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subsystem makefiles for fixedwing

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This commit is contained in:
Felix Ruess
2010-08-11 20:36:55 +00:00
parent 548d8c5752
commit 4bf10257ce
6 changed files with 42 additions and 40 deletions
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conf/airframes/AirborneCodeReorg/LisaFw.xml
+6 -12
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@@ -44,17 +44,6 @@
<define name="MAX_PITCH" value="0.6"/> <define name="MAX_PITCH" value="0.6"/>
</section> </section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_3"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_"> <section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/> <define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/> <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -179,6 +168,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/lisa_l.makefile
# Fixed Wing Specifics # Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
# Temporary problem solving # Temporary problem solving
ap.CFLAGS += -DSTM32 ap.CFLAGS += -DSTM32
@@ -191,10 +181,14 @@ MODEM_UART_NR = 2
MODEM_BAUD = 57600 MODEM_BAUD = 57600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# rest
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
ap.srcs += traffic_info.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c sim.srcs += traffic_info.c
</makefile> </makefile>
</airframe> </airframe>
conf/airframes/AirborneCodeReorg/TinyFw.xml
+12 -23
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@@ -44,17 +44,6 @@
<define name="MAX_PITCH" value="0.6"/> <define name="MAX_PITCH" value="0.6"/>
</section> </section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_3"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_"> <section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/> <define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/> <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -180,17 +169,24 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
# Fixed Wing Specifics # Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
# IO Options # IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
GPS_UART_NR = 0 # Sensors
GPS_BAUD = 38400 include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
#GPS_UART_NR = 0
#GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
MODEM_UART_NR = 1 ### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
MODEM_BAUD = 9600 #MODEM_UART_NR = 1
MODEM_BAUD = 9600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
@@ -198,13 +194,6 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
######################################
# Todo
ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += $(SRC_FIXEDWING)/gyro.c
###################################### ######################################
# Config for SITL simulation # Config for SITL simulation
conf/airframes/mentor_tum.xml
+3 -2
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@@ -217,13 +217,14 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
# IO Options # IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
# default GPS parameters ### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
#GPS_UART_NR = 0 #GPS_UART_NR = 0
#GPS_BAUD = 38400 #GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
# default modem parameters ### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
#MODEM_UART_NR = 1 #MODEM_UART_NR = 1
#MODEM_BAUD = 57600 #MODEM_BAUD = 57600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
conf/autopilot/fixedwing_common.makefile
+1 -1
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@@ -2,7 +2,7 @@
SRC_FIXEDWING=. SRC_FIXEDWING=.
SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH) SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCHI)
SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/ SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot
conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
+11 -1
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@@ -1,4 +1,14 @@
# attitude via IR sensors and standard assignment for tiny and twog # attitude via IR sensors
#
# default values for tiny and twog are:
# ADC_IR1 = ADC_1
# ADC_IR2 = ADC_2
# ADC_IR_TOP = ADC_0
# ADC_IR_NB_SAMPLES = 16
#
# to change just redefine these before including this file
#
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1) ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2) ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
conf/autopilot/subsystems/fixedwing_gyro.makefile
+9 -1
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@@ -1,4 +1,12 @@
# Standard setup for roll stabilization with gyro on a tiny or twog # roll stabilization with gyro
#
# default values for tiny and twog are:
# ADC_GYRO_ROLL = ADC_3
# ADC_GYRO_NB_SAMPLES = 16
#
# to change just redefine these before including this file
#
ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL) ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES) ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)