_radio.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_radio.out $< > $(TMPDIR)/radio.h
$(Q)mv $(TMPDIR)/radio.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_radio.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR)/radios
$(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR)
$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry
$(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_flight_plan.out $< > $(TMPDIR)/$(AC_ID)_fp.h
$(Q)mv $(TMPDIR)/$(AC_ID)_fp.h $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_flight_plan.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR)/flight_plans
$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.out
@echo BUILD $@
$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_TELEMETRY) $(TOOLS)/gen_settings.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(Q)cp $(SETTINGS_XMLS) $(AIRCRAFT_CONF_DIR)/settings
$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/*.xml
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(AUTOPILOT_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_autopilot.out $(CONF)/autopilot/*.xml
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $@
@echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(TOOLS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(SETTINGS_MODULES) : $(MODULES_H)
@@ -155,7 +173,7 @@ $(SETTINGS_TELEMETRY) : $(PERIODIC_H)
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
jsbsim jsbsim.compile: jsbsim.ac_h
jsbsim jsbsim.compile: jsbsim.ac_h print_version
cd $(AIRBORNE); $(MAKE) TARGET=jsbsim ARCHI=jsbsim ARCH=jsbsim all
sim sim.compile: sim.ac_h print_version
Makefile.install
-159
View File
@@ -1,159 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
# Installation of the files in the system tree
PREFIX=/
DESTDIR=$(PREFIX)/usr/share/paparazzi
INSTALL=install -o root
INSTALLDATA=install -o root -m 644
install : install_files
# post_install
install_files: install_data install_conf install_bin install_libs install_tools install_airborne_sources
post_install :
debian/paparazzi-bin.postinst
install_data:
$(INSTALL) -d $(DESTDIR)/data/maps
$(INSTALLDATA) data/maps/muret_UTM.xml data/maps/muret_UTM.gif $(DESTDIR)/data/maps
$(INSTALL) -d $(DESTDIR)/data/pictures/gcs_icons
$(INSTALLDATA) data/pictures/*.gif data/pictures/*.svg data/pictures/*.jpg data/pictures/*.png $(DESTDIR)/data/pictures
$(INSTALLDATA) data/pictures/gcs_icons/*.png $(DESTDIR)/data/pictures/gcs_icons
$(INSTALL) -d $(PREFIX)/usr/share/pixmaps
$(INSTALLDATA) data/pictures/penguin_icon.png $(PREFIX)/usr/share/pixmaps/paparazzi.png
$(INSTALL) -d $(DESTDIR)/data/srtm
install_conf:
$(INSTALL) -d $(DESTDIR)/conf
$(INSTALLDATA) conf/conf.xml.example $(DESTDIR)/conf/conf.xml
$(INSTALLDATA) conf/control_panel.xml.example $(DESTDIR)/conf/control_panel.xml
$(INSTALLDATA) conf/messages.xml $(DESTDIR)/conf/
$(INSTALLDATA) conf/messages.dtd $(DESTDIR)/conf/
$(INSTALLDATA) conf/gui.xml $(DESTDIR)/conf/
$(INSTALL) -d $(DESTDIR)/conf/airframes
$(INSTALLDATA) conf/airframes/airframe.dtd $(DESTDIR)/conf/airframes
$(INSTALLDATA) conf/airframes/microjet_example.xml $(DESTDIR)/conf/airframes
$(INSTALLDATA) conf/airframes/twinstar_example.xml $(DESTDIR)/conf/airframes
$(INSTALLDATA) conf/airframes/twinjet_example.xml $(DESTDIR)/conf/airframes
$(INSTALLDATA) conf/airframes/example_twog_analogimu.xml $(DESTDIR)/conf/airframes
$(INSTALL) -d $(DESTDIR)/conf/autopilot
$(INSTALLDATA) conf/autopilot/*.makefile $(DESTDIR)/conf/autopilot
$(INSTALLDATA) conf/autopilot/*.h $(DESTDIR)/conf/autopilot
$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems
$(INSTALLDATA) conf/autopilot/subsystems/*.makefile $(DESTDIR)/conf/autopilot/subsystems
$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/fixedwing
$(INSTALLDATA) conf/autopilot/subsystems/fixedwing/*.makefile $(DESTDIR)/conf/autopilot/subsystems/fixedwing
$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/rotorcraft
$(INSTALLDATA) conf/autopilot/subsystems/rotorcraft/*.makefile $(DESTDIR)/conf/autopilot/subsystems/rotorcraft
$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/shared
$(INSTALLDATA) conf/autopilot/subsystems/shared/*.makefile $(DESTDIR)/conf/autopilot/subsystems/shared
$(INSTALL) -d $(DESTDIR)/conf/flight_plans
$(INSTALLDATA) conf/flight_plans/*.dtd $(DESTDIR)/conf/flight_plans
$(INSTALLDATA) conf/flight_plans/*.xml $(DESTDIR)/conf/flight_plans
$(INSTALL) -d $(DESTDIR)/conf/modules
$(INSTALLDATA) conf/modules/*.dtd $(DESTDIR)/conf/modules
$(INSTALLDATA) conf/modules/*.xml $(DESTDIR)/conf/modules
$(INSTALL) -d $(DESTDIR)/conf/gps
$(INSTALLDATA) conf/gps/Makefile $(DESTDIR)/conf/gps
$(INSTALLDATA) conf/gps/ublox_conf.c $(DESTDIR)/conf/gps
$(INSTALLDATA) conf/gps/README $(DESTDIR)/conf/gps
$(INSTALLDATA) conf/gps/*.inf $(DESTDIR)/conf/gps
$(INSTALLDATA) conf/gps/*.txt $(DESTDIR)/conf/gps
$(INSTALL) -d $(DESTDIR)/conf/radios
$(INSTALLDATA) conf/radios/radio.dtd $(DESTDIR)/conf/radios
$(INSTALLDATA) conf/radios/*.xml $(DESTDIR)/conf/radios
$(INSTALL) -d $(DESTDIR)/conf/telemetry
$(INSTALLDATA) conf/telemetry/telemetry.dtd $(DESTDIR)/conf/telemetry
$(INSTALLDATA) conf/telemetry/*.xml $(DESTDIR)/conf/telemetry
$(INSTALL) -d $(DESTDIR)/conf/settings
$(INSTALLDATA) conf/settings/settings.dtd $(DESTDIR)/conf/settings
$(INSTALLDATA) conf/settings/*.xml $(DESTDIR)/conf/settings
$(INSTALL) -d $(DESTDIR)/conf/gcs
$(INSTALLDATA) conf/gcs/layout.dtd $(DESTDIR)/conf/gcs
$(INSTALLDATA) conf/gcs/*.xml $(DESTDIR)/conf/gcs
$(INSTALL) -d $(PREFIX)/etc/udev/rules.d
$(INSTALLDATA) conf/system/udev/rules/*.rules $(PREFIX)/etc/udev/rules.d
$(INSTALL) -d $(PREFIX)/etc/modprobe.d
$(INSTALLDATA) conf/system/modprobe.d/paparazzi $(PREFIX)/etc/modprobe.d
$(INSTALL) -d $(PREFIX)/usr/share/applications
$(INSTALLDATA) debian/paparazzi.desktop $(PREFIX)/usr/share/applications
install_bin:
$(INSTALL) -d $(PREFIX)/usr/bin/
$(INSTALL) -d $(DESTDIR)/sw/supervision
$(INSTALL) sw/supervision/paparazzicenter.glade $(DESTDIR)/sw/supervision
$(INSTALL) sw/supervision/*.cmo $(DESTDIR)/sw/supervision
$(INSTALL) paparazzi-make $(PREFIX)/usr/bin/
$(INSTALLDATA) -d $(DESTDIR)/sw/simulator
$(INSTALL) sw/simulator/*.cmo $(DESTDIR)/sw/simulator
$(INSTALL) sw/simulator/pprzsim-launch $(DESTDIR)/sw/simulator
$(INSTALL) -d $(DESTDIR)/sw/ground_segment/cockpit
$(INSTALL) -d $(DESTDIR)/sw/ground_segment/tmtc
$(INSTALL) -d $(DESTDIR)/sw/ground_segment/multimon
$(INSTALLDATA) sw/ground_segment/cockpit/*.cmo $(DESTDIR)/sw/ground_segment/cockpit
$(INSTALLDATA) sw/ground_segment/cockpit/gcs.glade $(DESTDIR)/sw/ground_segment/cockpit
$(INSTALLDATA) sw/ground_segment/tmtc/*.cmo $(DESTDIR)/sw/ground_segment/tmtc
$(INSTALL) sw/ground_segment/tmtc/boa $(DESTDIR)/sw/ground_segment/tmtc
$(INSTALLDATA) sw/ground_segment/multimon/multimon.cma $(DESTDIR)/sw/ground_segment/multimon
$(INSTALLDATA) sw/ground_segment/multimon/libmultimon.a $(DESTDIR)/sw/ground_segment/multimon
$(INSTALLDATA) sw/ground_segment/multimon/dllmultimon.so $(DESTDIR)/sw/ground_segment/multimon
$(INSTALL) -d $(DESTDIR)/sw/logalizer
$(INSTALLDATA) sw/logalizer/*.cm[ox] $(DESTDIR)/sw/logalizer
$(INSTALLDATA) sw/logalizer/*.o $(DESTDIR)/sw/logalizer
$(INSTALLDATA) sw/logalizer/export.glade $(DESTDIR)/sw/logalizer
ln -sf ../share/paparazzi/sw/supervision/paparazzicenter $(PREFIX)/usr/bin/paparazzi
install_libs:
$(INSTALL) -d $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/*.cma $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/*.cmxa $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/*.so $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/*.a $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/*.cmi $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/myGtkInit.cmo $(DESTDIR)/sw/lib/ocaml
$(INSTALLDATA) sw/lib/ocaml/widgets.glade $(DESTDIR)/sw/lib/ocaml
install_tools:
$(INSTALLDATA) Makefile.ac $(DESTDIR)
$(INSTALLDATA) conf/Makefile* $(DESTDIR)/conf
$(INSTALL) -d $(DESTDIR)/sw/tools/
$(INSTALL) sw/tools/*.out $(DESTDIR)/sw/tools/
rm -f $(DESTDIR)/sw/tools/gen_flight_plan.out
$(INSTALLDATA) sw/tools/fp_proc.cmo $(DESTDIR)/sw/tools
$(INSTALLDATA) sw/tools/gen_flight_plan.cmo $(DESTDIR)/sw/tools
$(INSTALLDATA) sw/tools/gen_aircraft.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_airframe.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_messages.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_periodic.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_radio.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_mtk.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_xsens.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_modules.ml $(DESTDIR)/sw/tools/
$(INSTALLDATA) sw/tools/gen_common.cmo $(DESTDIR)/sw/tools/
$(INSTALL) -d $(DESTDIR)/sw/tools/calibration
$(INSTALLDATA) sw/tools/calibration/calibrate.py $(DESTDIR)/sw/tools/calibration
$(INSTALLDATA) sw/tools/calibration/calibrate_gyro.py $(DESTDIR)/sw/tools/calibration
$(INSTALLDATA) sw/tools/calibration/calibration_utils.py $(DESTDIR)/sw/tools/calibration
$(INSTALLDATA) sw/tools/calibration/README $(DESTDIR)/sw/tools/calibration
$(INSTALL) -d $(DESTDIR)/sw/ground_segment/lpc21iap
$(INSTALL) sw/ground_segment/lpc21iap/lpc21iap $(DESTDIR)/sw/ground_segment/lpc21iap/
$(INSTALL) -d $(DESTDIR)/sw/simulator
$(INSTALLDATA) sw/simulator/sitl.cma $(DESTDIR)/sw/simulator
$(INSTALLDATA) sw/simulator/simsitl.ml $(DESTDIR)/sw/simulator
$(INSTALLDATA) sw/simulator/sim.cmi $(DESTDIR)/sw/simulator
$(INSTALLDATA) sw/simulator/sitl.cmi $(DESTDIR)/sw/simulator
$(INSTALLDATA) sw/simulator/libsitl.a $(DESTDIR)/sw/simulator
$(INSTALL) sw/simulator/simhitl $(DESTDIR)/sw/simulator
install_airborne_sources:
$(INSTALL) -d $(DESTDIR)/sw/
tar -cf - sw/airborne/ | tar -C $(DESTDIR) -xf -
$(INSTALL) -d $(DESTDIR)/sw/include
$(INSTALLDATA) sw/include/std.h $(DESTDIR)/sw/include
$(INSTALLDATA) var/include/*.h $(DESTDIR)/sw/include
conf/Makefile.avr
-190
View File
@@ -1,190 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# $Id$
# Copyright (C) 2003-2005 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.
#
#
# This is the common Makefile for the avr-target.
# Edit the configuration part to suit your local install
#
ATMELBIN = /usr/bin
ATMEL_INCLUDES = -I /usr/avr/include
ATMEL_LIBPATH = -B /usr/avr/lib/avr4 -B /usr/avr/lib/avr5
PROG_PORT = /dev/parport0
VERIFY=--verify
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/arch/avr
CC = $(ATMELBIN)/avr-gcc -mmcu=$($(TARGET).MCU)
LD = $(CC) $(ATMEL_LIBPATH)
SIZE = $(ATMELBIN)/avr-size
OBJCOPY = $(ATMELBIN)/avr-objcopy
SERIAL_FLAGS = \
-dprog=avr910 \
-dpart=auto \
-dserial=/dev/ttyS0 \
-dspeed=38400 \
ISP_FLAGS = \
-dlpt=$(PROG_PORT) -dprog=stk200 -v=3 \
UISP = uisp
UISP_FLAGS = $(ISP_FLAGS)
#UISP_FLAGS = $(SERIAL_FLAGS)
# Launch with "make Q=''" to get full command display
Q=@
#
# End of configuration part.
#
SRCAVR = $($(TARGET).srcs)
CFLAGS = \
-W -Wall -Wundef \
$(ATMEL_INCLUDES) \
$(INCLUDES) \
-Wstrict-prototypes \
$($(TARGET).CFLAGS) \
$(LOCAL_CFLAGS) \
-O3 \
LDFLAGS = -lm \
#
# General rules
#
#$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
#$(TARGET).objso = $($(TARGET).srcsnd:%.c=$(OBJDIR)/%.o)
#$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
all: build
#all compile: $($(TARGET).objs) $(OBJDIR)/$(TARGET).elf
#all:
# @echo !!!!!!!
# @echo $($(TARGET).objs)
# @echo !!!!!!!
load upload: $(TARGET).install
#
# Fuses
#
rd_fuses: check_arch
$(UISP) $(ISP_FLAGS) --rd_fuses
wr_fuses : check_arch
$(UISP) $(ISP_FLAGS) --wr_fuse_h=$($(TARGET).HIGH_FUSE)
$(UISP) $(ISP_FLAGS) --wr_fuse_l=$($(TARGET).LOW_FUSE)
$(UISP) $(ISP_FLAGS) --wr_fuse_e=$($(TARGET).EXT_FUSE)
$(UISP) $(ISP_FLAGS) --wr_lock=$($(TARGET).LOCK_FUSE)
TMPFILE = '/tmp/check_fuses.tmp'
check_fuses: check_arch
@echo "##### Check of fuses #####"
@$(UISP) $(ISP_FLAGS) --rd_fuses >$(TMPFILE)
@if (grep -i 'Fuse Low Byte' $(TMPFILE) | cut -c24- | grep -iq $($(TARGET).LOW_FUSE)) && (grep -i 'Fuse High Byte' $(TMPFILE) |cut -c24- | grep -iq $($(TARGET).HIGH_FUSE)) && (grep -i 'Fuse Extended Byte' $(TMPFILE) |cut -c24- | grep -iq $($(TARGET).EXT_FUSE)) && (grep -i 'Lock Bits' $(TMPFILE) |cut -c24- | grep -iq $($(TARGET).LOCK_FUSE)); then echo "-> Fuses are Ok"; rm $(TMPFILE); else echo "-> Wrong fuses. Type 'make wr_fuses'"; rm $(TMPFILE); exit 1; fi
# Define all object files.
COBJ = $(SRC:%.c=$(OBJDIR)/%.o)
COBJAVR = $(SRCAVR:%.c=$(OBJDIR)/%.o)
build: elf hex
elf: $(OBJDIR)/$(TARGET).elf
hex: $(OBJDIR)/$(TARGET).hex
%.hex: %.elf
@echo OBJC $@
$(OBJCOPY) -O ihex -R .eeprom $< $@
.SECONDARY : $(OBJDIR)/$(TARGET).elf
.PRECIOUS : $(COBJ) $(COBJAVR)
%.elf: $(COBJ) $(COBJAVR)
@echo LD $@
$(Q)$(LD) $(LOCAL_LDFLAGS) $^ -o $@ $(LDFLAGS)
@echo SIZE
$(Q)$(SIZE) $@
#%.s: %.c
# $(CC) $(CFLAGS) -S -o $@ $<
#$(OBJDIR)/%.s: %.c
# $(CC) $(CFLAGS) -S -o $@ $<
$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
#$(OBJDIR)/%.o: $(SRC_ARCH)/%.S
# $(CC) $(CFLAGS) -c -o $@ $<
%.install: $(OBJDIR)/%.hex check_arch
# stk200 needs to be erased first
$(UISP) $(UISP_FLAGS) --erase
@echo SIZE
$(Q)$(SIZE) $<
$(UISP) $(UISP_FLAGS) --upload $(VERIFY) if=$<
erase: check_arch
$(UISP) $(ISP_FLAGS) --erase
check_arch :
@echo "CHECKING link with device $($(TARGET).MCU) on $(PROG_PORT)"
$(Q)$(UISP) $(UISP_FLAGS)
$(Q)if ($(UISP) $(UISP_FLAGS) 2>&1 | tr '[:upper:]' '[:lower:]' | grep $($(TARGET).MCU)); then : ; else echo "Wrong architecture (mcu0 vs mcu1 ?)"; exit 1; fi
avr_clean:
rm -rf $(OBJDIR)
#
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),erase)
-include $(OBJDIR)/.depend
endif
endif
conf/Makefile.sim
+19 -4
View File
@@ -27,10 +27,13 @@
# this should not be needed
SRC_ARCH = arch/sim
include $(PAPARAZZI_SRC)/sw/Makefile.ocaml
CC = gcc
OCAMLC = ocamlc
SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
CAMLINCLUDES = $(shell ocamlfind query -r -i-format lablgtk2) -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) $(shell ocamlfind query -r -i-format xml-light)
CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
PKG = -package glibivy,pprz
LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
SIMSITLML = $(OBJDIR)/simsitl.ml
MYGTKINITCMO = myGtkInit.cmo
SITLCMA = $(SIMDIR)/sitl.cma
@@ -42,12 +45,20 @@ Q=@
# End of configuration part.
#
LBITS := $(shell getconf LONG_BIT)
ifeq ($(LBITS),64)
FPIC = -fPIC
else
FPIC =
endif
INCLUDES += -I `ocamlc -where`
CFLAGS = -W -Wall
CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += $(FPIC)
CFLAGS += -O2
CFLAGS += -g
CFLAGS += -std=gnu99
@@ -65,10 +76,14 @@ $(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
all compile: $(OBJDIR)/simsitl
# shared library of the C autopilot part
autopilot.so : $($(TARGET).objs)
@echo BUILD $@
$(Q)$(CC) -shared -o $(OBJDIR)/$@ $^
$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
@echo LD $@
$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs) $(MYGTKINITCMO) $(SITLCMA) $(SIMSITLML)
$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $(MYGTKINITCMO) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+5 -5
View File
@@ -3,17 +3,17 @@
<modules main_freq="512">
<load name="servo_switch.xml"/>
<load name="rotorcraft_cam.xml"/>
<load name="sonar_maxbotix_booz.xml"/>
<load name="sonar_adc.xml"/>
<!--load name="baro_mpl3115.xml">
<define name="MPL3115_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="SENSOR_SYNC_SEND"/>
</load-->
<load name="mavlink_decoder.xml">
<!--load name="mavlink_decoder.xml">
<configure name="MAVLINK_PORT" value="UART0"/>
<configure name="MAVLINK_BAUD" value="B115200"/>
</load>
<load name="px4flow.xml"/>
<load name="px4flow.xml"/-->
<!--load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</load-->
@@ -41,9 +41,9 @@
<define name="USE_PWM1"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
<!--subsystem name="gps" type="ublox">
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem-->
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="extended"/>
conf/airframes/ENAC/quadrotor/hen1.xml
+11 -6
View File
@@ -3,6 +3,11 @@
<airframe name="Hummingbird (Asctec) Enac-Navgo 1">
<modules main_freq="512">
<load name="mavlink_decoder.xml">
<configure name="MAVLINK_PORT" value="UART0"/>
<configure name="MAVLINK_BAUD" value="B115200"/>
</load>
<load name="px4flow.xml"/>
<!--load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
</load-->
@@ -29,9 +34,9 @@
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="motor_mixing"/>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox">
<!--subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
</subsystem-->
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
@@ -163,12 +168,12 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1800"/>
<define name="PHI_DGAIN" value="240"/>
<define name="PHI_PGAIN" value="1500"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1800"/>
<define name="THETA_DGAIN" value="240"/>
<define name="THETA_PGAIN" value="1500"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="1000"/>
conf/airframes/esden/gain_scheduling_example.xml
+12 -14
View File
@@ -25,13 +25,13 @@
<set servo="A2" value="motor_mixing.commands[SERVO_A2]"/>
<set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
<set servo="B2" value="motor_mixing.commands[SERVO_B2]"/>
<let var="aileron_feedback_left" value="-@YAW"/>
<let var="aileron_feedback_right" value="-@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH * (9600 + @THRUST)/9600"/>
<let var="elevator_feedback_right" value="+@PITCH * (9600 + @THRUST)/9600"/>
<let var="hover_left" value="6*$aileron_feedback_left+$elevator_feedback_left"/>
<let var="hover_right" value="6*$aileron_feedback_right+$elevator_feedback_right"/>
@@ -63,7 +63,7 @@
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="AUTOPILOT_KILL_WITHOUT_AHRS" value="TRUE"/>
<define name="LOBATT_WING_WAGGLE" value="TRUE"/>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
@@ -83,24 +83,24 @@
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<!--////////////////THIS SECTION CONTAINS THE GAINS FOR DIFFERENT SETPOINTS\\\\\\\\\\\\\\\\\\-->
<section name ="GAIN_SETS">
<define name="NUMBER_OF_GAINSETS" value="2"/>
<define name="SCHEDULING_VARIABLE" value="stab_att_sp_euler.theta"/>
<define name="SCHEDULING_POINTS" value="{0, 20*M_PI/180}"/>
<define name="SCHEDULING_VARIABLE_FRAC" value="12"/>
<define name="PHI_P" value="{0, 1000}"/>
<define name="PHI_D" value="{0, 1000}"/>
<define name="PHI_I" value="{0, 1000}"/>
<define name="PHI_DD" value="{0, 1000}"/>
<define name="PSI_P" value="{0, 1000}"/>
<define name="PSI_D" value="{0, 1000}"/>
<define name="PSI_I" value="{0, 1000}"/>
<define name="PSI_DD" value="{0, 1000}"/>
<define name="THETA_P" value="{0, 1000}"/>
<define name="THETA_D" value="{0, 1000}"/>
<define name="THETA_I" value="{0, 1000}"/>
@@ -134,7 +134,7 @@
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<define name="PHI_PGAIN" value="230"/>
<define name="PHI_DGAIN" value="170"/>
<define name="PHI_IGAIN" value="30"/>
@@ -146,7 +146,7 @@
<define name="PSI_PGAIN" value="300"/>
<define name="PSI_DGAIN" value="150"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 0"/>
<define name="THETA_DDGAIN" value=" 140"/>
@@ -163,7 +163,7 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -198,7 +198,7 @@
<!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="led_safety_status.xml">
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>
@@ -210,8 +210,6 @@
<subsystem name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
conf/airframes/esden/lisa2_hex.xml
+2 -2
View File
@@ -112,7 +112,7 @@
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="900." unit="deg/s"/>
<!-- feedback -->
<!--350/310-->
<define name="PHI_PGAIN" value="450"/>
@@ -184,7 +184,7 @@
<modules main_freq="512">
<!--load name="vehicle_interface_overo_link.xml"/-->
<load name="gps_ubx_ucenter.xml"/>
<load name="led_safety_status.xml">
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="5"/>
</load>
conf/airframes/examples/microjet_lisa_m.xml
-3
View File
@@ -20,9 +20,6 @@
<define name="LOITER_TRIM"/>
<define name="STRONG_WIND"/>
<!-- print config info at compile time -->
<define name="PRINT_CONFIG"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
conf/airframes/examples/microjet_twog_aspirin.xml
-3
View File
@@ -26,9 +26,6 @@
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<!-- print configuration options at compile time -->
<define name="PRINT_CONFIG"/>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
conf/airframes/fraser_lisa_m_rotorcraft.xml
-3
View File
@@ -30,9 +30,6 @@
</subsystem>
<subsystem name="ins"/>
<!-- print the configuration during compiling -->
<define name="PRINT_CONFIG"/>
<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
</firmware>
conf/firmwares/rotorcraft.makefile
+2
View File
@@ -239,7 +239,9 @@ ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DUSE_NAVIGATION
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
#
# INS choice
conf/firmwares/subsystems/fixedwing/autopilot.makefile
+1 -1
View File
@@ -234,7 +234,7 @@ endif
jsbsim.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
jsbsim.srcs += $(fbw_srcs) $(ap_srcs)
jsbsim.CFLAGS += -DSITL
jsbsim.CFLAGS += -DSITL -DUSE_JSBSIM
jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c $(SIMDIR)/sim_ac_flightgear.c
# external libraries
conf/firmwares/subsystems/lisa_passthrough/booz_stabilization_int.makefile
+2
View File
@@ -5,7 +5,9 @@ stm_passthrough.srcs += $(SRC_FIRMWARE)/stabilization.c
stm_passthrough.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
stm_passthrough.CFLAGS += -DUSE_NAVIGATION
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ins.c
conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+2 -33
View File
@@ -111,42 +111,11 @@ nps.srcs += $(SRC_FIRMWARE)/stabilization.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
NUM_TYPE=integer
#NUM_TYPE=float
STAB_TYPE=euler
#STAB_TYPE=quaternion
ifeq ($(NUM_TYPE), integer)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_INT
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_int.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
endif
else ifeq ($(NUM_TYPE), float)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_FLOAT
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_float.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
endif
endif
nps.CFLAGS += -DUSE_NAVIGATION
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
#
# INS choice
conf/firmwares/subsystems/rotorcraft/stabilization_euler.makefile
+12 -5
View File
@@ -1,5 +1,12 @@
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_INT
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_int.h\"
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_INT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_int.h\"
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
ap.CFLAGS += $(STAB_ATT_CFLAGS)
ap.srcs += $(STAB_ATT_SRCS)
nps.CFLAGS += $(STAB_ATT_CFLAGS)
nps.srcs += $(STAB_ATT_SRCS)
conf/firmwares/subsystems/rotorcraft/stabilization_float_euler.makefile
+12
View File
@@ -0,0 +1,12 @@
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_FLOAT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_float.h\"
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
ap.CFLAGS += $(STAB_ATT_CFLAGS)
ap.srcs += $(STAB_ATT_SRCS)
nps.CFLAGS += $(STAB_ATT_CFLAGS)
nps.srcs += $(STAB_ATT_SRCS)
conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile
+13 -6
View File
@@ -1,6 +1,13 @@
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_FLOAT
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_float.h\"
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_FLOAT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_float.h\"
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
ap.CFLAGS += $(STAB_ATT_CFLAGS)
ap.srcs += $(STAB_ATT_SRCS)
nps.CFLAGS += $(STAB_ATT_CFLAGS)
nps.srcs += $(STAB_ATT_SRCS)
conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
+13 -6
View File
@@ -1,6 +1,13 @@
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_INT
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_int.h\"
ap.CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_INT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_int.h\"
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_REF_TYPE_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
ap.CFLAGS += $(STAB_ATT_CFLAGS)
ap.srcs += $(STAB_ATT_SRCS)
nps.CFLAGS += $(STAB_ATT_CFLAGS)
nps.srcs += $(STAB_ATT_SRCS)
conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
+2 -2
View File
@@ -4,8 +4,8 @@
# enable the subsystem for your firmware:
# <firmware name="rotorcraft">
# ...
# <subsystem name="actuators" type="mkk">
# <configure name="MKK_V2_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
# <subsystem name="actuators" type="mkk_v2">
# <configure name="MKK_V2_I2C_SCL_TIME" value="50"/> <!-- this is optional and only for lpc, 150 is default, use 50 for 8 motors-->
# </subsystem>
# <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
# </firmware>
conf/gps/Makefile
+4 -1
View File
@@ -1,11 +1,14 @@
# Quiet compilation
Q=@
CC=gcc
MODCFLAGS=-Wall
all: ublox_conf
clean:
rm -f core *.o ublox_conf
$(Q)rm -f core *.o ublox_conf
ublox_conf: ublox_conf.c Makefile
$(CC) $(MODCFLAGS) ublox_conf.c -o ublox_conf
conf/messages.xml
+10 -3
View File
@@ -1496,7 +1496,14 @@
</message>
<!--179 is free -->
<message name="FLOW_AP_OTF" id="179">
<field name="counter" type="uint32"/>
<field name="velocity" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="a_attack" type="int16" unit="centideg" alt_unit="deg"/>
<field name="a_sidesl" type="int16" unit="centideg" alt_unit="deg"/>
<field name="altitude" type="int32" unit="cm" alt_unit="m"/>
<field name="checksum" type="uint8"/>
</message>
<message name="FMS_TIME" id="180">
<field name="tv_sec" type="uint32"/>
@@ -1815,10 +1822,10 @@
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="gps_status" type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
<field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
<field name="ap_h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
<field name="ap_h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV|CF"/>
<field name="ap_v_mode" type="uint8" values="KILL|RC_DIRECT|RC_CLIMB|CLIMB|HOVER|NAV"/>
<field name="vsupply" type="uint16" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"/>
conf/modules/airspeed_otf.xml
+31
View File
@@ -0,0 +1,31 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_otf" dir="sensors">
<doc>
<description>
OTF! airspeed/flow angle sensor
Driver for the Aeroprobe On-The-Fly! air data computer.
The Aeroprobe On-The-Fly! air data computer measures
air pressure from a 5-hole pitot tube and can write
resulting data to an SD card or transmit it through an
UART. It outputs speed, angle of attack, angle of
sideslip and altitude.
</description>
<configure name="OTF_UART" value="UARTX" description="UART on which computer is connected"/>
</doc>
<header>
<file name="met_module.h"/>
<file name="airspeed_otf.h"/>
</header>
<init fun="airspeed_otf_init()"/>
<periodic fun="airspeed_otf_periodic()" freq="1"/>
<event fun="airspeed_otf_event()"/>
<makefile target="ap">
<file name="airspeed_otf.c"/>
<define name="USE_$(OTF_UART)"/>
<define name="MET_LINK" value="$(OTF_UART)"/>
<define name="$(OTF_UART)_BAUD" value="B115200"/>
</makefile>
</module>
conf/modules/imu_quality_assessment.xml
+6 -5
View File
@@ -2,11 +2,12 @@
<module name="benchmark">
<doc>
<description>Give comparable with IMU Health information:
-saturation information
-vibration level
-magnetic field hard iron offset
</description>
<description>
Give comparable with IMU Health information.
- saturation information
- vibration level
- magnetic field hard iron offset
</description>
</doc>
<header>
<file name="imu_quality_assessment.h"/>
conf/modules/mag_hmc5843.xml
+5 -5
View File
@@ -12,11 +12,11 @@
<periodic fun="hmc5843_module_periodic()" freq="60"/>
<event fun="hmc5843_module_event()"/>
<makefile>
<define name="USE_I2C" />
<define name="USE_I2C"/>
<file name="mag_hmc5843.c"/>
<file name="../../peripherals/hmc5843.c"/>
<define name="HMC5843_I2C_DEV" value="i2c0" />
<define name="USE_I2C0" />
<define name="HMC5843_NO_IRQ" />
<file name="hmc5843.c" dir="peripherals"/>
<define name="HMC5843_I2C_DEV" value="i2c0"/>
<define name="USE_I2C0"/>
<define name="HMC5843_NO_IRQ"/>
</makefile>
</module>
conf/modules/sonar_adc.xml
+2 -2
View File
@@ -7,8 +7,8 @@
output - Sonar_distance in [m]
</description>
<configure name="ADC_SONAR" value="ADC_X" description="select ADC to use with the sonar"/>
<define name="SONAR_OFFSET" value="0" description="sensor offset in [m] - default is 0"/>
<define name="SONAR_SCALE" value="166" description="sensor scale factor[] - default is 166"/>
<define name="SONAR_OFFSET" value="0.0" description="sensor offset in [m] - default is 0.0"/>
<define name="SONAR_SCALE" value="0.0166" description="sensor scale factor [m/adc] - default is 0.0166"/>
</doc>
<header>
conf/radios/Corona_24_DIY.xml
+2 -2
View File
@@ -17,7 +17,7 @@
-- You should have received a copy of the GNU General Public License
-- along with paparazzi; see the file COPYING. If not, write to
-- the Free Software Foundation, 59 Temple Place - Suite 330,
-- Boston, MA 02111-1307, USA.
-- Boston, MA 02111-1307, USA.
-->
<!--
@@ -30,7 +30,7 @@
-- min, max and sync are expressed in micro-seconds
-->
<!--
<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- no: order in the PPM frame
conf/settings/modules/imu_quality_assessment.xml
+1
View File
@@ -5,6 +5,7 @@
<dl_setting var="imu_quality_assessment_data.q_ax" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ax" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q_ay" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="ay" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q_az" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="az" handler="Reset"/>
<dl_setting var="imu_quality_assessment_data.q" min="0" step="1" max="65000" module="modules/benchmark/imu_quality_assessment" shortname="q" handler="Reset"/>
</dl_settings>
</dl_settings>
conf/settings/rotorcraft_basic.xml
+1 -1
View File
@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="System">
<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="13" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D"/>
<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="14" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree"/>
<dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
<dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
<strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
conf/system/launcher/Paparazzi.desktop
+10
View File
@@ -0,0 +1,10 @@
[Desktop Entry]
Version=3
Type=Application
Terminal=false
StartupNotify=true
Icon=/home/USERNAME/paparazzi/conf/system/launcher/logo.png
Name=Paparazzi
Comment=The Free Autopilot
Exec=/home/USERNAME/paparazzi/paparazzi
Categories=Application;
conf/system/launcher/logo.png
BIN
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After

Width:  |  Height:  |  Size: 5.2 KiB

conf/system/launcher/readme.txt
+9
View File
@@ -0,0 +1,9 @@
Ubuntu shortcut
To create a shortcut on the desktop to easily start Paparazzi copy the launcher to the desktop
cp Paparazzi.desktop ~/Desktop
and edit it to fit your username. Replace USERNAME with your actual user name in the 'Icon' and 'Exec' lines.
gedit ~/Desktop/Paparazzi.desktop
conf/system/udev/rules/50-paparazzi.rules
+3
View File
@@ -9,6 +9,9 @@ SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", SYMLINK+="paparazzi/serial"
# MaxStream xbee pro box
SUBSYSTEM=="tty", ATTRS{product}=="MaxStream PKG-U", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
# Recent Digi XBee pro modems (XBP24-PKC-001-UA)
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="USB <-> Serial", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
LABEL="tty_FTDI232_end"
SUBSYSTEM!="usb", GOTO="paparazzi_rules_end"
conf/units.xml
+2
View File
@@ -11,6 +11,8 @@
<unit from="mm/s" to="m/s" coef="0.001"/>
<unit from="decideg" to="deg" coef="0.1"/>
<unit from="deg" to="decideg" coef="10."/>
<unit from="centideg" to="deg" coef="0.01"/>
<unit from="deg" to="centideg" coef="100."/>
<unit from="deg" to="rad" coef="0.0174532925" auto="code"/>
<unit from="rad" to="deg" coef="57.2957795131" auto="display"/>
<unit from="deg/s" to="rad/s" coef="0.0174532925" auto="code"/>
data/maps/Makefile
+14 -8
View File
@@ -3,13 +3,17 @@
DATADIR = $(PAPARAZZI_HOME)/conf/maps_data
Q=@
# default directory for temporary files
TMPDIR ?= /tmp
UNAME = $(shell uname -s)
ifeq ("$(UNAME)","Darwin")
MKTEMP = gmktemp
else
MKTEMP = mktemp
endif
all: $(PAPARAZZI_HOME)/conf/maps.xml
clean:
rm -f $(DATADIR)/maps.google.com
$(Q)rm -f $(DATADIR)/maps.google.com
$(DATADIR):
mkdir $(DATADIR)
@@ -25,13 +29,15 @@ $(DATADIR)/maps.google.com: $(DATADIR) FORCE
$(PAPARAZZI_HOME)/conf/maps.xml: $(DATADIR)/maps.google.com
$(eval GOOGLE_VERSION := $(shell grep -E "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E 's#.*http://khm[0-9]+.google.com/kh/v=##;s#.x26.*##'))
$(eval $@_TMP := $(shell $(MKTEMP)))
@echo "Updated google maps version to $(GOOGLE_VERSION)"
@echo "-----------------------------------------------"
$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $(TMPDIR)/maps.xml
$(Q)echo "" >> $(TMPDIR)/maps.xml
$(Q)echo "<maps google_version=\"$(GOOGLE_VERSION)\"/>" >> $(TMPDIR)/maps.xml
$(Q)echo "" >> $(TMPDIR)/maps.xml
$(Q)mv $(TMPDIR)/maps.xml $@
$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $($@_TMP)
$(Q)echo "" >> $($@_TMP)
$(Q)echo "<maps google_version=\"$(GOOGLE_VERSION)\"/>" >> $($@_TMP)
$(Q)echo "" >> $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
FORCE:
.PHONY: all clean
debian/changelog.etch
Vendored
-42
View File
@@ -1,42 +0,0 @@
paparazzi (3.2-5) unstable; urgency=low
* Dependency over meschach-dev OR libmeschach-dev (for Gutsy). Boa moved from
Depends to Suggests
-- Pascal Brisset <pascal.brisset@enac.fr> Tue, 21 Oct 2008 14:20:57 +0200
paparazzi (3.2-4) unstable; urgency=low
* New dependency over meschach-dev
-- Pascal Brisset <pascal.brisset@enac.fr> Wed, 17 Sep 2008 19:49:08 +0200
paparazzi (3.2-3) unstable; urgency=low
* New dependency over ocamlnet
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 28 Aug 2008 16:04:13 +0200
paparazzi (3.2-2) unstable; urgency=low
* New strip and other details.
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 03 Jan 2008 15:18:48 +0100
paparazzi (3.2-1) unstable; urgency=low
* Dependencies over Perl libraries removed.
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 08 Sep 2007 22:28:35 +0200
paparazzi (3.1-2) unstable; urgency=low
* Introduction of binary package.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
paparazzi (2.99-1) unstable; urgency=low
* Initial Release.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
debian/changelog.hardy
Vendored
-17
View File
@@ -1,17 +0,0 @@
paparazzi (3.10.0-3) unstable; urgency=low
* Dependency over subversion added
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 18 Apr 2009 12:35:47 +0200
paparazzi (3.10.0-2) unstable; urgency=low
* Recommends -> Suggests dependencies
-- Pascal Brisset <pascal.brisset@enac.fr> Sun, 08 Jun 2008 23:33:40 +0200
paparazzi (3.10.0-1) unstable; urgency=low
* First Release for Ubuntu Hardy
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 05 Apr 2008 23:13:30 +0200
debian/changelog.lenny
Vendored
-72
View File
@@ -1,72 +0,0 @@
paparazzi (3.3-1) unstable; urgency=low
* New build system with modules and subsystems
* Change dependency from subversion to git
-- Gautier Hattenberger <gautier.hattenberger@enac.fr> Wed, 29 Dec 2010 12:49:00 +0100
paparazzi (3.2-10) unstable; urgency=low
* Dependencie over gpsd, libgps-dev, python-lxml, python-wxgtk2.8 added
-- Pascal Brisset <pascal.brisset@enac.fr> Fri, 24 Jul 2009 18:22:12 +0200
paparazzi (3.2-9) unstable; urgency=low
* Dependency over ivy-python added
-- Pascal Brisset <pascal.brisset@enac.fr> Fri, 24 Jul 2009 18:22:12 +0200
paparazzi (3.2-8) unstable; urgency=low
* Dependency over libcamlimages-ocaml-dev removed
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 02 Jul 2009 23:47:08 +0200
paparazzi (3.2-7) unstable; urgency=low
* Dependency over subversion added
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 18 Apr 2009 12:32:38 +0200
paparazzi (3.2-6) unstable; urgency=low
* Papgets, CSV export, ..., Xmas 2008
-- Pascal Brisset <pascal.brisset@enac.fr> Mon, 15 Dec 2008 06:20:07 +0100
paparazzi (3.2-5) unstable; urgency=low
* New dependency over meschach-dev
-- Pascal Brisset <pascal.brisset@enac.fr> Wed, 17 Sep 2008 19:49:08 +0200
paparazzi (3.2-4) unstable; urgency=low
* New dependency over ocamlnet
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 28 Aug 2008 16:04:13 +0200
paparazzi (3.2-3) unstable; urgency=low
* Recommends -> Suggests dependencies
-- Pascal Brisset <pascal.brisset@enac.fr> Sun, 08 Jun 2008 23:33:40 +0200
paparazzi (3.2-2) unstable; urgency=low
* New strip and other details.
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 03 Jan 2008 15:18:48 +0100
paparazzi (3.1-3) unstable; urgency=low
* Introduction of binary package.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
paparazzi (2.99-1) unstable; urgency=low
* Initial Release.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
debian/changelog.sarge
Vendored
-20
View File
@@ -1,20 +0,0 @@
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
* Initial Release.
-- Pascal Brisset <pascal.brisset@enac.fr> Fri, 19 Feb 2005 12:21:28 +0100
paparazzi (1.0-1) unstable; urgency=low
* Initial Release.
-- Pascal Brisset <pascal.brisset@enac.fr> Fri, 19 Feb 2005 12:21:28 +0100
debian/changelog.sid
Vendored
-41
View File
@@ -1,41 +0,0 @@
paparazzi (3.2-6) unstable; urgency=low
* New dependency over subversion
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 18 Apr 2009 15:01:21 +0200
paparazzi (3.2-5) unstable; urgency=low
* New dependency over meschach-dev
-- Pascal Brisset <pascal.brisset@enac.fr> Wed, 17 Sep 2008 19:49:08 +0200
paparazzi (3.2-4) unstable; urgency=low
* New dependency over ocamlnet
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 28 Aug 2008 16:04:13 +0200
paparazzi (3.2-3) unstable; urgency=low
* Recommends -> Suggests dependencies
-- Pascal Brisset <pascal.brisset@enac.fr> Sun, 08 Jun 2008 23:33:40 +0200
paparazzi (3.2-2) unstable; urgency=low
* New strip and other details.
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 03 Jan 2008 15:18:48 +0100
paparazzi (3.1-3) unstable; urgency=low
* Introduction of binary package.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
paparazzi (2.99-1) unstable; urgency=low
* Initial Release.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
debian/changelog.squeeze
Vendored
-41
View File
@@ -1,41 +0,0 @@
paparazzi (3.2-6) unstable; urgency=low
* New dependency over subversion
-- Pascal Brisset <pascal.brisset@enac.fr> Sat, 18 Apr 2009 15:01:21 +0200
paparazzi (3.2-5) unstable; urgency=low
* New dependency over meschach-dev
-- Pascal Brisset <pascal.brisset@enac.fr> Wed, 17 Sep 2008 19:49:08 +0200
paparazzi (3.2-4) unstable; urgency=low
* New dependency over ocamlnet
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 28 Aug 2008 16:04:13 +0200
paparazzi (3.2-3) unstable; urgency=low
* Recommends -> Suggests dependencies
-- Pascal Brisset <pascal.brisset@enac.fr> Sun, 08 Jun 2008 23:33:40 +0200
paparazzi (3.2-2) unstable; urgency=low
* New strip and other details.
-- Pascal Brisset <pascal.brisset@enac.fr> Thu, 03 Jan 2008 15:18:48 +0100
paparazzi (3.1-3) unstable; urgency=low
* Introduction of binary package.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
paparazzi (2.99-1) unstable; urgency=low
* Initial Release.
-- Antoine Drouin <poine@recherche.enac.fr> Fri, 04 Aug 2006 12:21:28 +0100
debian/compat
Vendored
-1
View File
@@ -1 +0,0 @@
4
debian/control.etch
Vendored
-33
View File
@@ -1,33 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, cvs, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev
Conflicts: xml-light-ocaml
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev, newlib-arm
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Conflicts: xml-light-ocaml
Description: Paparazzi main package
debian/control.hardy
Vendored
-31
View File
@@ -1,31 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: eagle, paparazzi-avr, paparazzi-arm7, gs-common, dia-gnome
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, bzip2, cvs, subversion, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr,
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev, newlib-arm
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Description: Paparazzi main package
debian/control.lenny
Vendored
-32
View File
@@ -1,32 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa, gitk
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, git-core, liblablgtk2-gnome-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev, ivy-python, gpsd, libgps-dev, python-lxml, python-wxgtk2.8
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr,
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev, newlib-arm
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
Suggests: boa
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Description: Paparazzi main package
debian/control.sarge
Vendored
-33
View File
@@ -1,33 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: paparazzi-arm7, paparazzi-avr
Recommends: eagle, gs-common, tetex-extra, dia-gnome
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, cvs, libcamlimages-ocaml-dev, libusb-dev
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr,
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, newlib-arm, libusb-dev
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
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
debian/control.sid
Vendored
-31
View File
@@ -1,31 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, bzip2, cvs, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev, subversion
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr,
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev, newlib-arm
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Description: Paparazzi main package
debian/control.squeeze
Vendored
-32
View File
@@ -1,32 +0,0 @@
Source: paparazzi
Section: extra
Priority: optional
Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
Build-Depends: debhelper (>= 4.0.0)
Standards-Version: 3.6.1
Package: paparazzi-dev
Architecture: any
Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, boa, dia-gnome
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, cvs, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev, subversion
Description: Paparazzi Meta Package : common support
Package: paparazzi-avr
Architecture: any
Depends: uisp, gcc-avr, avr-libc, binutils-avr,
Description: Paparazzi Meta Package. Atmel AVR support
Package: paparazzi-arm7
Architecture: any
Depends: lpc21isp, gcc-arm, binutils-arm, libusb-dev, newlib-arm
Description: Paparazzi Meta Package. Philips ARM7 support
Package: paparazzi-bin
Architecture: i386
Suggests: boa
Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, bzip2, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev
Description: Paparazzi main package

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