diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index ee5d66b914..bfcc14ec98 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -166,10 +166,10 @@
-
-
-
-
+
+
+
+
@@ -185,8 +185,8 @@
-
-
+
+
@@ -194,14 +194,14 @@
-
+
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index e67e97d6f3..160460fe9a 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -161,10 +161,10 @@
-
-
-
-
+
+
+
+
@@ -179,7 +179,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 0d224a5e6c..d212e13626 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -14,15 +14,15 @@
-
-
+
+
@@ -36,7 +36,7 @@
-
+
@@ -51,11 +51,11 @@
-
+
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 354a60858e..b02cd6ec66 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -14,8 +14,8 @@
-
-
+
+
@@ -23,20 +23,15 @@
-
-
-
-
-
-
-
+
+
+
+
+
+
+
-
-
-
-
-
-
+
@@ -54,11 +49,11 @@
-
+
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
new file mode 100644
index 0000000000..83436e97ef
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -0,0 +1,234 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 51ce75f968..827fb19b8f 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -10,19 +10,15 @@
-
-
-
-
+
+
-
-
-
-
+
+
-
+
@@ -169,6 +165,7 @@
+
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 4acf157a96..6197ff36a6 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -15,25 +15,20 @@
-
-
+
+
-
-
-
-
-
+
+
+
-
-
-
-
-
+
+
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
new file mode 100644
index 0000000000..0c630fdb66
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -0,0 +1,243 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE=IAP
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+sim.CFLAGS += -DNPS_NO_SUPERVISION
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#ap.CFLAGS += -DR_POS=0.1
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+ap.CFLAGS += -DUSE_MODULES
+
+
+
+
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
new file mode 100644
index 0000000000..ffd6dd9264
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -0,0 +1,278 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE=IAP
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
+#ap.CFLAGS += -DBOOZ2_SONAR -DUSE_SONAR_1
+#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro_sonar.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+ap.CFLAGS += -DUSE_MODULES
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+sim.CFLAGS += -DUSE_MODULES
+
+
+
+
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
new file mode 100644
index 0000000000..56529b3cc7
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -0,0 +1,242 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+#set GPS lag for horizontal filter
+#ap.CFLAGS += -DUSE_GPS_ACC4R
+
+#ap.CFLAGS += -DGUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+#sim.CFLAGS += -DGUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+
+
+
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 0027581695..ab356a2d2e 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -229,8 +229,8 @@
-
-
+
+
@@ -253,7 +253,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 32cbb91002..0f2e9c9c80 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -192,7 +192,7 @@
-
+
@@ -212,8 +212,8 @@
-
-
+
+
diff --git a/conf/airframes/TU_Delft/yapa_xsens.xml b/conf/airframes/TU_Delft/yapa_xsens.xml
index 3534d3d41f..ae607c28b4 100644
--- a/conf/airframes/TU_Delft/yapa_xsens.xml
+++ b/conf/airframes/TU_Delft/yapa_xsens.xml
@@ -171,14 +171,14 @@
@@ -193,7 +193,7 @@
-
+
diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd
index 9a741787b0..960cf580dd 100644
--- a/conf/airframes/airframe.dtd
+++ b/conf/airframes/airframe.dtd
@@ -22,12 +22,11 @@
-
-
-
-
-
-
+
+
+
+
+
@@ -100,11 +99,7 @@ value CDATA #IMPLIED
unit CDATA #IMPLIED
integer CDATA #IMPLIED>
-
-
-
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 74e44ece8e..83cc07e368 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -201,7 +201,7 @@
-
+
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index dd3f84f026..dd8a36c92f 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -162,14 +162,14 @@
-
+
-
+
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index a4cf652c0e..9cbd0d5916 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -1,6 +1,6 @@
-
-
+
-
-
-
-
-
-
-
+
+
+
+
+
+
+
-
+
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index 76de339590..839a8f761d 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -41,8 +41,8 @@
-
-
+
+
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index c757c95670..efbed68ea1 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -171,7 +171,7 @@
-
+
diff --git a/conf/autopilot/fixedwing.xml b/conf/autopilot/fixedwing.xml
index 696bce4992..0899eb9b68 100644
--- a/conf/autopilot/fixedwing.xml
+++ b/conf/autopilot/fixedwing.xml
@@ -3,7 +3,7 @@
-
+
@@ -17,26 +17,26 @@
-
+
-
-
-
+
+
+
-
-
-
-
+
+
+
+
-
-
+
+
diff --git a/conf/autopilot/rotorcraft.xml b/conf/autopilot/rotorcraft.xml
index 2f6282417b..a28c88f984 100644
--- a/conf/autopilot/rotorcraft.xml
+++ b/conf/autopilot/rotorcraft.xml
@@ -2,10 +2,10 @@
description="autopilot and simulator for rotorcrafts">
-
+
-
+
@@ -13,8 +13,8 @@
-
-
+
+
diff --git a/conf/modules/adc_generic.xml b/conf/modules/adc_generic.xml
index bdcda58620..00656b4c61 100644
--- a/conf/modules/adc_generic.xml
+++ b/conf/modules/adc_generic.xml
@@ -14,8 +14,8 @@
-
-
+
+
diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml
index b064967f15..1377228218 100644
--- a/conf/modules/airspeed_adc.xml
+++ b/conf/modules/airspeed_adc.xml
@@ -19,8 +19,8 @@
-
-
+
+
diff --git a/conf/modules/airspeed_ets.xml b/conf/modules/airspeed_ets.xml
index bc56326e73..be48fd9339 100644
--- a/conf/modules/airspeed_ets.xml
+++ b/conf/modules/airspeed_ets.xml
@@ -5,8 +5,8 @@
@param AIRSPEED_ETS_SCALE scale factor (default 1.8)
@param AIRSPEED_ETS_OFFSET offset (default 0)
@param AIRSPEED_ETS_I2C_DEV i2c device (default i2c0)
- @flag USE_AIRSPEED to use the data for airspeed control loop
- @flag SENSOR_SYNC_SEND to transmit the data as it is acquired
+ @define USE_AIRSPEED to use the data for airspeed control loop
+ @define SENSOR_SYNC_SEND to transmit the data as it is acquired
-->
diff --git a/conf/modules/alt_srf08.xml b/conf/modules/alt_srf08.xml
index e2a8b3d41d..2bade5054d 100644
--- a/conf/modules/alt_srf08.xml
+++ b/conf/modules/alt_srf08.xml
@@ -12,6 +12,6 @@
-
+
diff --git a/conf/modules/baro_MS5534A.xml b/conf/modules/baro_MS5534A.xml
index 0863e5d9d9..2149d604bf 100644
--- a/conf/modules/baro_MS5534A.xml
+++ b/conf/modules/baro_MS5534A.xml
@@ -9,13 +9,13 @@
-
-
-
-
-
-
-
+
+
+
+
+
+
+
diff --git a/conf/modules/baro_bmp.xml b/conf/modules/baro_bmp.xml
index 288036c05c..aad9aa1c87 100644
--- a/conf/modules/baro_bmp.xml
+++ b/conf/modules/baro_bmp.xml
@@ -3,7 +3,7 @@
diff --git a/conf/modules/baro_scp.xml b/conf/modules/baro_scp.xml
index 8bb3c9d8b2..dc5390aad0 100644
--- a/conf/modules/baro_scp.xml
+++ b/conf/modules/baro_scp.xml
@@ -2,7 +2,7 @@
@@ -14,8 +14,8 @@
-
-
+
+
diff --git a/conf/modules/baro_scp_i2c.xml b/conf/modules/baro_scp_i2c.xml
index 972be683b7..58f0067b69 100644
--- a/conf/modules/baro_scp_i2c.xml
+++ b/conf/modules/baro_scp_i2c.xml
@@ -3,7 +3,7 @@
diff --git a/conf/modules/booz_cam.xml b/conf/modules/booz_cam.xml
index 72d3b371f6..e489b6e290 100644
--- a/conf/modules/booz_cam.xml
+++ b/conf/modules/booz_cam.xml
@@ -8,7 +8,7 @@
-
+
diff --git a/conf/modules/booz_drop.xml b/conf/modules/booz_drop.xml
index 168936049f..79f805cf74 100644
--- a/conf/modules/booz_drop.xml
+++ b/conf/modules/booz_drop.xml
@@ -8,9 +8,9 @@
-
-
-
+
+
+
diff --git a/conf/modules/booz_extra_dl.xml b/conf/modules/booz_extra_dl.xml
index 4fb4cddd9e..7d2b1eb519 100644
--- a/conf/modules/booz_extra_dl.xml
+++ b/conf/modules/booz_extra_dl.xml
@@ -6,11 +6,11 @@
-
-
-
-
-
+
+
+
+
+
diff --git a/conf/modules/cam_point.xml b/conf/modules/cam_point.xml
index 1391379a27..811d3135a2 100644
--- a/conf/modules/cam_point.xml
+++ b/conf/modules/cam_point.xml
@@ -8,9 +8,9 @@
-
-
-
+
+
+
diff --git a/conf/modules/cam_roll.xml b/conf/modules/cam_roll.xml
index 7bb14e1b35..9037cc76f5 100644
--- a/conf/modules/cam_roll.xml
+++ b/conf/modules/cam_roll.xml
@@ -7,7 +7,7 @@
-
+
diff --git a/conf/modules/demo_module.xml b/conf/modules/demo_module.xml
index b2f1a5b9a0..7fd7e31464 100644
--- a/conf/modules/demo_module.xml
+++ b/conf/modules/demo_module.xml
@@ -11,12 +11,12 @@
#Exemple of RAW makefile part
-
+
-
-
+
+
diff --git a/conf/modules/digital_cam.xml b/conf/modules/digital_cam.xml
index f03907a0b3..e190c57f90 100644
--- a/conf/modules/digital_cam.xml
+++ b/conf/modules/digital_cam.xml
@@ -6,11 +6,11 @@
# ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps"
@@ -30,10 +30,10 @@
-
+
-
+
diff --git a/conf/modules/digital_cam_i2c.xml b/conf/modules/digital_cam_i2c.xml
index 17a91367ce..3fe59ff84a 100644
--- a/conf/modules/digital_cam_i2c.xml
+++ b/conf/modules/digital_cam_i2c.xml
@@ -14,15 +14,15 @@
-
-
-
+
+
+
-
+
diff --git a/conf/modules/enose.xml b/conf/modules/enose.xml
index a3017a58da..2d6c1d34ff 100644
--- a/conf/modules/enose.xml
+++ b/conf/modules/enose.xml
@@ -15,7 +15,7 @@
-
+
diff --git a/conf/modules/humid_hih.xml b/conf/modules/humid_hih.xml
index c8c4de5257..e25558fea0 100644
--- a/conf/modules/humid_hih.xml
+++ b/conf/modules/humid_hih.xml
@@ -8,8 +8,8 @@
-
-
+
+
diff --git a/conf/modules/infrared_i2c.xml b/conf/modules/infrared_i2c.xml
index e5f68e2b3e..ef630b5c0c 100644
--- a/conf/modules/infrared_i2c.xml
+++ b/conf/modules/infrared_i2c.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml
index 6d82eed2fd..aaa1261dd2 100644
--- a/conf/modules/ins_xsens_MTiG_Uart0.xml
+++ b/conf/modules/ins_xsens_MTiG_Uart0.xml
@@ -9,14 +9,14 @@
-
-
-
-
+
+
+
+
-
+
-
+
diff --git a/conf/modules/ins_xsens_MTiG_fixedwing.xml b/conf/modules/ins_xsens_MTiG_fixedwing.xml
index 05ca9d8154..f4db3c1776 100644
--- a/conf/modules/ins_xsens_MTiG_fixedwing.xml
+++ b/conf/modules/ins_xsens_MTiG_fixedwing.xml
@@ -10,11 +10,11 @@
-
-
-
-
-
+
+
+
+
+
diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml
index ef2bd4e97a..c8911e24e2 100644
--- a/conf/modules/ins_xsens_MTi_Uart0.xml
+++ b/conf/modules/ins_xsens_MTi_Uart0.xml
@@ -8,13 +8,13 @@
-
-
-
+
+
+
-
+
-
+
diff --git a/conf/modules/lcd_dogm.xml b/conf/modules/lcd_dogm.xml
index 1a1e7518b0..c2092f89e5 100644
--- a/conf/modules/lcd_dogm.xml
+++ b/conf/modules/lcd_dogm.xml
@@ -8,7 +8,7 @@
-
+
diff --git a/conf/modules/light.xml b/conf/modules/light.xml
index 8b5a8c9f1b..2860bc40bb 100644
--- a/conf/modules/light.xml
+++ b/conf/modules/light.xml
@@ -8,12 +8,12 @@
-
diff --git a/conf/modules/light_temt.xml b/conf/modules/light_temt.xml
index 3749fc7215..ddf62982e4 100644
--- a/conf/modules/light_temt.xml
+++ b/conf/modules/light_temt.xml
@@ -8,8 +8,8 @@
-
-
+
+
diff --git a/conf/modules/mag_micromag_fw.xml b/conf/modules/mag_micromag_fw.xml
index 11369dac34..65126faa0d 100644
--- a/conf/modules/mag_micromag_fw.xml
+++ b/conf/modules/mag_micromag_fw.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/conf/modules/max11040.xml b/conf/modules/max11040.xml
index 2c73114ee8..626fda2b5f 100644
--- a/conf/modules/max11040.xml
+++ b/conf/modules/max11040.xml
@@ -7,7 +7,7 @@
-
+
diff --git a/conf/modules/module.dtd b/conf/modules/module.dtd
index 8845f1171a..84a4b8138f 100644
--- a/conf/modules/module.dtd
+++ b/conf/modules/module.dtd
@@ -8,11 +8,11 @@
-
-
-
-
+
+
+
+
+target CDATA #IMPLIED>
-
+
+
@@ -58,10 +62,6 @@ type CDATA #IMPLIED>
-
-
-
diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml
index ef490bfc93..ce23345d65 100644
--- a/conf/modules/sonar_maxbotix_booz.xml
+++ b/conf/modules/sonar_maxbotix_booz.xml
@@ -8,9 +8,9 @@
-
-
-
+
+
+
diff --git a/conf/modules/tcas.xml b/conf/modules/tcas.xml
index e7931a84cf..951ed06396 100644
--- a/conf/modules/tcas.xml
+++ b/conf/modules/tcas.xml
@@ -10,7 +10,7 @@
-
+
diff --git a/conf/modules/trig_test.xml b/conf/modules/trig_test.xml
index d8f358a648..0365fecb23 100644
--- a/conf/modules/trig_test.xml
+++ b/conf/modules/trig_test.xml
@@ -6,10 +6,10 @@
-
+
-
-
+
+
diff --git a/conf/modules/trigger_ext.xml b/conf/modules/trigger_ext.xml
index 192ba1d30e..4db3c1663a 100644
--- a/conf/modules/trigger_ext.xml
+++ b/conf/modules/trigger_ext.xml
@@ -8,12 +8,12 @@
-
+
-
-
-
-
+
+
+
+
diff --git a/conf/modules/twog_extra_dl.xml b/conf/modules/twog_extra_dl.xml
index a01f4539d2..636238baf9 100755
--- a/conf/modules/twog_extra_dl.xml
+++ b/conf/modules/twog_extra_dl.xml
@@ -6,10 +6,10 @@
-
-
-
-
+
+
+
+
diff --git a/conf/modules/vehicle_interface_overo_link.xml b/conf/modules/vehicle_interface_overo_link.xml
index 3d6d40915d..5535ff4ebb 100644
--- a/conf/modules/vehicle_interface_overo_link.xml
+++ b/conf/modules/vehicle_interface_overo_link.xml
@@ -13,14 +13,14 @@
ap.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
diff --git a/conf/modules/wind_gfi.xml b/conf/modules/wind_gfi.xml
index 8989322f00..5db44c9348 100644
--- a/conf/modules/wind_gfi.xml
+++ b/conf/modules/wind_gfi.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/conf/modules/windturbine.xml b/conf/modules/windturbine.xml
index 1af8b9651f..5d01713af6 100644
--- a/conf/modules/windturbine.xml
+++ b/conf/modules/windturbine.xml
@@ -8,8 +8,8 @@
-
-
+
+
diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml
index 10df25b3f2..2f127e60d3 100644
--- a/sw/tools/gen_aircraft.ml
+++ b/sw/tools/gen_aircraft.ml
@@ -151,11 +151,11 @@ let dump_module_section = fun xml f ->
fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
List.iter (fun flag ->
match String.lowercase (Xml.tag flag) with
- "define" ->
+ "configure" ->
let value = Xml.attrib flag "value"
and name = Xml.attrib flag "name" in
fprintf f "%s = %s\n" name value
- | "flag" | "param" ->
+ | "define" ->
List.iter (fun target ->
let name = ExtXml.attrib flag "name"
and value = try "="^(Xml.attrib flag "value") with _ -> "" in
@@ -170,7 +170,11 @@ let dump_module_section = fun xml f ->
(* Look for defines, flags, files, ... *)
List.iter (fun field ->
match String.lowercase (Xml.tag field) with
- "flag" ->
+ "configure" ->
+ let value = Xml.attrib field "value"
+ and name = Xml.attrib field "name" in
+ fprintf f "%s = %s\n" name value
+ | "define" ->
List.iter (fun target ->
let value = try "="^(Xml.attrib field "value") with _ -> ""
and name = Xml.attrib field "name" in
@@ -186,13 +190,6 @@ let dump_module_section = fun xml f ->
| "file_arch" ->
let name = Xml.attrib field "name" in
List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
- | "file_hw" ->
- let name = Xml.attrib field "name" in
- List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
- | "define" ->
- let value = Xml.attrib field "value"
- and name = Xml.attrib field "name" in
- fprintf f "%s = %s\n" name value
| "raw" ->
begin match Xml.children field with
[Xml.PCData s] -> fprintf f "%s\n" s
@@ -227,8 +224,8 @@ let dump_makefile_section = fun xml makefile_ac airframe_infile location ->
* Firmware Children
* **)
-(* print a param (firmware) *)
-let print_firmware_param = fun f p ->
+(* print a configure (firmware) *)
+let print_firmware_configure = fun f p ->
let name = (String.uppercase (Xml.attrib p "name"))
and value = (Xml.attrib p "value") in
fprintf f "%s = %s\n" name value
@@ -244,9 +241,9 @@ let print_firmware_subsystem = fun f firmware s ->
let name = ExtXml.attrib s "name"
and s_type = try "_"^(Xml.attrib s "type") with _ -> "" in
fprintf f "# -subsystem: '%s'\n" name;
- (* print params *)
- let s_params = List.filter (fun x -> ExtXml.tag_is x "param") (Xml.children s) in
- List.iter (print_firmware_param f) s_params;
+ (* print config *)
+ let s_config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children s) in
+ List.iter (print_firmware_configure f) s_config;
(* print defines *)
let s_defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children s) in
List.iter (print_firmware_define f) s_defines;
@@ -260,6 +257,8 @@ let print_firmware_subsystem = fun f firmware s ->
fprintf f "endif\n"
let parse_firmware = fun makefile_ac firmware ->
+ (* get the list of configure for this firmware *)
+ let config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children firmware) in
(* get the list of targets for this firmware *)
let targets = List.filter (fun x -> ExtXml.tag_is x "target") (Xml.children firmware) in
(* get the list of subsystems for this firmware *)
@@ -268,8 +267,8 @@ let parse_firmware = fun makefile_ac firmware ->
let defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children firmware) in
(* iter on all targets *)
List.iter (fun target ->
- (* get the list of params for this target *)
- let t_params = List.filter (fun x -> ExtXml.tag_is x "param") (Xml.children target) in
+ (* get the list of configure for this target *)
+ let t_config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children target) in
(* get the list of defines for this target *)
let t_defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children target) in
(* get the list of subsystems for this target *)
@@ -278,7 +277,8 @@ let parse_firmware = fun makefile_ac firmware ->
fprintf makefile_ac "\n###########\n# -target: '%s'\n" (Xml.attrib target "name");
fprintf makefile_ac "ifeq ($(TARGET), %s)\n" (Xml.attrib target "name");
try fprintf makefile_ac "BOARD_PROCESSOR = %s\n" (Xml.attrib target "processor") with _ -> ();
- List.iter (print_firmware_param makefile_ac) t_params;
+ List.iter (print_firmware_configure makefile_ac) config;
+ List.iter (print_firmware_configure makefile_ac) t_config;
List.iter (print_firmware_define makefile_ac) defines;
List.iter (print_firmware_define makefile_ac) t_defines;
fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");