Merge pull request #1540 from paparazzi/flight_plan_modules

Load modules directly from a flight plan.

Mainly meant for specifying which nav modules to load directly in the flight plan.
This should make easier to set up the airframe file as it doesn't need to contain the modules needed only for some specific flight plans (where some nav routines are called that are provided by nav modules).

conf/airframes/examples/microjet_lisa_m.xml

@@ -51,19 +51,6 @@
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </load>
 
-    <!-- extra navigation routines -->
-    <load name="nav_bungee_takeoff.xml"/>
-    <load name="nav_line.xml"/>
-    <load name="nav_line_border.xml"/>
-    <load name="nav_line_osam.xml"/>
-    <load name="nav_flower.xml"/>
-    <load name="nav_smooth.xml"/>
-    <load name="nav_survey_polygon.xml"/>
-    <load name="nav_survey_poly_osam.xml"/>
-    <load name="nav_survey_zamboni.xml"/>
-    <load name="nav_vertical_raster.xml"/>
-    <load name="nav_spiral.xml"/>
-
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
     </load>

conf/flight_plans/flight_plan.dtd

@@ -1,6 +1,6 @@
 <!-- Paparazzi flight plan DTD -->
 
-<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,includes?,exceptions?,blocks)>
+<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,modules?,includes?,exceptions?,blocks)>
 
 <!ELEMENT procedure (param*,header?,waypoints?,sectors?,exceptions?,blocks?)>
 
@@ -17,6 +17,11 @@
 <!ELEMENT variables (variable*)>
 <!ELEMENT variable EMPTY>
 
+<!ELEMENT modules (module*)>
+<!ELEMENT module  (configure|define)*>
+<!ELEMENT configure EMPTY>
+<!ELEMENT define EMPTY>
+
 <!ELEMENT includes (include*)>
 
 <!ELEMENT exceptions (exception*)>
@@ -104,6 +109,19 @@ alt_unit CDATA #IMPLIED
 alt_unit_coef CDATA #IMPLIED
 values CDATA #IMPLIED>
 
+<!ATTLIST modules>
+
+<!ATTLIST module
+name CDATA #REQUIRED
+type CDATA #IMPLIED>
+
+<!ATTLIST define
+name CDATA #REQUIRED
+value CDATA #IMPLIED>
+
+<!ATTLIST configure
+name CDATA #REQUIRED
+value CDATA #REQUIRED>
 
 <!ATTLIST blocks>
 

conf/flight_plans/nav_modules.xml

@@ -33,6 +33,20 @@
       <corner name="S5"/>
     </sector>
   </sectors>
+  <modules>
+    <!-- extra navigation routines -->
+    <module name="nav" type="bungee_takeoff"/>
+    <module name="nav" type="line"/>
+    <module name="nav" type="line_border"/>
+    <module name="nav" type="line_osam"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="smooth"/>
+    <module name="nav" type="survey_polygon"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="survey_zamboni"/>
+    <module name="nav" type="vertical_raster"/>
+    <module name="nav" type="spiral"/>
+  </modules>
   <exceptions/>
   <blocks>
     <block name="Wait GPS">