diff --git a/conf/airframes/ENAC/fixed-wing/drops.xml b/conf/airframes/ENAC/fixed-wing/drops.xml index a1281815ae..72d7a9719f 100644 --- a/conf/airframes/ENAC/fixed-wing/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/drops.xml @@ -245,7 +245,7 @@ ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml index eb4502783e..68d29c2f5c 100644 --- a/conf/airframes/ENAC/fixed-wing/firestorm.xml +++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml @@ -246,7 +246,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c nav_line.c ap.srcs += nav_survey_rectangle.c diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml index e449ae9643..0a897d1859 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml @@ -268,7 +268,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c nav_line.c ap.srcs += nav_survey_rectangle.c # chemotaxis.c anemotaxis.c discsurvey.c diff --git a/conf/airframes/ENAC/fixed-wing/slayer2.xml b/conf/airframes/ENAC/fixed-wing/slayer2.xml index 649d209ad4..06fe3b6d52 100644 --- a/conf/airframes/ENAC/fixed-wing/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/slayer2.xml @@ -244,7 +244,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c traffic_info.c nav ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3 -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 # -DIDG300 ap.srcs += gyro.c # ap.srcs += bomb.c diff --git a/conf/airframes/ENAC/fixed-wing/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/solarstorm.xml index 83e6bbf828..de0f9c12e2 100644 --- a/conf/airframes/ENAC/fixed-wing/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/solarstorm.xml @@ -239,7 +239,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c nav_line.c ap.srcs += nav_survey_rectangle.c diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml index d289eff1c2..f93aaf14e1 100644 --- a/conf/airframes/ENAC/fixed-wing/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/spocII.xml @@ -244,7 +244,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += nav_survey_rectangle.c nav_line.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c # Current sensor diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml index bc5b5ba99b..e91253d00a 100644 --- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml @@ -267,7 +267,7 @@ ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN ap.srcs += infrared.c estimator.c ########## Gyro -#ap.CFLAGS += -DGYRO -DADXRS150 +#ap.CFLAGS += -DUSE_GYRO -DADXRS150 #ap.srcs += gyro.c ########## Nav diff --git a/conf/airframes/TUDelft/Trip50A.xml b/conf/airframes/TUDelft/Trip50A.xml index 745fb2fec6..7c1ffb291f 100644 --- a/conf/airframes/TUDelft/Trip50A.xml +++ b/conf/airframes/TUDelft/Trip50A.xml @@ -274,7 +274,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c -ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DGYRO -DIDG300 +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300 ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG diff --git a/conf/airframes/TUDelft/Trip50B.xml b/conf/airframes/TUDelft/Trip50B.xml index b8b4e489b9..18d61f70ad 100644 --- a/conf/airframes/TUDelft/Trip50B.xml +++ b/conf/airframes/TUDelft/Trip50B.xml @@ -279,7 +279,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c -ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DGYRO -DIDG300 +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300 ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG diff --git a/conf/airframes/TUDelft/holiday50.xml b/conf/airframes/TUDelft/holiday50.xml index eaae02382b..18fd220371 100644 --- a/conf/airframes/TUDelft/holiday50.xml +++ b/conf/airframes/TUDelft/holiday50.xml @@ -286,7 +286,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.CFLAGS += -DTUNE_AGRESSIVE_CLIMB -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_MODULES diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index 6f8128e43b..ba8c932c62 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -267,7 +267,7 @@ ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml index d1f05053ac..c32a9d784d 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml @@ -232,7 +232,7 @@ ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c nav_line.c -#ap.CFLAGS += -DGYRO -DADXRS150 +#ap.CFLAGS += -DUSE_GYRO -DADXRS150 #ap.srcs += gyro.c #ap.srcs += bomb.c diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml index 899bc5fe43..f29a776abd 100644 --- a/conf/airframes/mm/fixed-wing/slowfast.xml +++ b/conf/airframes/mm/fixed-wing/slowfast.xml @@ -266,7 +266,7 @@ ap.srcs += nav_line.c ap.srcs += nav_survey_rectangle.c ap.srcs += snav.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c # Config for SITL simulation diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml index c9c8a76d47..b9a62671a0 100644 --- a/conf/airframes/mm/fixed-wing/slowfast2.xml +++ b/conf/airframes/mm/fixed-wing/slowfast2.xml @@ -280,7 +280,7 @@ ap.srcs += nav_line.c ap.srcs += nav_survey_rectangle.c ap.srcs += snav.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c # Config for SITL simulation diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml index 4dfd4de0f8..3c768eb7e0 100644 --- a/conf/airframes/mm/hangar/black_one.xml +++ b/conf/airframes/mm/hangar/black_one.xml @@ -249,7 +249,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += bomb.c diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml index cffbf5f8b1..136e6b3d81 100644 --- a/conf/airframes/mm/hangar/glass_one1.xml +++ b/conf/airframes/mm/hangar/glass_one1.xml @@ -241,7 +241,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c -#ap.CFLAGS += -DGYRO -DADXRS150 +#ap.CFLAGS += -DUSE_GYRO -DADXRS150 #ap.srcs += gyro.c #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml index 9a36a3049d..04403d4751 100644 --- a/conf/airframes/mm/hangar/lila.xml +++ b/conf/airframes/mm/hangar/lila.xml @@ -227,7 +227,7 @@ ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml index e0c31db35b..c2ba4a2dc0 100644 --- a/conf/airframes/mm/hangar/mac06a.xml +++ b/conf/airframes/mm/hangar/mac06a.xml @@ -235,7 +235,7 @@ ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += bomb.c diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml index 076cf60620..028744c211 100644 --- a/conf/airframes/mm/hangar/red_one.xml +++ b/conf/airframes/mm/hangar/red_one.xml @@ -262,7 +262,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += bomb.c diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index 0afdcb0935..5d3e06a0ea 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -204,7 +204,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += nav_line.c nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index 7dbda597a2..40f5e9cca3 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -216,7 +216,7 @@ ap.CFLAGS += -DNAV ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c # Harware In The Loop @@ -228,7 +228,7 @@ ap.srcs += gyro.c include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c -sim.CFLAGS += -DGYRO -DADXRS150 +sim.CFLAGS += -DUSE_GYRO -DADXRS150 sim.srcs += gyro.c diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml index d2877c4774..af9ce282ae 100644 --- a/conf/airframes/obsolete/microjet6.xml +++ b/conf/airframes/obsolete/microjet6.xml @@ -238,7 +238,7 @@ ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index a276c2e8af..247037bca2 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -224,7 +224,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += nav_line.c nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index 12483ad78d..43717e14c5 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -223,7 +223,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.srcs += nav_line.c nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index 5a71726084..5e6a97022d 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -213,7 +213,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 # -DESTIMATOR_COMP_FILTER ap.srcs += gyro.c diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml index 41f6cb5cba..77fa715f5e 100644 --- a/conf/airframes/obsolete/slayer1.xml +++ b/conf/airframes/obsolete/slayer1.xml @@ -228,7 +228,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += nav_line.c nav_survey_rectangle.c -ap.CFLAGS += -DGYRO -DIDG300 +ap.CFLAGS += -DUSE_GYRO -DIDG300 ap.srcs += gyro.c bomb.c # Video switch diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml index b3560170a6..147573ba8e 100644 --- a/conf/airframes/obsolete/slayer3.xml +++ b/conf/airframes/obsolete/slayer3.xml @@ -229,7 +229,7 @@ ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c # Hack to use the same tuning file than slayer1 diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index ceaf2c47e0..174ac3d98b 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -212,7 +212,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c snav.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index 61b2d91b38..5fe62b7cbf 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -208,7 +208,7 @@ ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index 6f676d997c..38c00d9f32 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -190,7 +190,7 @@ ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index 5f114abf95..96ad443c3f 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -215,7 +215,7 @@ ap.srcs += gps_ubx.c gps.c latlong.c ap.CFLAGS += -DUSE_INFRARED ap.srcs += infrared.c estimator.c -ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP +ap.CFLAGS += -DUSE_GYRO -DADXRS150 -DPID_RATE_LOOP ap.srcs += gyro.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml index 129fe4b9f2..b7f4ba0ebe 100644 --- a/conf/airframes/obsolete/storm1.xml +++ b/conf/airframes/obsolete/storm1.xml @@ -271,7 +271,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -# ap.CFLAGS += -DGYRO -DADXRS150 +# ap.CFLAGS += -DUSE_GYRO -DADXRS150 # ap.srcs += gyro.c ap.srcs += traffic_info.c nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 63704a355c..dcff373e0a 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -218,7 +218,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DUSE_INFRARED ap.srcs += infrared.c estimator.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index c612957397..06ca0fd0a8 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -239,7 +239,7 @@ ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c nav_line.c ap.srcs += nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml index 69276a4b1b..7d34959884 100644 --- a/conf/airframes/obsolete/xxx1.xml +++ b/conf/airframes/obsolete/xxx1.xml @@ -244,7 +244,7 @@ ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += gyro.c nav_line.c ap.srcs += nav_survey_rectangle.c diff --git a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile b/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile index 50968fa0ed..9f4dc97352 100644 --- a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile +++ b/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile @@ -11,5 +11,5 @@ ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL) ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES) -ap.CFLAGS += -DGYRO -DADXRS150 +ap.CFLAGS += -DUSE_GYRO -DADXRS150 ap.srcs += $(SRC_FIXEDWING)/gyro.c diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index 805d4e0596..7b1eef509c 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -451,7 +451,7 @@ void periodic_task_ap( void ) { #endif { -#if defined GYRO +#ifdef USE_GYRO gyro_update(); #endif @@ -496,7 +496,7 @@ void init_ap( void ) { #ifdef USE_INFRARED ir_init(); #endif -#ifdef GYRO +#ifdef USE_GYRO gyro_init(); #endif #ifdef USE_GPS