[sim] moving the old ocaml simulator to NPS (#3167)

- the exact same basic model is now a NPS FDM
- sim target still woks, it is just an alias to NPS with the proper FDM
- the old ocaml files are removed
- AHRS and INS are bypassed, since the accelerations are not well calculated by the model

conf/modules/actuators_nps.xml

@@ -10,7 +10,7 @@
     <depends>actuators</depends>
     <provides>actuators</provides>
   </dep>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file_arch name="actuators_pwm_arch.c"/>
   </makefile>
 </module>

conf/modules/fdm_fixedwing_sim.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="fdm_fixedwing_sim" dir="fdm">
+  <doc>
+    <description>
+      Basic fixedwing FDM for NPS simulator
+
+      This flight dynamic model is the copy of the legacy simulator that was written in OCaml.
+      Its only purpose is to allow to test the flight plans with a very simple airplane model.
+    </description>
+  </doc>
+  <header/>
+  <makefile target="sim|nps|hitl">
+    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
+    <define name="NPS_BYPASS_INS" value="TRUE"/>
+    <file name="nps_fdm_fixedwing_sim.c" dir="nps"/>
+  </makefile>
+</module>
+

conf/modules/firmwares/fixedwing.xml

@@ -28,7 +28,7 @@
   <makefile target="!fbw">
     <file name="main_ap.c" dir="."/>
   </makefile>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <define name="AP"/>
     <file name="nps_autopilot_fixedwing.c" dir="nps"/>
   </makefile>

conf/modules/gps_nps.xml

@@ -17,7 +17,7 @@
   </header>
   <init fun="gps_nps_init()"/>
   <periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="gps_sim_nps.c"/>
     <define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
     <test>

conf/modules/imu_common.xml

@@ -40,7 +40,7 @@
   </header>
   <init fun="imu_init()"/>
 
-  <makefile target="!sim|fbw">
+  <makefile target="!fbw">
     <define name="USE_IMU"/>
     <file name="imu.c"/>
     <test/>

conf/modules/imu_nps.xml

@@ -16,7 +16,7 @@
   <init fun="imu_nps_init()"/>
   <event fun="imu_nps_event()"/>
 
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="imu_nps.c"/>
   </makefile>
 </module>

conf/modules/ins_arduimu.xml

@@ -17,8 +17,5 @@
   <makefile target="ap">
     <file name="ins_arduimu.c"/>
   </makefile>
-  <makefile target="sim">
-    <file_arch name="ins_arduimu.c"/>
-  </makefile>
 </module>
 

conf/modules/ins_arduimu_basic.xml

@@ -29,8 +29,5 @@
   <makefile target="ap">
     <file name="ins_arduimu_basic.c"/>
   </makefile>
-  <makefile target="sim">
-    <file_arch name="ins_arduimu_basic.c"/>
-  </makefile>
 </module>
 

conf/modules/ins_nps.xml

@@ -14,7 +14,7 @@
     <file name="ins_gps_passthrough.h"/>
   </header>
   <init fun="ins_gps_passthrough_init()"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="imu.c" dir="modules/imu"/>
     <file name="imu_nps.c" dir="modules/imu"/>
     <define name="USE_IMU"/>
@@ -34,7 +34,7 @@
     <file name="ins.c"/>
     <file name="ins_gps_passthrough.c"/>
   </makefile>
-  <makefile target="nps" firmware="fixedwing">
+  <makefile target="sim|nps" firmware="fixedwing">
     <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
     <file name="ins.c"/>
     <file name="ins_gps_passthrough_utm.c"/>

conf/modules/system_core.xml

@@ -31,7 +31,6 @@
     <define name="USE_COMMANDS"/>
     <file_arch name="sys_time_arch.c" dir="mcu_periph"/>
     <file_arch name="led_hw.c" dir="." cond="ifeq ($(ARCH), stm32)"/>
-    <file_arch name="led_hw.c" dir="." cond="ifeq ($(TARGET), sim)"/>
     <flag name="LDFLAGS" value="lrt" cond="ifeq ($(ARCH), linux)"/>
     <raw>
 VPATH += $(PAPARAZZI_HOME)/var/share

conf/modules/targets/nps.xml

@@ -15,7 +15,7 @@
     <provides>baro,airspeed,sonar,incidence,temperature</provides>
     <suggests>gps_nps,imu_nps,ins_nps,actuators_nps,telemetry_nps</suggests>
   </dep>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <define name="AP"/>
     <define name="SITL"/>
     <file name="nps_electrical.c" dir="$(NPS_DIR)"/>

conf/modules/targets/nps_common.xml

@@ -12,7 +12,7 @@
   <dep>
     <depends>math</depends>
   </dep>
-  <makefile target="nps|hitl">
+  <makefile target="sim|nps|hitl">
     <configure name="BARO_PERIODIC_FREQUENCY" default="50"/>
     <configure name="NPS_DIR" value="nps"/>
     <raw>

conf/modules/targets/sim.xml

@@ -11,26 +11,9 @@
     </description>
   </doc>
   <dep>
-    <depends>system_core,electrical,settings,actuators_dummy,@gps,@ins,@ahrs</depends>
-    <suggests>gps_sim,imu_sim,ins_sim,ahrs_sim,baro_sim,telemetry_sim</suggests>
+    <depends>targets/nps,fdm_fixedwing_sim</depends>
   </dep>
   <makefile target="sim">
-    <define name="SITL"/>
-    <define name="AP"/>
-    <file name="main_bare.c" dir="."/>
-    <file_arch name="sim_ap.c" dir="."/>
-    <file_arch name="sim_gps.c" dir="."/>
-    <file_arch name="sim_adc_generic.c" dir="."/>
-    <file_arch name="sim_ahrs.c" dir="."/>
-    <file_arch name="sim_airspeed.c" dir="."/>
-    <raw>
-UNAME = $(shell uname -s)
-ifeq ("$(UNAME)","Darwin")
-  sim.CFLAGS += $(shell if test -d /opt/paparazzi/include; then echo "-I/opt/paparazzi/include"; elif test -d /opt/local/include; then echo "-I/opt/local/include"; fi)
-endif
-
-sim.CFLAGS  	+= $(CPPFLAGS)
-    </raw>
   </makefile>
 </module>
 

conf/modules/telemetry_nps.xml

@@ -22,7 +22,7 @@
   </header>
   <init fun="pprz_dl_init()"/>
   <event fun="pprz_dl_event()"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <configure name="MODEM_DEV" default="UDP0" case="upper|lower"/>
     <configure name="MODEM_PORT_OUT" default="4242"/>
     <configure name="MODEM_PORT_IN" default="4243"/>

conf/modules/udp.xml

@@ -19,7 +19,7 @@
     <file_arch name="udp_arch.c" dir="mcu_periph"/>
     <file name="udp_socket.c" dir="arch/linux" cond="ifeq ($(ARCH), linux)"/>
   </makefile>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <include name="arch/linux"/>
     <file name="udp_socket.c" dir="arch/linux"/>
   </makefile>