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[crrcsim] use crrcsim as fdm with nps

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Install the patched version of crrcsim:
https://github.com/paparazzi/crrcsim-pprz
Select MNAV as input of crrcsim
Run nps simulator with crrcsim fdm type
This commit is contained in:
Gautier Hattenberger
2013-10-16 14:02:38 +02:00
parent 3dd68bf5ed
commit 3040dced41
3 changed files with 830 additions and 0 deletions
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conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
+52
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# Hey Emacs, this is a -*- makefile -*-
#
# SITL Simulator based on CRRCSIM (MNAV inputdev)
#
SRC_FIRMWARE=firmwares/fixedwing
SRC_BOARD=boards/$(BOARD)
NPSDIR = $(SIMDIR)/nps
nps.ARCHDIR = sim
# include Makefile.nps instead of Makefile.sim
nps.MAKEFILE = nps
# add normal ap and fbw sources define in autopilot.makefile
nps.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
nps.srcs += $(fbw_srcs) $(ap_srcs)
nps.CFLAGS += -DSITL -DUSE_NPS
nps.CFLAGS += $(shell pkg-config glib-2.0 --cflags)
nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy -lpcre -lgsl -lgslcblas
nps.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
nps.LDFLAGS += $(shell sdl-config --libs)
nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_fdm_crrcsim.c \
$(NPSDIR)/nps_random.c \
$(NPSDIR)/nps_sensors.c \
$(NPSDIR)/nps_sensors_utils.c \
$(NPSDIR)/nps_sensor_gyro.c \
$(NPSDIR)/nps_sensor_accel.c \
$(NPSDIR)/nps_sensor_mag.c \
$(NPSDIR)/nps_sensor_baro.c \
$(NPSDIR)/nps_sensor_gps.c \
$(NPSDIR)/nps_electrical.c \
$(NPSDIR)/nps_atmosphere.c \
$(NPSDIR)/nps_radio_control.c \
$(NPSDIR)/nps_radio_control_joystick.c \
$(NPSDIR)/nps_radio_control_spektrum.c \
$(NPSDIR)/nps_autopilot_fixedwing.c \
$(NPSDIR)/nps_ivy_common.c \
$(NPSDIR)/nps_ivy_fixedwing.c \
$(NPSDIR)/nps_flightgear.c \
nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c