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[hitl] rewrite support for hardware in the loop simulation (#3146)

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- old way (based on ins_vectornav) is not supported anymore
- directly send sensor data and receive commands with a dedicated link
- examples with USB link for better results
- update sphinx documentation
- compilation in a single build
This commit is contained in:
Gautier Hattenberger
2023-10-31 14:48:55 +01:00
committed by GitHub
parent 094997af4b
commit 4ae40567ed
108 changed files with 1684 additions and 1276 deletions
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conf/modules/actuators_hitl.xml
+31
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@@ -0,0 +1,31 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_hitl" dir="actuators" task="actuators">
<doc>
<description>
Sends commands or actuators for Hardware In The Loop simulation
</description>
<configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
<configure name="HITL_BAUD" value="B230400" description="Baudrate for extra datalink if link device is UART"/>
</doc>
<dep>
<provides>actuators</provides>
</dep>
<header>
<file name="actuators_hitl.h"/>
</header>
<init fun="actuators_hitl_init()"/>
<periodic fun="actuators_hitl_periodic()"/>
<makefile target="ap">
<configure name="HITL_PORT" case="upper|lower"/>
<configure name="HITL_BAUD" default="B230400"/>
<define name="HITL_DEVICE" value="$(HITL_PORT_LOWER)"/>
<define name="USE_$(HITL_PORT_UPPER)"/>
<define name="$(HITL_PORT_UPPER)_BAUD" value="$(HITL_BAUD)"/>
<file name="actuators_hitl.c"/>
<test>
<define name="HITL_DEVICE" value="usb_serial"/>
<define name="USE_USB_SERIAL"/>
</test>
</makefile>
</module>
conf/modules/control.xml
+1 -1
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@@ -12,5 +12,5 @@
<dep>
<depends>stabilization_attitude_fw,guidance_basic_fw</depends>
</dep>
<makefile target="ap|sim|nps|hitl" firmware="fixedwing"/>
<makefile target="ap|sim|nps" firmware="fixedwing"/>
</module>
conf/modules/dfu_command.xml
+1 -1
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@@ -17,7 +17,7 @@
<file name="dfu_command.h"/>
</header>
<event fun="dfu_command_event()"/>
<makefile target="!fbw|sim|nps|hitl">
<makefile target="!fbw|sim|nps">
<configure name="SERIAL_TTY" default="/dev/ttyACM0"/>
<configure name="DFU_PRE_UPLOAD_CMD" default="@(printf '\043\012' $(REDIRECT) $(SERIAL_TTY) $(AND) sleep 1 $(AND) printf 'bl\012' $(REDIRECT) $(SERIAL_TTY) $(AND) sleep 1) $(OR) echo 'Warning: DFU command failed!'"/>
<configure name="DFU_UTIL_PRE_UPLOAD_CMD" default="@(printf '\043\012' $(REDIRECT) $(SERIAL_TTY) $(AND) sleep 1 $(AND) printf 'bl\012' $(REDIRECT) $(SERIAL_TTY) $(AND) sleep 1) $(OR) echo 'Warning: DFU command failed!'"/>
conf/modules/electrical.xml
+1 -1
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@@ -22,7 +22,7 @@
</header>
<init fun="electrical_init()"/>
<periodic fun="electrical_periodic()" freq="10"/>
<makefile target="fbw|sim|nps|hitl" firmware="fixedwing">
<makefile target="fbw|sim|nps" firmware="fixedwing">
<file name="electrical.c"/>
<test firmware="fixedwing"/>
</makefile>
conf/modules/extra_dl.xml
+4 -20
View File
@@ -6,6 +6,9 @@
<configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
<configure name="EXTRA_DL_BAUD" value="B57600" description="Baudrate for extra datalink if link device is UART"/>
</doc>
<dep>
<depends>uart|udp</depends>
</dep>
<header>
<file name="extra_pprz_dl.h"/>
</header>
@@ -25,28 +28,9 @@
<configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
<define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
<define name="$(EXTRA_DL_PORT_UPPER)_BAUD" value="$(EXTRA_DL_BAUD)"/>
<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
<raw>
# Check for UDP port
ifneq (,$(findstring udp,$(EXTRA_DL_PORT_LOWER)))
include $(CFG_SHARED)/udp.makefile
else
ifneq (,$(findstring usb_serial,$(EXTRA_DL_PORT_LOWER)))
# usb_serial telemetry chosen, add files based on architecture
ifeq ($(ARCH), stm32)
$(TARGET).srcs += $(SRC_ARCH)/usb_ser_hw.c
else
ifneq ($(ARCH), sim)
$(error telemetry_transparent_usb currently only implemented for the stm32)
endif
endif
else
EXTRA_DL_BAUD ?= B57600
$(TARGET).CFLAGS += -D$(EXTRA_DL_PORT_UPPER)_BAUD=$(EXTRA_DL_BAUD)
endif # USB serial
endif # UDP
</raw>
<file name="extra_pprz_dl.c"/>
<file name="pprz_transport.c" dir="pprzlink/src"/>
</makefile>
conf/modules/firmwares/fixedwing.xml
+2 -2
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@@ -11,7 +11,7 @@
<depends>system_core,autopilot_gnc_fw,actuators_pwm</depends>
<suggests>nav_basic_fw</suggests>
</dep>
<makefile>
<makefile target="ap|nps|sim|fbw">
<configure name="PERIODIC_FREQUENCY" default="60"/>
<configure name="SRC_FIRMWARE" value="firmwares/fixedwing"/>
<configure name="WIND_INFO" default="TRUE"/>
@@ -28,7 +28,7 @@
<makefile target="!fbw">
<file name="main_ap.c" dir="."/>
</makefile>
<makefile target="nps|hitl">
<makefile target="nps">
<define name="AP"/>
<file name="nps_autopilot_fixedwing.c" dir="nps"/>
</makefile>
conf/modules/firmwares/generic_hitl.xml
+15
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@@ -0,0 +1,15 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="generic_hitl" dir="firmwares" task="core">
<doc>
<description>
Generic firmware config for Hardware In The Loop simualtion
</description>
</doc>
<makefile target="hitl">
<configure name="PERIODIC_FREQUENCY" default="60"/>
<define name="PERIODIC_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<define name="BOARD_CONFIG" value="$(BOARD_CFG)"/>
</makefile>
</module>
conf/modules/firmwares/rotorcraft.xml
+1 -1
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@@ -25,7 +25,7 @@
<makefile target="!fbw">
<file name="main_ap.c" dir="."/>
</makefile>
<makefile target="nps|hitl">
<makefile target="nps">
<file name="nps_autopilot_rotorcraft.c" dir="nps"/>
</makefile>
</module>
conf/modules/firmwares/rover.xml
+1 -1
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@@ -28,7 +28,7 @@ $(error "Rover firmware should use generated autopilot")
endif
</raw>
</makefile>
<makefile target="nps|hitl">
<makefile target="nps">
<define name="AP"/>
<file name="nps_autopilot_rover.c" dir="nps"/>
</makefile>
conf/modules/gps.xml
+1 -1
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@@ -31,7 +31,7 @@
<datalink message="GPS_INJECT" fun="gps_parse_GPS_INJECT(buf)"/>
<datalink message="RTCM_INJECT" fun="gps_parse_RTCM_INJECT(buf)"/>
<makefile target="fbw|ap|sim|nps|hitl">
<makefile target="fbw|ap|sim|nps">
<configure name="GPS_LED" default="none"/>
<file name="gps.c"/>
<define name="USE_GPS"/>
conf/modules/gps_nps.xml
+1 -1
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@@ -17,7 +17,7 @@
</header>
<init fun="gps_nps_init()"/>
<periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
<makefile target="nps|hitl">
<makefile target="nps">
<file name="gps_sim_nps.c"/>
<define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
<test>
conf/modules/gps_sim_hitl.xml
-25
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@@ -1,25 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_sim_hitl" dir="gps" task="sensors">
<doc>
<description>
Sim HITL GPS
Simulate GPS for HITL (HardwareInTheLoop) from rotorcrafts horizontal/vertical reference system.
</description>
</doc>
<dep>
<depends>gps</depends>
<provides>gps</provides>
</dep>
<header>
<file name="gps.h"/>
</header>
<init fun="gps_sim_hitl_init()"/>
<event fun="gps_sim_hitl_event()"/>
<makefile target="ap" firmware="rotorcraft">
<file name="gps_sim_hitl.c"/>
<define name="HITL"/>
<define name="GPS_TYPE_H" value="modules/gps/gps_sim_hitl.h" type="string"/>
<test firmware="rotorcraft"/>
</makefile>
</module>
conf/modules/gps_ublox.xml
+1 -1
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@@ -35,7 +35,7 @@
<periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
<event fun="gps_ubx_event()"/>
<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
<makefile target="ap|fbw|hitl">
<makefile target="ap|fbw">
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
conf/modules/guidance_basic_fw.xml
+1 -1
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@@ -54,7 +54,7 @@
<file name="guidance_h.h"/>
</header>
<init fun="v_ctl_init()"/>
<makefile target="ap|sim|nps|hitl" firmware="fixedwing">
<makefile target="ap|sim|nps" firmware="fixedwing">
<file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
<file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
conf/modules/guidance_pid_rotorcraft.xml
+1 -1
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@@ -45,7 +45,7 @@
<file name="guidance_pid.h"/>
</header>
<init fun="guidance_pid_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_pid.c" dir="$(SRC_FIRMWARE)/guidance"/>
</makefile>
</module>
conf/modules/guidance_rotorcraft.xml
+1 -1
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@@ -37,7 +37,7 @@
</header>
<init fun="guidance_h_init()"/>
<init fun="guidance_v_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
<file name="guidance_h_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
<file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
conf/modules/hard_fault_recovery.xml
+2 -1
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@@ -17,7 +17,8 @@
<provides>recovery</provides>
</dep>
<makefile target="ap" firmware="fixedwing">
<define name="USE_HARD_FAULT_RECOVERY"/>
<configure name="USE_HARD_FAULT_RECOVERY" default="TRUE"/>
<define name="USE_HARD_FAULT_RECOVERY" value="$(USE_HARD_FAULT_RECOVERY)"/>
<file name="main_recovery.c" dir="firmwares/fixedwing"/>
<test firmware="fixedwing">
<define name="RADIO_CONTROL"/>
conf/modules/imu_aspirin_v2_common.xml
+1 -1
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@@ -30,7 +30,7 @@
<init fun="imu_aspirin2_init()"/>
<periodic fun="imu_aspirin2_periodic()"/>
<event fun="imu_aspirin2_event()"/>
<makefile target="!sim|nps|fbw|hitl">
<makefile target="!sim|nps|fbw">
<configure name="ASPIRIN_2_SPI_DEV" default="spi2" case="lower|upper"/>
<configure name="ASPIRIN_2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
conf/modules/imu_nps.xml
+1 -1
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@@ -16,7 +16,7 @@
<init fun="imu_nps_init()"/>
<event fun="imu_nps_event()"/>
<makefile target="nps|hitl">
<makefile target="nps">
<file name="imu_nps.c"/>
</makefile>
</module>
conf/modules/ins.xml
+1 -1
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@@ -19,7 +19,7 @@
<file name="ins_int.h" dir="modules/ins"/>
</header>
<init fun="ins_int_init()"/>
<makefile target="ap|nps|hitl">
<makefile target="ap|nps">
<define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
<file name="ins.c"/>
<file name="ins_int.c"/>
conf/modules/ins_nps.xml
+3 -3
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@@ -14,7 +14,7 @@
<file name="ins_gps_passthrough.h"/>
</header>
<init fun="ins_gps_passthrough_init()"/>
<makefile target="nps|hitl">
<makefile target="nps">
<file name="imu.c" dir="modules/imu"/>
<file name="imu_nps.c" dir="modules/imu"/>
<define name="USE_IMU"/>
@@ -29,12 +29,12 @@
</test>
</makefile>
<makefile target="nps|hitl" firmware="rotorcraft">
<makefile target="nps" firmware="rotorcraft">
<define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
<file name="ins.c"/>
<file name="ins_gps_passthrough.c"/>
</makefile>
<makefile target="nps|hitl" firmware="fixedwing">
<makefile target="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/nav_basic_fw.xml
+1 -1
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@@ -34,7 +34,7 @@
<init fun="nav_init()"/>
<datalink message="BLOCK" fun="nav_parse_BLOCK(dev,trans,buf)"/>
<datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(dev,trans,buf)"/>
<makefile target="ap|sim|nps|hitl" firmware="fixedwing">
<makefile target="ap|sim|nps" firmware="fixedwing">
<file name="nav.c" dir="$(SRC_FIRMWARE)"/>
<file name="common_flight_plan.c"/>
<file name="nav_survey_rectangle.c"/>
conf/modules/nav_basic_rotorcraft.xml
+1 -1
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@@ -14,7 +14,7 @@
<file name="nav_rotorcraft_base.h"/>
</header>
<init fun="nav_rotorcraft_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="nav_rotorcraft_base.c"/>
<test firmware="rotorcraft">
<configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
conf/modules/nav_flower.xml
+1 -1
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@@ -14,7 +14,7 @@
<file name="nav_flower.h"/>
</header>
<init fun="nav_flower_init()"/>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_flower.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
conf/modules/nav_hybrid.xml
+1 -1
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@@ -24,7 +24,7 @@
<file name="nav_rotorcraft_hybrid.h"/>
</header>
<init fun="nav_rotorcraft_hybrid_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="nav_rotorcraft_hybrid.c"/>
<test firmware="rotorcraft">
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="15."/>
conf/modules/nav_lace.xml
+1 -1
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@@ -19,7 +19,7 @@
<file name="nav_lace.h"/>
</header>
<init fun="nav_lace_init()"/>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_lace.c"/>
</makefile>
</module>
conf/modules/nav_launcher.xml
+1 -1
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@@ -18,7 +18,7 @@
<header>
<file name="nav_launcher.h"/>
</header>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_launcher.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
conf/modules/nav_line.xml
+1 -1
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@@ -19,7 +19,7 @@
<file name="nav_line.h"/>
</header>
<init fun="nav_line_init()"/>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_line.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
conf/modules/nav_rosette.xml
+1 -1
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@@ -19,7 +19,7 @@
<file name="nav_rosette.h"/>
</header>
<init fun="nav_rosette_init()"/>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_rosette.c"/>
</makefile>
</module>
conf/modules/nav_rotorcraft.xml
+1 -1
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@@ -26,7 +26,7 @@
<init fun="nav_init()"/>
<datalink message="BLOCK" fun="nav_parse_BLOCK(buf)"/>
<datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(buf)"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="navigation.c" dir="$(SRC_FIRMWARE)"/>
<file name="common_flight_plan.c"/>
<file name="waypoints.c"/>
conf/modules/nav_skid_landing.xml
+1 -1
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@@ -55,7 +55,7 @@
<header>
<file name="nav_skid_landing.h"/>
</header>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_skid_landing.c"/>
<define name="CTRL_VERTICAL_LANDING" value="1"/>
<test firmware="fixedwing">
conf/modules/nav_spiral_3D.xml
+1 -1
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@@ -30,7 +30,7 @@
<file name="nav_spiral_3D.h"/>
</header>
<init fun="nav_spiral_3D_init()"/>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_spiral_3D.c"/>
</makefile>
</module>
conf/modules/nav_survey_poly_osam.xml
+1 -1
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@@ -34,7 +34,7 @@ You can use:
<header>
<file name="nav_survey_poly_osam.h"/>
</header>
<makefile target="ap|sim|nps|hitl">
<makefile target="ap|sim|nps">
<file name="nav_survey_poly_osam.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
conf/modules/navigation.xml
+1 -1
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@@ -9,5 +9,5 @@
<dep>
<depends>nav_basic_fw</depends>
</dep>
<makefile target="ap|sim|nps|hitl"/>
<makefile target="ap|sim|nps"/>
</module>
conf/modules/nps_hitl_sensors.xml
+19
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@@ -0,0 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="nps_hitl_sensors" dir="sensors" task="sensors">
<doc>
<description>
Send simulated sensors for HITL (HardwareInTheLoop).
</description>
</doc>
<dep>
<provides>imu,mag,gps,baro,airspeed</provides>
</dep>
<makefile target="hitl">
<include name="$(PAPARAZZI_HOME)/var/include"/>
<define name="DOWNLINK"/>
<file name="nps_hitl_sensors.c" dir="$(NPS_DIR)"/>
<file name="serial_port.c" dir="arch/linux"/>
<file name="pprz_transport.c" dir="pprzlink/src"/>
</makefile>
</module>
conf/modules/radio_control_ppm.xml
+1 -1
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@@ -21,7 +21,7 @@
</header>
<init fun="ppm_init()"/>
<event fun="ppm_event()"/>
<makefile target="ap|fbw|sim|nps|hitl">
<makefile target="ap|fbw|sim|nps">
<define name="USE_PPM" value="TRUE"/>
<define name="PPM_CONFIG" value="$(PPM_CONFIG)" cond="ifdef PPM_CONFIG"/>
<define name="RADIO_CONTROL_TYPE_PPM"/>
conf/modules/radio_control_spektrum.xml
+1 -1
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@@ -53,7 +53,7 @@
<define name="SPEKTRUM_SECONDARY_BIND_CONF_PIN" value="GPIO1"/>
</test>
</makefile>
<makefile target="sim|nps|hitl">
<makefile target="sim|nps">
<file_arch name="spektrum_arch.c" dir="modules/radio_control"/>
<test>
<define name="RADIO_CONTROL"/>
conf/modules/rust_demo_module.xml
+1 -1
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@@ -26,7 +26,7 @@
<init fun="rust_function()"/>
<periodic fun="rust_periodic()" freq="1." autorun="TRUE"/>
<makefile target="ap|nps|hitl">
<makefile target="ap|nps">
<!--
MODULE_PATH is where the module lives.
RUST_MODULES contains all Rust modules that should be built.
conf/modules/sensors_hitl.xml
+41
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@@ -0,0 +1,41 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="sensors_hitl" dir="sensors" task="sensors">
<doc>
<description>
Simulated sensors for HITL (HardwareInTheLoop).
</description>
<configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
<configure name="HITL_BAUD" value="B921600" description="Baudrate for extra datalink if link device is UART"/>
<define name="USE_BATTERY_MONITOR" value="FALSE|TRUE" description="If the board is not powered from a real battery, set this flag to TRUE to override the battery voltage reading"/>
</doc>
<dep>
<depends>imu_common,gps</depends>
<provides>imu,mag,gps,baro,airspeed</provides>
</dep>
<header>
<file name="sensors_hitl.h"/>
</header>
<init fun="sensors_hitl_init()"/>
<periodic fun="sensors_hitl_periodic()"/>
<event fun="sensors_hitl_event()"/>
<datalink message="HITL_IMU" fun="sensors_hitl_parse_HITL_IMU(buf)"/>
<datalink message="HITL_GPS" fun="sensors_hitl_parse_HITL_GPS(buf)"/>
<datalink message="HITL_AIR_DATA" fun="sensors_hitl_parse_HITL_AIR_DATA(buf)"/>
<makefile target="ap">
<configure name="HITL_PORT" case="upper|lower"/>
<configure name="HITL_BAUD" default="B921600"/>
<define name="HITL_DEVICE" value="$(HITL_PORT_LOWER)"/>
<define name="USE_$(HITL_PORT_UPPER)"/>
<define name="$(HITL_PORT_UPPER)_BAUD" value="$(HITL_BAUD)"/>
<include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
<file name="sensors_hitl.c"/>
<test firmware="rotorcraft">
<include name="../../conf/simulator/nps"/>
<define name="NPS_PROPAGATE" value="500"/>
<define name="HITL_DEVICE" value="usb_serial"/>
<define name="USE_USB_SERIAL"/>
</test>
</makefile>
</module>
conf/modules/stabilization_attitude_fw.xml
+1 -1
View File
@@ -54,7 +54,7 @@
<file name="stabilization_attitude.h"/>
</header>
<init fun="h_ctl_init()"/>
<makefile target="ap|sim|nps|hitl" firmware="fixedwing">
<makefile target="ap|sim|nps" firmware="fixedwing">
<file name="stabilization_attitude.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>
conf/modules/stabilization_float_euler.xml
+1 -1
View File
@@ -66,7 +66,7 @@
<file name="stabilization_attitude_euler_float.h"/>
</header>
<init fun="stabilization_attitude_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_FLOAT"/>
conf/modules/stabilization_rotorcraft.xml
+1 -1
View File
@@ -24,7 +24,7 @@
</header>
<init fun="stabilization_init()"/>
<init fun="stabilization_none_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization.c" dir="$(SRC_FIRMWARE)"/>
<file name="stabilization_none.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
conf/modules/syslink_dl.xml
+1 -1
View File
@@ -15,7 +15,7 @@
<periodic fun="syslink_dl_periodic()" freq="2"/>
<event fun="syslink_dl_event()"/>
<makefile target="!fbw|sim|nps|hitl">
<makefile target="!fbw|sim|nps">
<configure name="SYSLINK_PORT" default="uart6" case="upper|lower"/>
<configure name="SYSLINK_BAUD" default="B1000000" case="upper|lower"/>
<define name="SYSLINK_DEV" value="$(SYSLINK_PORT_LOWER)"/>
conf/modules/targets/hitl.xml
+7 -11
View File
@@ -8,19 +8,15 @@
</description>
</doc>
<dep>
<depends>targets/nps</depends>
<suggests>gps_nps</suggests>
<depends>math,targets/nps_common</depends>
</dep>
<makefile target="hitl">
<configure name="INS_DEV" default="/dev/ttyUSB1"/>
<configure name="INS_BAUD" default="B921600"/>
<configure name="AP_DEV" default="/dev/ttyUSB2"/>
<configure name="AP_BAUD" default="B921600"/>
<define name="AP"/>
<define name="AP_DEV" value="$(AP_DEV)"/>
<define name="AP_BAUD" value="$(AP_BAUD)"/>
<define name="INS_DEV" value="$(INS_DEV)"/>
<define name="INS_BAUD" value="$(INS_BAUD)"/>
<configure name="SRC_FIRMWARE" default="firmwares/fixedwing"/>
<configure name="PERIODIC_FREQUENCY" default="60"/>
<define name="PERIODIC_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<define name="HITL"/>
<include name="$(SRC_FIRMWARE)"/>
<file name="nps_main_hitl.c" dir="$(NPS_DIR)"/>
</makefile>
</module>
conf/modules/targets/nps.xml
+4 -60
View File
@@ -6,79 +6,23 @@
New Paparazzi Simulator (NPS)
Bindings between embedded autopilot code and a flight dynamic model (FDM).
Possible FDM are: JSBSim or CRRCSIM, see corresponding modules.
Can run Software In The Loop (SITL) or Hardware In The Loop (HITL) simulations.
Possible FDM are: JSBSim, CRRCSIM, GAZEBO or PYBULLET, see corresponding modules.
Can run Software In The Loop (SITL) simulations.
</description>
</doc>
<dep>
<depends>system_core,electrical,settings,@ins|@ahrs</depends>
<depends>system_core,electrical,settings,@ins|@ahrs,targets/nps_common</depends>
<provides>baro,airspeed,sonar,incidence,temperature</provides>
<suggests>gps_nps,imu_nps,ins_nps,actuators_nps,telemetry_nps</suggests>
</dep>
<makefile target="nps|hitl">
<configure name="BARO_PERIODIC_FREQUENCY" default="50"/>
<configure name="NPS_DIR" value="nps"/>
<raw>
$(TARGET).MAKEFILE = $(TARGET)
$(TARGET).ARCHDIR = sim
# detect system arch and include rt and pthread library only on linux
UNAME_S := $(shell uname -s)
ifeq ($(UNAME_S),Linux)
$(TARGET).LDFLAGS += -lrt -pthread
endif
# sdl needed for joystick input
$(TARGET).LDFLAGS += $(shell sdl-config --libs)
# glib is still needed for some components (such as radio input)
$(TARGET).CFLAGS += $(shell pkg-config glib-2.0 --cflags)
$(TARGET).LDFLAGS += $(shell pkg-config glib-2.0 --libs)
#
# add the simulator directory to the make searchpath
#
VPATH += $(PAPARAZZI_SRC)/sw/simulator
</raw>
<define name="BARO_PERIODIC_FREQUENCY" value="$(BARO_PERIODIC_FREQUENCY)"/>
<define name="USE_BARO_BOARD" value="FALSE"/>
<makefile target="nps">
<define name="AP"/>
<define name="SITL"/>
<define name="USE_NPS"/>
<flag name="LDFLAGS" value="lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas"/>
<include name="$(PAPARAZZI_SRC)/sw/simulator"/>
<include name="$(PAPARAZZI_SRC)/sw/simulator/nps"/>
<include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
<file name="nps_main_common.c" dir="$(NPS_DIR)"/>
<file name="nps_sensors.c" dir="$(NPS_DIR)"/>
<file name="nps_sensors_utils.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_gyro.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_accel.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_mag.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_baro.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_sonar.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_gps.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_airspeed.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_temperature.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_aoa.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_sideslip.c" dir="$(NPS_DIR)"/>
<file name="nps_electrical.c" dir="$(NPS_DIR)"/>
<file name="nps_atmosphere.c" dir="$(NPS_DIR)"/>
<file name="nps_ivy.c" dir="$(NPS_DIR)"/>
<file name="nps_flightgear.c" dir="$(NPS_DIR)"/>
<file name="nps_radio_control.c" dir="$(NPS_DIR)"/>
<file name="nps_radio_control_joystick.c" dir="$(NPS_DIR)"/>
<file name="nps_radio_control_spektrum.c" dir="$(NPS_DIR)"/>
<file name="nps_random.c" dir="$(NPS_DIR)"/>
<file name="pprz_geodetic_wmm2020.c" dir="math"/>
</makefile>
<makefile target="nps">
<file name="nps_main_sitl.c" dir="$(NPS_DIR)"/>
</makefile>
<makefile target="hitl">
<file name="nps_main_hitl.c" dir="$(NPS_DIR)"/>
<file name="nps_ins_vectornav.c" dir="$(NPS_DIR)"/> <!-- TODO should be in ins_vectornav module -->
</makefile>
</module>
conf/modules/targets/nps_common.xml
+69
View File
@@ -0,0 +1,69 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="nps_common" dir="targets" task="core">
<doc>
<description>
New Paparazzi Simulator (NPS) common files
Bindings between embedded autopilot code and a flight dynamic model (FDM).
Can run Software In The Loop (SITL) or Hardware In The Loop (HITL) simulations.
</description>
</doc>
<dep>
<depends>math</depends>
</dep>
<makefile target="nps|hitl">
<configure name="BARO_PERIODIC_FREQUENCY" default="50"/>
<configure name="NPS_DIR" value="nps"/>
<raw>
$(TARGET).MAKEFILE = $(TARGET)
$(TARGET).ARCHDIR = sim
# detect system arch and include rt and pthread library only on linux
UNAME_S := $(shell uname -s)
ifeq ($(UNAME_S),Linux)
$(TARGET).LDFLAGS += -lrt -pthread
endif
# sdl needed for joystick input
$(TARGET).LDFLAGS += $(shell sdl-config --libs)
# glib is still needed for some components (such as radio input)
$(TARGET).CFLAGS += $(shell pkg-config glib-2.0 --cflags)
$(TARGET).LDFLAGS += $(shell pkg-config glib-2.0 --libs)
#
# add the simulator and var directory to the make searchpath
#
VPATH += $(PAPARAZZI_SRC)/sw/simulator
VPATH += $(PAPARAZZI_HOME)/var/share
</raw>
<define name="BARO_PERIODIC_FREQUENCY" value="$(BARO_PERIODIC_FREQUENCY)"/>
<define name="USE_BARO_BOARD" value="FALSE"/>
<define name="USE_NPS"/>
<flag name="LDFLAGS" value="lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas"/>
<include name="$(PAPARAZZI_SRC)/sw/simulator"/>
<include name="$(PAPARAZZI_SRC)/sw/simulator/nps"/>
<include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
<file name="nps_sensors.c" dir="$(NPS_DIR)"/>
<file name="nps_sensors_utils.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_gyro.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_accel.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_mag.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_baro.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_sonar.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_gps.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_airspeed.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_temperature.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_aoa.c" dir="$(NPS_DIR)"/>
<file name="nps_sensor_sideslip.c" dir="$(NPS_DIR)"/>
<file name="nps_atmosphere.c" dir="$(NPS_DIR)"/>
<file name="nps_ivy.c" dir="$(NPS_DIR)"/>
<file name="nps_flightgear.c" dir="$(NPS_DIR)"/>
<file name="nps_random.c" dir="$(NPS_DIR)"/>
<file name="pprz_geodetic_wmm2020.c" dir="math"/>
<file name="nps_main_common.c" dir="$(NPS_DIR)"/>
</makefile>
</module>
conf/modules/telemetry_nps.xml
+1 -1
View File
@@ -22,7 +22,7 @@
</header>
<init fun="pprz_dl_init()"/>
<event fun="pprz_dl_event()"/>
<makefile target="nps|hitl">
<makefile target="nps">
<configure name="MODEM_DEV" default="UDP0" case="upper|lower"/>
<configure name="MODEM_PORT_OUT" default="4242"/>
<configure name="MODEM_PORT_IN" default="4243"/>
conf/modules/telemetry_nps_secure.xml
+1 -1
View File
@@ -17,7 +17,7 @@
<depends>udp,datalink_common</depends>
<provides>datalink,telemetry</provides>
</dep>
<makefile target="nps|hitl">
<makefile target="nps">
<configure name="MODEM_DEV" default="UDP0" case="upper|lower"/>
<configure name="MODEM_PORT_OUT" default="4242"/>
<configure name="MODEM_PORT_IN" default="4243"/>
conf/modules/telemetry_secure_common.xml
+1 -1
View File
@@ -14,7 +14,7 @@
<suggests>telemetry_nps_secure</suggests>
</dep>
<makefile target="!sim|nps|hitl">
<makefile target="!sim|nps">
<configure name="MODEM_PORT" case="upper|lower"/>
<define name="USE_$(MODEM_PORT_UPPER)"/>
<define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
conf/modules/telemetry_transparent.xml
+1 -1
View File
@@ -22,7 +22,7 @@
</header>
<init fun="pprz_dl_init()"/>
<event fun="pprz_dl_event()" cond="!TELEMETRY_DISABLE_RX"/>
<makefile target="!sim|nps|hitl">
<makefile target="!sim|nps">
<configure name="MODEM_PORT" case="upper|lower"/>
<define name="USE_$(MODEM_PORT_UPPER)"/>
<define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>

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