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[nps] renamed fdm type from nps to jsbsim

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This commit is contained in:
Felix Ruess
2012-06-21 01:19:08 +02:00
parent 4560128d18
commit 656fcedd81
33 changed files with 204 additions and 199 deletions
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conf/airframes/CDW/debug_i2c.xml
+1 -1
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@@ -220,7 +220,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -18,7 +18,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -23,7 +23,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
conf/airframes/ENAC/quadrotor/navgo.xml
+1 -1
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@@ -18,7 +18,7 @@
<define name="USE_GPS_ACC4R"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/NoVa_L.xml
+1 -1
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@@ -252,7 +252,7 @@
<subsystem name="actuators" type="mkk"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/Poine/booz2_a1.xml
+1 -1
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@@ -197,7 +197,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/Poine/booz2_a7.xml
+1 -1
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@@ -221,7 +221,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+1 -1
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@@ -18,7 +18,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+1 -1
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@@ -19,7 +19,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/booz2_flixr.xml
+1 -1
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@@ -10,7 +10,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
conf/airframes/examples/booz2.xml
+1 -1
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@@ -195,7 +195,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/examples/lisa_asctec.xml
+1 -1
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@@ -190,7 +190,7 @@
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+1 -1
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@@ -19,7 +19,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+1 -1
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@@ -15,7 +15,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/fraser_lisa_m_rotorcraft.xml
+1 -1
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@@ -12,7 +12,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/mm/rotor/qmk1.xml
+1 -1
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@@ -191,7 +191,7 @@
<subsystem name="actuators" type="mkk"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
+1 -1
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@@ -9,7 +9,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+1 -1
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@@ -6,7 +6,7 @@
<target name="ap" board="lisa_m_1.0">
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="actuators" type="pwm_supervision">
conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+1 -1
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@@ -6,7 +6,7 @@
<target name="ap" board="lisa_m_2.0">
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="actuators" type="pwm_supervision">
conf/airframes/obsolete/ENAC/mkk1.xml
+1 -1
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@@ -9,7 +9,7 @@
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/obsolete/ENAC/nova1.xml
+1 -1
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@@ -8,7 +8,7 @@
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+1 -1
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@@ -285,7 +285,7 @@ second attempt
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+1 -1
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@@ -243,7 +243,7 @@
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
conf/airframes/obsolete/esden/jt_lisam.xml
+1 -1
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@@ -188,7 +188,7 @@
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/obsolete/esden/lisa_asctec.xml
+1 -1
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@@ -188,7 +188,7 @@
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/obsolete/esden/lisa_asctec_aspirin.xml
+1 -1
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@@ -192,7 +192,7 @@
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/obsolete/esden/lisa_m_2_asp_2_pwm.xml
+1 -1
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@@ -186,7 +186,7 @@
<!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/obsolete/esden/lisa_m_pwm.xml
+1 -1
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@@ -204,7 +204,7 @@
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/obsolete/esden/lisa_pwm_aspirin.xml
+1 -1
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@@ -192,7 +192,7 @@
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/obsolete/esden/synerani_4B.xml
+1 -1
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@@ -195,7 +195,7 @@
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/obsolete/example_heli_lisam.xml
+1 -1
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@@ -244,7 +244,7 @@ AP_MODE_NAV
</target>
<!--
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+171
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@@ -0,0 +1,171 @@
# Hey Emacs, this is a -*- makefile -*-
#
# SITL Simulator
#
SIM_TYPE = JSBSIM
JSBSIM_ROOT = /opt/jsbsim
JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
JSBSIM_LIB = $(JSBSIM_ROOT)/lib
SRC_FIRMWARE=firmwares/rotorcraft
SRC_BOARD=boards/$(BOARD)
NPSDIR = $(SIMDIR)/nps
nps.ARCHDIR = sim
nps.CFLAGS += -DSITL -DUSE_NPS
nps.CFLAGS += `pkg-config glib-2.0 --cflags`
nps.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lgsl -lgslcblas
nps.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
ifndef JSBSIM_PKG
JSBSIM_PKG = $(shell pkg-config JSBSim --exists && echo 'yes')
endif
ifeq ($(JSBSIM_PKG), yes)
nps.CFLAGS += `pkg-config JSBSim --cflags`
nps.LDFLAGS += `pkg-config JSBSim --libs`
else
JSBSIM_PKG = no
nps.CFLAGS += -I$(JSBSIM_INC)
nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
endif
nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_fdm_jsbsim.c \
$(NPSDIR)/nps_random.c \
$(NPSDIR)/nps_sensors.c \
$(NPSDIR)/nps_sensors_utils.c \
$(NPSDIR)/nps_sensor_gyro.c \
$(NPSDIR)/nps_sensor_accel.c \
$(NPSDIR)/nps_sensor_mag.c \
$(NPSDIR)/nps_sensor_baro.c \
$(NPSDIR)/nps_sensor_gps.c \
$(NPSDIR)/nps_radio_control.c \
$(NPSDIR)/nps_radio_control_joystick.c \
$(NPSDIR)/nps_radio_control_spektrum.c \
$(NPSDIR)/nps_autopilot_rotorcraft.c \
$(NPSDIR)/nps_ivy.c \
$(NPSDIR)/nps_flightgear.c \
nps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
nps.srcs += firmwares/rotorcraft/main.c
nps.srcs += mcu.c
nps.srcs += $(SRC_ARCH)/mcu_arch.c
ifeq ($(TARGET), nps)
include $(CFG_SHARED)/i2c_select.makefile
endif
nps.CFLAGS += -DPERIODIC_FREQUENCY=512
#nps.CFLAGS += -DUSE_LED
nps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
nps.srcs += subsystems/settings.c
nps.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += $(SRC_FIRMWARE)/telemetry.c \
subsystems/datalink/downlink.c \
$(SRC_ARCH)/ivy_transport.c
nps.srcs += $(SRC_FIRMWARE)/commands.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
#
# Math functions
#
nps.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
nps.CFLAGS += -DROTORCRAFT_BARO_LED=2
nps.srcs += $(SRC_BOARD)/baro_board.c
nps.CFLAGS += -DUSE_ADC
nps.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
nps.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
#nps.CFLAGS += -DUSE_DAC
#nps.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
#nps.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
#nps.CFLAGS += -DIMU_B2_VERSION_1_1
nps.srcs += $(SRC_FIRMWARE)/autopilot.c
#
# in makefile section of airframe xml
# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
# or
# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#
nps.srcs += $(SRC_FIRMWARE)/stabilization.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
NUM_TYPE=integer
#NUM_TYPE=float
STAB_TYPE=euler
#STAB_TYPE=quaternion
ifeq ($(NUM_TYPE), integer)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
endif
else ifeq ($(NUM_TYPE), float)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
endif
endif
nps.CFLAGS += -DUSE_NAVIGATION
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
nps.srcs += $(SRC_SUBSYSTEMS)/ins.c
# vertical filter float version
nps.srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
nps.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
#
# INS choice
#
# include ins_hff.makefile
# or
# nothing
#
nps.srcs += $(SRC_FIRMWARE)/navigation.c
nps.srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
+2 -168
View File
@@ -1,171 +1,5 @@
# Hey Emacs, this is a -*- makefile -*-
#
# SITL Simulator
#
include $(CFG_ROTORCRAFT)/fdm_jsbsim.makefile
SIM_TYPE = JSBSIM
JSBSIM_ROOT = /opt/jsbsim
JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
JSBSIM_LIB = $(JSBSIM_ROOT)/lib
SRC_FIRMWARE=firmwares/rotorcraft
SRC_BOARD=boards/$(BOARD)
NPSDIR = $(SIMDIR)/nps
nps.ARCHDIR = sim
nps.CFLAGS += -DSITL -DUSE_NPS
nps.CFLAGS += `pkg-config glib-2.0 --cflags`
nps.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lgsl -lgslcblas
nps.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
ifndef JSBSIM_PKG
JSBSIM_PKG = $(shell pkg-config JSBSim --exists && echo 'yes')
endif
ifeq ($(JSBSIM_PKG), yes)
nps.CFLAGS += `pkg-config JSBSim --cflags`
nps.LDFLAGS += `pkg-config JSBSim --libs`
else
JSBSIM_PKG = no
nps.CFLAGS += -I$(JSBSIM_INC)
nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
endif
nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_fdm_jsbsim.c \
$(NPSDIR)/nps_random.c \
$(NPSDIR)/nps_sensors.c \
$(NPSDIR)/nps_sensors_utils.c \
$(NPSDIR)/nps_sensor_gyro.c \
$(NPSDIR)/nps_sensor_accel.c \
$(NPSDIR)/nps_sensor_mag.c \
$(NPSDIR)/nps_sensor_baro.c \
$(NPSDIR)/nps_sensor_gps.c \
$(NPSDIR)/nps_radio_control.c \
$(NPSDIR)/nps_radio_control_joystick.c \
$(NPSDIR)/nps_radio_control_spektrum.c \
$(NPSDIR)/nps_autopilot_rotorcraft.c \
$(NPSDIR)/nps_ivy.c \
$(NPSDIR)/nps_flightgear.c \
nps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
nps.srcs += firmwares/rotorcraft/main.c
nps.srcs += mcu.c
nps.srcs += $(SRC_ARCH)/mcu_arch.c
ifeq ($(TARGET), nps)
include $(CFG_SHARED)/i2c_select.makefile
endif
nps.CFLAGS += -DPERIODIC_FREQUENCY=512
#nps.CFLAGS += -DUSE_LED
nps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
nps.srcs += subsystems/settings.c
nps.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += $(SRC_FIRMWARE)/telemetry.c \
subsystems/datalink/downlink.c \
$(SRC_ARCH)/ivy_transport.c
nps.srcs += $(SRC_FIRMWARE)/commands.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
#
# Math functions
#
nps.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
nps.CFLAGS += -DROTORCRAFT_BARO_LED=2
nps.srcs += $(SRC_BOARD)/baro_board.c
nps.CFLAGS += -DUSE_ADC
nps.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
nps.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
#nps.CFLAGS += -DUSE_DAC
#nps.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
#nps.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
#nps.CFLAGS += -DIMU_B2_VERSION_1_1
nps.srcs += $(SRC_FIRMWARE)/autopilot.c
#
# in makefile section of airframe xml
# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
# or
# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#
nps.srcs += $(SRC_FIRMWARE)/stabilization.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
NUM_TYPE=integer
#NUM_TYPE=float
STAB_TYPE=euler
#STAB_TYPE=quaternion
ifeq ($(NUM_TYPE), integer)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
endif
else ifeq ($(NUM_TYPE), float)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\"
ifeq ($(STAB_TYPE), euler)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
else ifeq ($(STAB_TYPE), quaternion)
nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
endif
endif
nps.CFLAGS += -DUSE_NAVIGATION
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
nps.srcs += $(SRC_SUBSYSTEMS)/ins.c
# vertical filter float version
nps.srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
nps.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
#
# INS choice
#
# include ins_hff.makefile
# or
# nothing
#
nps.srcs += $(SRC_FIRMWARE)/navigation.c
nps.srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
$(warning The fdm_nps subsystem has been renamed, please replace <subsystem name="fdm" type="nps"/> with <subsystem name="fdm" type="jsbsim"/> in your airframe file.)