Merge branch 'dev'

2026-05-26 16:30:07 +08:00 · 2011-08-16 18:31:43 +02:00
parent 323751cf0b 5b21798975
commit 7930b15969
77 changed files with 2459 additions and 1240 deletions
@@ -47,6 +47,7 @@
 /conf/%gconf.xml
 /conf/srtm_data/*
 /conf/maps_data/*
+/conf/maps.xml
 /conf/gps/ublox_conf

 # /doc/pprz_algebra/
@@ -70,27 +70,29 @@ endif
 OCAML=$(shell which ocaml)
 OCAMLRUN=$(shell which ocamlrun)

-all: commands static conf
+all: conf commands static

 static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib

-conf: conf/conf.xml conf/control_panel.xml conf/maps_data/maps.conf
+conf: conf/conf.xml conf/control_panel.xml conf/maps.xml FORCE

 conf/%.xml :conf/%.xml.example
 	[ -L $@ ] || [ -f $@ ] || cp $< $@

-conf/maps_data/maps.conf:
-	cd data/maps; $(MAKE)
+conf/maps.xml: conf/maps.xml.example FORCE
+	-cd data/maps; $(MAKE)
+	if test ! -e $@; then cp $< $@; fi

+FORCE:

 lib:
 	cd $(LIB)/ocaml; $(MAKE)

 center: lib
-	cd sw/supervision; make
+	cd sw/supervision; $(MAKE)

 tools: lib
-	cd $(TOOLS); make
+	cd $(TOOLS); $(MAKE)

 logalizer: lib
 	cd $(LOGALIZER); $(MAKE)
@@ -166,7 +168,7 @@ ac_h ac1 ac2 ac3 ac fbw ap: static conf
 #
 # call with : make bl PROC=[TINY|FBW|AP|GENERIC]
 bl:
-	cd $(AIRBORNE)/arch/lpc21/test/bootloader; make clean; make
+	cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)

 BOOTLOADER_DEV=/dev/ttyUSB0
 upload_bl bl.upload: bl
@@ -181,15 +183,15 @@ upload_jtag: bl


 lpc21iap:
-	cd sw/ground_segment/lpc21iap; make
+	cd sw/ground_segment/lpc21iap; $(MAKE)

 upgrade_bl bl.upgrade: bl lpc21iap
 	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
 	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf

 ms:
-	cd $(AIRBORNE)/arch/lpc21/lpcusb; make
-	cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; make
+	cd $(AIRBORNE)/arch/lpc21/lpcusb; $(MAKE)
+	cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; $(MAKE)

 upload_ms ms.upload: ms
 	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
@@ -205,10 +207,10 @@ run_sitl :
 	$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl

 install :
-	make -f Makefile.install PREFIX=$(PREFIX)
+	$(MAKE) -f Makefile.install PREFIX=$(PREFIX)

 uninstall :
-	make -f Makefile.install PREFIX=$(PREFIX) uninstall
+	$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall

 DISTRO=lenny
 deb :
@@ -218,7 +220,7 @@ deb :
 	dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot

 fast_deb:
-	make deb OCAMLC=ocamlc.opt DEBFLAGS=-b
+	$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b

 clean:
 	rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-arm7 debian/paparazzi-avr debian/paparazzi-base debian/paparazzi-bin debian/paparazzi-dev
@@ -237,7 +239,7 @@ cleanspaces:
 distclean : dist_clean
 dist_clean : clean
 	rm -r conf/srtm_data
-	rm -r conf/maps_data
+	rm -r conf/maps_data conf/maps.xml

 ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
@@ -34,7 +34,6 @@ SRC_ARCH = arch/lpc21
 # Define programs and commands.
 HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
 ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
-$(info Using gcc-arm 3.4.4 packaged by paparazzi.)
 CC		= arm-elf-gcc
 LD		= $(CC)
 SHELL = sh
@@ -43,7 +42,6 @@ OBJDUMP = arm-elf-objdump
 SIZE = arm-elf-size
 NM = arm-elf-nm
 else
-$(info Using arm-none-eabi-gcc.)
 CC		= arm-none-eabi-gcc
 LD		= $(CC)
 SHELL = sh
@@ -55,6 +53,8 @@ endif
 REMOVE = rm -f
 COPY = cp

+MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
+

 # Launch with "make Q=''" to get full command display
 Q=@
@@ -179,7 +179,28 @@ ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)


 # Default target.
-all: sizebefore build sizeafter
+all: printcommands printmultilib sizebefore build sizeafter
+
+printcommands:
+	@echo "Using CC   = $(CC)"
+	@echo "Using LD   = $(LD)"
+	@echo "Using CP   = $(OBJCOPY)"
+	@echo "Using DMP  = $(OBJDUMP)"
+	@echo "Using NM   = $(NM)"
+	@echo "Using SIZE = $(SIZE)"
+	@echo "Using OOCD = $(OOCD)"
+	@echo "GCC version:"
+	@$(CC) --version | head -1
+
+ifeq ("$(MULTILIB)","yes")
+printmultilib:
+	@echo "*** Using multilib ***"
+	@echo "--------------------------"
+else
+printmultilib:
+	@echo "*** NOT using multilib ***"
+	@echo "--------------------------"
+endif

 build: elf hex lss sym

@@ -0,0 +1,188 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
+     Tiny 2.11
+     ArduIMU
+     XBee modem with API Mode
+     LEA 5H GPS
+-->
+
+<airframe name="Twinstar">
+
+  <modules>
+    <load name="ins_arduimu_basic.xml">
+      <define name="USE_HIGH_ACCEL_FLAG"/>
+    </load>
+    <load name="cam_point.xml">
+      <define name="POINT_CAM_ROLL"/>
+    </load>
+    <!--load name="cam_segment.xml"/-->
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" 			board="tiny_2.11"/>
+    <target name="sim" 			board="pc"/>
+
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="AGR_CLIMB"/>
+    <define name="USE_I2C0"/>
+
+    <subsystem name="i2c"/>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="xbee_api"/>
+    <subsystem name="control"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" 		board="tiny_2.11"/>
+    <target name="setup_actuators" 	board="tiny_2.11"/>
+  </firmware>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
+    <servo name="AILERON_LEFT"  no="6" min="1000" neutral="1500" max="2000"/>
+    <servo name="ELEVATOR"      no="3" min="2000" neutral="1500" max="1000"/>
+    <servo name="RUDDER"        no="4" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_TILT"      no="1" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE"  failsafe_value="0"/>
+    <axis name="ROLL"      failsafe_value="0"/>
+    <axis name="PITCH"     failsafe_value="0"/>
+    <axis name="YAW"       failsafe_value="0"/>
+    <axis name="CAM_TILT"  failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"      value="@YAW"/>
+    <set command="CAM_TILT" value="@GAIN1"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <set servo="CAM_TILT" value="@CAM_TILT"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="CAM" prefix="CAM_">
+    <define name="TILT_MAX" value="45" unit="deg"/>
+    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
+    <define name="TILT_MIN" value="-45" unit="deg"/>
+    <define name="TILT0" value="0" unit="deg"/>
+  </section>
+
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+  </section>
+
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_RATE_GAIN" value="-3000."/>
+
+    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="ELEVATOR_OF_ROLL" value="1500"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+</airframe>
@@ -30,7 +30,7 @@
    <subsystem name="attitude" 		type="infrared"/>
    <subsystem name="gps" 		    type="ublox"/>

-    <subsystem name="navigation"/>
+    <subsystem name="navigation"    type="extra"/>
  </firmware>


@@ -44,6 +44,9 @@
      <define name="POINT_CAM_YAW_PITCH"  value="1"/>
      <define name="SHOW_CAM_COORDINATES" value="1"/>
    </load>
+    <load name="digital_cam.xml">
+      <define name="DC_SHUTTER_LED" value="3"/>
+    </load>
    <load name="sys_mon.xml"/>
  </modules>

@@ -8,6 +8,16 @@

 <airframe name="Microjet Tiny 1.1">

+	
+	<modules>
+		<load name="AOA_adc.xml">  
+			<configure name="ADC_AOA" value="ADC_6"/>
+			<define name="AOA_OFFSET" value="-0.135000005364"/>   
+			<define name="AOA_FILTER" value="0.875999987125"/>   
+			<define name="USE_AOA"/>  
+		</load> 
+	</modules>
+
  <servos>
    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
@@ -49,6 +49,7 @@ test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIM
 test_downlink.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_downlink.srcs   += mcu_periph/uart.c
 test_downlink.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -68,6 +69,7 @@ test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIM
 test_max1168.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_max1168.srcs   += mcu_periph/uart.c
 test_max1168.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -89,6 +91,7 @@ test_micromag.CFLAGS += -DUSE_LED
 test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_micromag.srcs += mcu_periph/uart.c
 test_micromag.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -116,6 +119,7 @@ tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c

 tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+tunnel.srcs += mcu_periph/uart.c
 tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c


@@ -138,7 +142,7 @@ usb_tunnel_0.ARCHDIR = $(ARCH)
 usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
 usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -148,7 +152,7 @@ usb_tunnel_1.ARCHDIR = $(ARCH)
 usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
 usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -167,6 +171,7 @@ test_gps.CFLAGS += -DUSE_LED
 test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_gps.srcs += mcu_periph/uart.c
 test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -192,6 +197,7 @@ test_modem.CFLAGS += -DUSE_LED
 test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_modem.srcs += mcu_periph/uart.c
 test_modem.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -215,13 +221,14 @@ test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 test_usb.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c

 #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+#test_usb.srcs += mcu_periph/uart.c
 #test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_usb.srcs += downlink.c pprz_transport.c

 test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
 test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
-test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
+test_usb.srcs += downlink.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
 # $(SRC_FIRMWARE)/datalink.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
@@ -243,6 +250,7 @@ test_ami.CFLAGS += -DUSE_LED
 test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_ami.srcs += mcu_periph/uart.c
 test_ami.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -266,6 +274,7 @@ test_crista.CFLAGS += -DUSE_LED
 test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+test_crista.srcs += mcu_periph/uart.c
 test_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
@@ -292,6 +301,7 @@ test_micromag2.CFLAGS += -DUSE_LED
 test_micromag2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_micromag2.srcs += mcu_periph/uart.c
 test_micromag2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -314,6 +324,7 @@ test_imu_b2.CFLAGS += -DUSE_LED
 test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_imu_b2.srcs += mcu_periph/uart.c
 test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -344,6 +355,7 @@ test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 #test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+#test_rc_spektrum.srcs += mcu_periph/uart.c
 #test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_rc_spektrum.srcs += downlink.c pprz_transport.c
@@ -360,6 +372,7 @@ test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
 test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
 						 $(SRC_SUBSYSTEMS)/radio_control_spektrum.c \
+						 mcu_periph/uart.c \
 						 $(SRC_ARCH)/mcu_periph/uart_arch.c

 #
@@ -405,6 +418,7 @@ test_mc.CFLAGS += -DUSE_LED
 test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_mc.srcs += mcu_periph/uart.c
 test_mc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -430,6 +444,7 @@ test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DT
 test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_buss_bldc.srcs += mcu_periph/uart.c
 test_buss_bldc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -452,6 +467,7 @@ test_amc.CFLAGS += -DUSE_LED
 test_amc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

 test_amc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_amc.srcs += mcu_periph/uart.c
 test_amc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_amc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -497,6 +513,7 @@ test_baro_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c


 test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_baro_24.srcs += mcu_periph/uart.c
 test_baro_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -95,6 +95,7 @@ test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+test_uart.srcs += mcu_periph/uart.c
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c


@@ -176,6 +177,7 @@ test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_baro.srcs   += downlink.c pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_baro.srcs   += mcu_periph/uart.c
 test_baro.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_baro.srcs   += $(SRC_BOARD)/baro_board.c
 test_baro.CFLAGS += -DUSE_I2C2
@@ -209,6 +211,7 @@ test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_spektrum.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_spektrum.srcs   += mcu_periph/uart.c
 test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_rc_spektrum.srcs   += downlink.c pprz_transport.c
@@ -252,6 +255,7 @@ test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_ppm.srcs   += mcu_periph/uart.c
 test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_rc_ppm.srcs   += downlink.c pprz_transport.c
@@ -291,6 +295,7 @@ test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_adc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_adc.srcs   += mcu_periph/uart.c
 test_adc.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)

@@ -327,6 +332,7 @@ COMMON_TEST_CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FRE
 COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
 COMMON_TEST_SRCS   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 COMMON_TEST_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+COMMON_TEST_SRCS   += mcu_periph/uart.c
 COMMON_TEST_SRCS   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 COMMON_TEST_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 COMMON_TEST_SRCS   += downlink.c pprz_transport.c
@@ -494,6 +500,7 @@ test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_hmc5843.srcs += mcu_periph/uart.c
 test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -525,6 +532,7 @@ test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_itg3200.srcs += mcu_periph/uart.c
 test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -555,6 +563,7 @@ test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_adxl345.srcs += mcu_periph/uart.c
 test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -626,6 +635,7 @@ test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_actuators_mkk.srcs += mcu_periph/uart.c
 test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -658,6 +668,7 @@ test_actuators_asctecv1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512
 test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_actuators_asctecv1.srcs += mcu_periph/uart.c
 test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -688,6 +699,7 @@ test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

 test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_bmp085.srcs += mcu_periph/uart.c
 test_bmp085.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -783,6 +795,7 @@ tunnel_hw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 tunnel_hw.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 tunnel_hw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+tunnel_hw.srcs   += mcu_periph/uart.c
 tunnel_hw.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c


@@ -812,6 +825,7 @@ test_settings.CFLAGS += -DUSE_$(MODEM_PORT)
 test_settings.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_settings.srcs   += downlink.c pprz_transport.c
 test_settings.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_settings.srcs   += mcu_periph/uart.c
 test_settings.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_settings.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
 test_settings.srcs   += subsystems/settings.c
@@ -93,6 +93,7 @@ test_uart_lisam.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_uart_lisam.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_uart_lisam.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
 test_uart_lisam.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
+test_uart_lisam.srcs += mcu_periph/uart.c
 test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c


@@ -145,6 +146,7 @@ test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.srcs += downlink.c pprz_transport.c
 test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_telemetry.srcs   += mcu_periph/uart.c
 test_telemetry.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #
@@ -173,6 +175,7 @@ test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_baro.srcs   += downlink.c pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_baro.srcs   += mcu_periph/uart.c
 test_baro.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_baro.srcs   += $(SRC_BOARD)/baro_board.c
 test_baro.CFLAGS += -DUSE_I2C2
@@ -206,6 +209,7 @@ test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_spektrum.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_spektrum.srcs   += mcu_periph/uart.c
 test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_rc_spektrum.srcs   += downlink.c pprz_transport.c
@@ -251,6 +255,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 #test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_rc_ppm.srcs   += mcu_periph/uart.c
 #test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 #test_rc_ppm.srcs   += downlink.c pprz_transport.c
@@ -290,6 +295,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_adc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_adc.srcs   += mcu_periph/uart.c
 #test_adc.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
 #
@@ -326,6 +332,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_imu_b2.srcs += mcu_periph/uart.c
 #test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -369,6 +376,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_imu_b2_2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_imu_b2_2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_imu_b2_2.srcs += mcu_periph/uart.c
 #test_imu_b2_2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_imu_b2_2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -416,6 +424,7 @@ test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT)
 test_imu_aspirin.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_imu_aspirin.srcs   += downlink.c pprz_transport.c
 test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_imu_aspirin.srcs   += mcu_periph/uart.c
 test_imu_aspirin.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_imu_aspirin.srcs   += math/pprz_trig_int.c
 test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
@@ -449,6 +458,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_hmc5843.srcs += mcu_periph/uart.c
 #test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -480,6 +490,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_itg3200.srcs += mcu_periph/uart.c
 #test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -510,6 +521,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+#test_adxl345.srcs += mcu_periph/uart.c
 #test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -581,6 +593,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+#test_actuators_mkk.srcs += mcu_periph/uart.c
 #test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -613,6 +626,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+#test_actuators_asctecv1.srcs += mcu_periph/uart.c
 #test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -643,6 +657,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_bmp085.srcs += mcu_periph/uart.c
 #test_bmp085.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -673,6 +688,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_manual.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 #test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+#test_manual.srcs   += mcu_periph/uart.c
 #test_manual.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 #test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -42,6 +42,7 @@ stm_passthrough.CFLAGS += -DDOWNLINK
 stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 stm_passthrough.srcs += downlink.c pprz_transport.c
 stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+stm_passthrough.srcs += mcu_periph/uart.c
 stm_passthrough.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 # Link Overo
@@ -98,6 +98,8 @@ endif
 #
 ap.srcs += subsystems/settings.c
 ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
+
+ap.srcs += mcu_periph/uart.c
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c

 # I2C is needed for speed controllers and barometers on lisa
@@ -26,7 +26,7 @@ tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 ifeq ($(ARCH), lpc21)
 usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
 usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -34,7 +34,7 @@ usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c

 usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
 usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -78,4 +78,4 @@ setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
@@ -137,6 +137,7 @@ ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
 # UARTS
 #

+ns_srcs 		+= mcu_periph/uart.c
 ns_srcs 		+= $(SRC_ARCH)/mcu_periph/uart_arch.c
 ns_srcs 		+= subsystems/settings.c
 ns_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
@@ -17,8 +17,8 @@ NPSDIR = $(SIMDIR)/nps

 sim.ARCHDIR = $(ARCH)

-sim.CFLAGS  += -DSITL -DUSE_NPS
-sim.CFLAGS  += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
+sim.CFLAGS  += -DSITL -DNPS
+sim.CFLAGS  += `pkg-config glib-2.0 --cflags`
 sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -lgsl -lgslcblas
 sim.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps

@@ -77,7 +77,7 @@
    radio="radios/cockpitMM.xml"
    telemetry="telemetry/default.xml"
    flight_plan="flight_plans/basic.xml"
-    settings="settings/basic.xml"
+    settings="settings/basic_infrared.xml"
    gui_color="#6293ba"
  />
  <aircraft
@@ -97,7 +97,7 @@
    radio="radios/cockpitMM.xml"
    telemetry="telemetry/default.xml"
    flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml"
+    settings="settings/tuning.xml settings/infrared.xml"
    gui_color="#ba6293"
  />
  <aircraft
@@ -107,7 +107,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default.xml"
    flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml"
+    settings="settings/tuning.xml settings/infrared.xml"
    gui_color="red"
  />

@@ -0,0 +1,6 @@
+<!-- Paparazzi Maps Support Configuration DTD -->
+
+<!ELEMENT maps EMPTY>
+
+<!ATTLIST maps
+google_version CDATA #REQUIRED>
@@ -0,0 +1,3 @@
+<!DOCTYPE maps SYSTEM "maps.dtd">
+
+<maps google_version="89"/>
@@ -130,8 +130,8 @@
   </message>

   <message name="CAM" id="20">
-     <field name="phi" type="int8" unit="deg"/>
-     <field name="theta" type="int8" unit="deg"/>
+     <field name="phi" type="int16" unit="deg"/>
+     <field name="theta" type="int16" unit="deg"/>
     <field name="target_x" type="int16" unit="m"/>
     <field name="target_y" type="int16" unit="m"/>
   </message>
@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Angle of Attack ADC module
+     -->
+
+<module name="AOA_adc" dir="sensors">
+
+  <header>
+    <file name="AOA_adc.h"/>
+  </header>
+  <init fun="AOA_adc_init()"/>
+  <periodic fun="AOA_adc_update()" freq="60."/>
+
+  <makefile>
+    <file name="AOA_adc.c"/>
+  </makefile>
+  <makefile target="ap">
+    <define name="ADC_CHANNEL_AOA" value="$(ADC_AOA)"/>
+    <define name="USE_$(ADC_AOA)"/>
+  </makefile>
+
+</module>
+
@@ -0,0 +1,13 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="cam_segment" dir="cam_control">
+  <!--depend require="cam_point.xml"/-->
+  <header>
+    <file name="cam_segment.h"/>
+  </header>
+  <init fun="cam_segment_init()"/>
+  <periodic fun="cam_segment_periodic()" stop="cam_segment_stop()" freq="10." autorun="FALSE"/>
+  <makefile>
+    <file name="cam_segment.c"/>
+  </makefile>
+</module>
@@ -1,8 +1,8 @@
 <!DOCTYPE module SYSTEM "./module.dtd">

-<!-- 
+<!--

-// Use (parts of) the following section in airframe file to change 
+// Use (parts of) the following section in airframe file to change

  <section name="DIGITAL_CAMERA" prefix="DC_">

@@ -13,9 +13,9 @@
    <configure name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
  </section>

-# ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps" 
-# ap.CFLAGS += -DDC_GPS_TRIGGER_START=1 
-# ap.CFLAGS += -DDC_GPS_TRIGGER_STOP=3 
+# ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps"
+# ap.CFLAGS += -DDC_GPS_TRIGGER_START=1
+# ap.CFLAGS += -DDC_GPS_TRIGGER_STOP=3

 -->

@@ -33,10 +33,9 @@
    <define name="DIGITAL_CAM" />
    <file name="led_cam_ctrl.c"/>
    <file name="dc.c"/>
-      <define name="SENSOR_SYNC_SEND" value="1" />
+    <define name="SENSOR_SYNC_SEND" value="1" />

  </makefile>


 </module>
-
@@ -1,26 +1,26 @@
-<!-- Mediatek/DIYDrones protocol DTD -->
-
-<!ELEMENT mtk (class+)>
-<!ELEMENT class (message+)>
-<!ELEMENT message (field|block)*>
-<!ELEMENT block (field*)>
-<!ELEMENT field EMPTY>
-
-<!ATTLIST class
-  name CDATA #REQUIRED
-  ID CDATA #REQUIRED>
-
-<!ATTLIST message
-  name CDATA #REQUIRED
-  ID CDATA #REQUIRED
-  length CDATA #IMPLIED>
-
-<!ATTLIST block
-  times CDATA #IMPLIED
-  length CDATA #REQUIRED>
-
-<!ATTLIST field
-  name CDATA #REQUIRED
-  format CDATA #REQUIRED
+<!-- Mediatek/DIYDrones protocol DTD -->
+
+<!ELEMENT mtk (class+)>
+<!ELEMENT class (message+)>
+<!ELEMENT message (field|block)*>
+<!ELEMENT block (field*)>
+<!ELEMENT field EMPTY>
+
+<!ATTLIST class
+  name CDATA #REQUIRED
+  ID CDATA #REQUIRED>
+
+<!ATTLIST message
+  name CDATA #REQUIRED
+  ID CDATA #REQUIRED
+  length CDATA #IMPLIED>
+
+<!ATTLIST block
+  times CDATA #IMPLIED
+  length CDATA #REQUIRED>
+
+<!ATTLIST field
+  name CDATA #REQUIRED
+  format CDATA #REQUIRED
  scaling CDATA #IMPLIED
  unit CDATA #IMPLIED>
@@ -0,0 +1,11 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+	<dl_settings>
+		<dl_settings NAME="AOA">
+			<dl_setting MAX="4" MIN="-4" STEP="0.0001" VAR="AOA_offset" shortname="AOA_offset" module="modules/sensors/AOA_adc" param="AOA_OFFSET"/>
+			<dl_setting MAX="0.95" MIN="0" STEP="0.001" VAR="AOA_filter" shortname="AOA_filter" module="modules/sensors/AOA_adc" param="AOA_FILTER"/>
+			<dl_setting MAX="1" MIN="0" STEP="1" VAR="h_ctl_pitch_mode" shortname="PITCH_Mode"  module="stabilization/stabilization_attitude" />
+		</dl_settings>
+	</dl_settings>
+</settings>
@@ -25,9 +25,5 @@
      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
    </dl_settings>

-    <dl_settings NAME="Infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="infrared.roll_neutral" shortname="roll neutral" module="subsystems/sensors/infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
-        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="infrared.pitch_neutral" shortname="pitch neutral" module="subsystems/sensors/infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
-    </dl_settings>
  </dl_settings>
 </settings>
@@ -0,0 +1,33 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use for standard operation with IR sensors (no tuning) -->
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="flight params">
+      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
+      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
+        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
+        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+        <key_press key="greater" value="1"/>
+        <key_press key="less" value="-1"/>
+      </dl_setting>
+    </dl_settings>
+
+    <dl_settings NAME="mode">
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
+    </dl_settings>
+
+    <dl_settings NAME="Infrared">
+        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="infrared.roll_neutral" shortname="roll neutral" module="subsystems/sensors/infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
+        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="infrared.pitch_neutral" shortname="pitch neutral" module="subsystems/sensors/infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
+    </dl_settings>
+  </dl_settings>
+</settings>
@@ -3,7 +3,7 @@
 <settings>
  <dl_settings NAME="control">
    <dl_settings name="cam">
-      <dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
+      <dl_setting MAX="7" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode" values="0FF|ANGLES|NADIR|XY_TARGET|WP_TARGET|AC_TARGET|STABILIZED|RC">
        <strip_button name="AC_TARGET" value="5"/>
        <strip_button name="WP_TARGET" value="4"/>
        <strip_button name="XY_TARGET" value="3"/>
@@ -19,6 +19,9 @@
      <dl_setting max="255" min="1" step="1" var="dc_autoshoot_quartersec_period" handler="Periodic" shortname="Periodic" param="DC_AUTOSHOOT_QUARTERSEC_PERIOD" unit="quarter-sec"/>
      <dl_setting max="5" min="0" step="1" var="dc_autoshoot_meter_grid" shortname="UTM%" param="DC_AUTOSHOOT_METER_GRID" unit="meter"/>

+      <dl_setting max="250" min="0" step="5" module="digital_cam/dc" var="dc_gps_dist" handler="Survey" shortname="Linear-Interval"/>
+      <dl_setting max="90" min="5" step="5" module="digital_cam/dc" var="dc_circle_interval" handler="Circle" shortname="Circle-Interval"/>
+      <dl_setting max="1" min="0" step="1" var="dc_cam_tracing" shortname="Cam-Tracing"/>
    </dl_settings>
  </dl_settings>
 </settings>
@@ -26,12 +26,11 @@
      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
+

-      
    </dl_settings>

  </dl_settings>
 </settings>
-
@@ -30,21 +30,6 @@
    </dl_settings>

    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
-        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>
-

      <dl_settings NAME="attitude">
        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
@@ -54,10 +39,8 @@
        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>

-
        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
      </dl_settings>

      <dl_settings name="alt">
@@ -0,0 +1,109 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use to tune a new A/C with IR sensors-->
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="flight params">
+      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
+    </dl_settings>
+
+    <dl_settings NAME="mode">
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
+      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
+      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
+
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
+        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
+        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+        <key_press key="greater" value="1"/>
+        <key_press key="less" value="-1"/>
+      </dl_setting>
+    </dl_settings>
+
+    <dl_settings NAME="control">
+      <dl_settings NAME="ir">
+        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
+        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
+
+        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
+        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
+
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
+
+      </dl_settings>
+
+
+      <dl_settings NAME="attitude">
+        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
+        <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
+        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
+
+
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
+
+      </dl_settings>
+
+      <dl_settings name="alt">
+        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="auto_throttle">
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
+          <strip_button name="Loiter" value="0.1"/>
+          <strip_button name="Cruise" value="0"/>
+          <strip_button name="Dash" value="1"/>
+        </dl_setting>
+
+
+        <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
+<!-- commented by poine - does anybody use that ?at all ? -->
+<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
+<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
+        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
+      </dl_settings>
+
+      <dl_settings name="auto_pitch">
+        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="nav">
+        <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
+        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
+        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
+        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
+        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
+        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
+        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
+        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
+      </dl_settings>
+    </dl_settings>
+  </dl_settings>
+</settings>
@@ -1,16 +1,17 @@
 DATADIR = $(PAPARAZZI_HOME)/conf/maps_data
 Q=@

-all: $(DATADIR)/maps.google.com $(DATADIR)/maps.conf
+all: $(DATADIR)/maps.google.com $(PAPARAZZI_HOME)/conf/maps.xml

 $(DATADIR):
 	mkdir $(DATADIR)

-$(DATADIR)/maps.google.com: $(DATADIR)
+$(DATADIR)/maps.google.com: $(DATADIR) FORCE
 	wget -O $(@) http://maps.google.com/

-$(DATADIR)/maps.conf: $(DATADIR)/maps.google.com
-	$(Q)echo "[GOOGLE]" > $(@)
-	$(Q)echo "google_version:" `grep -P "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E s#.*http://khm[0-9]+.google.com/kh/v=## | sed -E s#.x26.*##` >> $(@)
+$(PAPARAZZI_HOME)/conf/maps.xml: $(DATADIR)/maps.google.com
+	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">\n" > $(@)
+	$(Q)echo "<maps google_version=\""`grep -P "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E s#.*http://khm[0-9]+.google.com/kh/v=## | sed -E s#.x26.*##`"\"/>" >> $(@)
 	$(Q)echo "" >> $(@)

+FORCE:
@@ -189,10 +189,13 @@

 #define PERIODIC_SEND_NAVIGATION(_chan) SEND_NAVIGATION(_chan)

+
 #if defined CAM || defined MOBILE_CAM
-#define SEND_CAM(_chan) Downlink({ int16_t x = cam_target_x; int16_t y = cam_target_y; int8_t phi = DegOfRad(cam_phi_c); int8_t theta = DegOfRad(cam_theta_c); DOWNLINK_SEND_CAM(_chan, &phi, &theta, &x, &y);})
+#define SEND_CAM(_chan) Downlink({ int16_t x = cam_target_x; int16_t y = cam_target_y; int16_t phi = DegOfRad(cam_phi_c); int16_t theta = DegOfRad(cam_theta_c); DOWNLINK_SEND_CAM(_chan, &phi, &theta, &x, &y);})
+#define PERIODIC_SEND_CAM_POINT(_chan) DOWNLINK_SEND_CAM_POINT(_chan, &cam_point_distance_from_home, &cam_point_lat, &cam_point_lon)
 #else
 #define SEND_CAM(_chan) {}
+#define PERIODIC_SEND_CAM_POINT(_chan) {}
 #endif

 #define PERIODIC_SEND_DL_VALUE(_chan) PeriodicSendDlValue(_chan) /** generated from the xml settings config in conf/settings */
@@ -29,11 +29,6 @@
 #include "LPC21xx.h"
 #include BOARD_CONFIG

-#define UART0_RX_BUFFER_SIZE 128        // UART0 receive buffer size
-#define UART0_TX_BUFFER_SIZE 128        // UART0 transmit buffer size
-#define UART1_RX_BUFFER_SIZE 128        // UART1 receive buffer size
-#define UART1_TX_BUFFER_SIZE 128        // UART1 transmit buffer size
-
 #define UART_BAUD(baud) (uint16_t)((PCLK / ((baud) * 16.0)) + 0.5)

 #define B1200         UART_BAUD(1200)
@@ -64,33 +59,4 @@
 #define UART_FIFO_8   (uint8_t)(UFCR_FIFO_ENABLE + UFCR_FIFO_TRIG8)
 #define UART_FIFO_14  (uint8_t)(UFCR_FIFO_ENABLE + UFCR_FIFO_TRIG14)

-
-extern uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
-extern uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
-
-#define Uart0ChAvailable() (uart0_rx_insert_idx != uart0_rx_extract_idx)
-
-#define Uart0Getch() ({\
-   uint8_t ret = uart0_rx_buffer[uart0_rx_extract_idx]; \
-   uart0_rx_extract_idx = (uart0_rx_extract_idx + 1)%UART0_RX_BUFFER_SIZE;        \
-   ret;                                                 \
-})
-
-
-extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
-extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
-extern void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
-extern void uart0_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
-
-#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
-
-#define Uart1Getch() ({\
-   uint8_t ret = uart1_rx_buffer[uart1_rx_extract_idx]; \
-   uart1_rx_extract_idx = (uart1_rx_extract_idx + 1)%UART1_RX_BUFFER_SIZE;        \
-   ret;                                                 \
-})
-
-extern uint8_t uart0_tx_running;
-extern uint8_t uart1_tx_running;
-
 #endif /* LPC21_UART_ARCH_H */
@@ -71,7 +71,7 @@ int main( void ) {
      LED_ON(2);
      tx_time = T0TC;
      inc = VCOM_getchar();
-      uart0_transmit(inc);
+      Uart0Transmit(inc);
    }
  }
 #else
@@ -88,7 +88,7 @@ int main( void ) {
      LED_ON(2);
      tx_time = T0TC;
      inc = VCOM_getchar();
-      uart1_transmit(inc);
+      Uart1Transmit(inc);
    }
  }
 #endif
@@ -0,0 +1,130 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "mcu_periph/uart.h"
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "fms/fms_serial_port.h"
+
+
+void uart_periph_set_baudrate(struct uart_periph* p, uint16_t baud) {
+  struct FmsSerialPort* fmssp;
+  // close serial port if already open
+  if (p->reg_addr != NULL) {
+    fmssp = (struct FmsSerialPort*)(p->reg_addr);
+    serial_port_close(fmssp);
+    serial_port_free(fmssp);
+  }
+  // open serial port
+  fmssp = serial_port_new();
+  // use register address to store SerialPort structure pointer...
+  p->reg_addr = (void*)fmssp;
+
+  //TODO: set device name in application and pass as argument
+  printf("opening %s on uart0 at %d\n",p->dev,baud);
+  serial_port_open_raw(fmssp,p->dev,baud);
+}
+
+void uart_transmit(struct uart_periph* p, uint8_t data ) {
+  uint16_t temp = (p->tx_insert_idx + 1) % UART_TX_BUFFER_SIZE;
+
+  if (temp == p->tx_extract_idx)
+    return;                          // no room
+
+  // check if in process of sending data
+  if (p->tx_running) { // yes, add to queue
+    p->tx_buf[p->tx_insert_idx] = data;
+    p->tx_insert_idx = temp;
+  }
+  else { // no, set running flag and write to output register
+    p->tx_running = TRUE;
+    struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr);
+    write((int)(fmssp->fd),&data,1);
+    //printf("w %x\n",data);
+  }
+}
+
+static inline void uart_handler(struct uart_periph* p) {
+  unsigned char c='D';
+
+  if (p->reg_addr == NULL) return; // device not initialized ?
+
+  struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr);
+  int fd = fmssp->fd;
+
+  // check if more data to send
+  if (p->tx_insert_idx != p->tx_extract_idx) {
+    write(fd,&(p->tx_buf[p->tx_extract_idx]),1);
+    //printf("w %x\n",p->tx_buf[p->tx_extract_idx]);
+    p->tx_extract_idx++;
+    p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
+  }
+  else {
+    p->tx_running = FALSE;   // clear running flag
+  }
+
+  if(read(fd,&c,1) > 0){
+    //printf("r %x %c\n",c,c);
+    uint16_t temp = (p->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;
+    p->rx_buf[p->rx_insert_idx] = c;
+    // check for more room in queue
+    if (temp != p->rx_extract_idx)
+      p->rx_insert_idx = temp; // update insert index
+  }
+
+}
+
+#ifdef USE_UART0
+
+void uart0_init( void ) {
+  uart_periph_init(&uart0);
+  uart.dev = UART0_DEV;
+  uart_periph_set_baudrate(&uart0,UART0_BAUD);
+}
+
+
+void uart0_handler(void) {
+  uart_handler(&uart0);
+}
+
+#endif /* USE_UART0 */
+
+#ifdef USE_UART1
+
+void uart1_init( void ) {
+  uart_periph_init(&uart1);
+  uart.dev = UART1_DEV;
+  uart_periph_init_param(&uart1,UART1_BAUD);
+}
+
+void uart1_handler(void) {
+  uart_handler(&uart1);
+}
+
+#endif /* USE_UART1 */
+
@@ -0,0 +1,70 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef UART_ARCH_H
+#define UART_ARCH_H
+
+#include "std.h"
+//coment to avoid redefinition
+/*#define B9600     9600
+#define B38400   38400
+ #define B57600   57600
+#define B115200 115200
+*/
+
+//junk for gps_configure_uart in gps_ubx.c to compile
+#define UART_BAUD(baud) (baud)
+
+
+#define Uart1_init uart1_init()
+#define Uart2_init uart2_init()
+#define Uart3_init uart3_init()
+#define Uart5_init uart5_init()
+
+#define UART1_irq_handler usart1_irq_handler
+#define UART2_irq_handler usart2_irq_handler
+#define UART3_irq_handler usart3_irq_handler
+#define UART5_irq_handler usart5_irq_handler
+
+#if defined USE_UART0 || OVERRIDE_UART0_IRQ_HANDLER
+extern void uart0_handler(void);
+#endif
+
+#ifdef USE_UART0
+
+void uart0_init( void );
+
+#endif /* USE_UART0 */
+
+
+#if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
+extern void uart1_handler(void);
+#endif
+
+#ifdef USE_UART1
+
+void uart1_init( void );
+
+#endif /* USE_UART1 */
+
+#endif /* UART_ARCH_H */
@@ -36,6 +36,9 @@
 #define B57600   57600
 #define B115200 115200

+/* junk for gps_configure_uart in gps_ubx.c to compile */
+#define UART_8N1 1
+#define UART_FIFO_8 1

 /* sort out the problem of UART5 already defined in stm32.h */
 #define USART5               ((USART_TypeDef *) UART5_BASE)
@@ -125,92 +128,6 @@ extern void usart3_irq_handler(void);
 extern void usart5_irq_handler(void);
 #endif

-#ifdef USE_UART1
-#define UART1_RX_BUFFER_SIZE 128
-#define UART1_TX_BUFFER_SIZE 128
-
-extern volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
-extern uint8_t  uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
-
-extern volatile uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
-extern volatile bool_t   uart1_tx_running;
-extern uint8_t  uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
-
-#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
-#define Uart1Getch() ({							\
-      uint8_t ret = uart1_rx_buffer[uart1_rx_extract_idx];		\
-      uart1_rx_extract_idx = (uart1_rx_extract_idx + 1)%UART1_RX_BUFFER_SIZE; \
-      ret;								\
-    })
-
-#endif /* USE_UART1 */
-
-
-#ifdef USE_UART2
-
-#define UART2_RX_BUFFER_SIZE 128
-#define UART2_TX_BUFFER_SIZE 128
-
-extern volatile uint16_t uart2_rx_insert_idx, uart2_rx_extract_idx;
-extern uint8_t  uart2_rx_buffer[UART2_RX_BUFFER_SIZE];
-
-extern volatile uint16_t uart2_tx_insert_idx, uart2_tx_extract_idx;
-extern volatile bool_t   uart2_tx_running;
-extern uint8_t  uart2_tx_buffer[UART2_TX_BUFFER_SIZE];
-
-#define Uart2ChAvailable() (uart2_rx_insert_idx != uart2_rx_extract_idx)
-#define Uart2Getch() ({							\
-      uint8_t ret = uart2_rx_buffer[uart2_rx_extract_idx];		\
-      uart2_rx_extract_idx = (uart2_rx_extract_idx + 1)%UART2_RX_BUFFER_SIZE; \
-      ret;								\
-    })
-
-#endif /* USE_UART2 */
-
-
-#ifdef USE_UART3
-
-#define UART3_RX_BUFFER_SIZE 128
-#define UART3_TX_BUFFER_SIZE 128
-
-extern volatile uint16_t uart3_rx_insert_idx, uart3_rx_extract_idx;
-extern uint8_t  uart3_rx_buffer[UART3_RX_BUFFER_SIZE];
-
-extern volatile uint16_t uart3_tx_insert_idx, uart3_tx_extract_idx;
-extern volatile bool_t   uart3_tx_running;
-extern uint8_t  uart3_tx_buffer[UART3_TX_BUFFER_SIZE];
-
-#define Uart3ChAvailable() (uart3_rx_insert_idx != uart3_rx_extract_idx)
-#define Uart3Getch() ({							\
-      uint8_t ret = uart3_rx_buffer[uart3_rx_extract_idx];		\
-      uart3_rx_extract_idx = (uart3_rx_extract_idx + 1)%UART3_RX_BUFFER_SIZE; \
-      ret;								\
-    })
-
-#endif /* USE_UART3 */
-
-#ifdef USE_UART5
-
-#define UART5_RX_BUFFER_SIZE 128
-#define UART5_TX_BUFFER_SIZE 128
-
-extern volatile uint16_t uart5_rx_insert_idx, uart5_rx_extract_idx;
-extern uint8_t  uart5_rx_buffer[UART5_RX_BUFFER_SIZE];
-
-extern volatile uint16_t uart5_tx_insert_idx, uart5_tx_extract_idx;
-extern volatile bool_t   uart5_tx_running;
-extern uint8_t  uart5_tx_buffer[UART5_TX_BUFFER_SIZE];
-
-#define Uart5ChAvailable() (uart5_rx_insert_idx != uart5_rx_extract_idx)
-#define Uart5Getch() ({							\
-      uint8_t ret = uart5_rx_buffer[uart5_rx_extract_idx];		\
-      uart5_rx_extract_idx = (uart5_rx_extract_idx + 1)%UART5_RX_BUFFER_SIZE; \
-      ret;								\
-    })
-
-#endif /* USE_UART5 */
-
-
-void uart_init( void );
+//void uart_init( void );

 #endif /* STM32_UART_ARCH_H */
@@ -62,10 +62,10 @@ static inline void main_periodic_task( void ) {
 static inline void main_event_task( void ) {

  while (Uart1ChAvailable())
-    uart0_transmit(Uart1Getch());
+    Uart0Transmit(Uart1Getch());

  while (Uart0ChAvailable())
-    uart1_transmit(Uart0Getch());
+    Uart1Transmit(Uart0Getch());


 }
@@ -81,8 +81,8 @@ static void csc_main_periodic( void )

 static void send_short( int16_t s )
 {
-  uart1_transmit(s >> 8);
-  uart1_transmit(s & 0xFF);
+  Uart1Transmit(s >> 8);
+  Uart1Transmit(s & 0xFF);
 }

 static void send_channel ( int16_t c )
@@ -66,6 +66,7 @@ float estimator_hspeed_dir;
 /* wind */
 float wind_east, wind_north;
 float estimator_airspeed;
+float estimator_AOA;

 #define NORM_RAD_ANGLE2(x) { \
    while (x > 2 * M_PI) x -= 2 * M_PI; \
@@ -100,7 +101,11 @@ void estimator_init( void ) {
 #ifdef USE_AIRSPEED
  EstimatorSetAirspeed( 0. );
 #endif
-
+  
+#ifdef USE_AOA
+  EstimatorSetAOA( 0. );
+#endif
+  
  estimator_flight_time = 0;

  estimator_airspeed = NOMINAL_AIRSPEED;
@@ -69,6 +69,8 @@ extern float estimator_hspeed_dir;
 extern float wind_east, wind_north; /* m/s */
 extern float estimator_airspeed; /* m/s */

+/* Angle of Attack estimation */
+extern float estimator_AOA; /* radians */

 void estimator_init( void );
 void estimator_propagate_state( void );
@@ -121,6 +123,7 @@ extern void alt_kalman( float );
 #endif

 #define EstimatorSetAirspeed(airspeed) { estimator_airspeed = airspeed; }
+#define EstimatorSetAOA(AOA) { estimator_AOA = AOA; }

 #define EstimatorSetAtt(phi, psi, theta) { estimator_phi = phi; estimator_psi = psi; estimator_theta = theta; }
 #define EstimatorSetPhiPsi(phi, psi) { estimator_phi = phi; estimator_psi = psi; }
@@ -691,6 +691,10 @@ static inline void on_gyro_event( void ) {
  ahrs_update_accel();
  ahrs_update_fw_estimator();

+#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
+  new_ins_attitude = 1;
+#endif
+
 #else //PERIODIC_FREQUENCY
  static uint8_t _reduced_propagation_rate = 0;
  static uint8_t _reduced_correction_rate = 0;
@@ -723,8 +727,13 @@ static inline void on_gyro_event( void ) {
      INT_VECT3_ZERO(acc_avg);
      ImuScaleAccel(imu);
      ahrs_update_accel();
-      ahrs_update_fw_estimator();
    }
+
+    ahrs_update_fw_estimator();
+
+#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
+    new_ins_attitude = 1;
+#endif
  }
 #endif //PERIODIC_FREQUENCY

@@ -732,10 +741,6 @@ static inline void on_gyro_event( void ) {
    LED_OFF(AHRS_CPU_LED);
 #endif

-#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
-  new_ins_attitude = 1;
-#endif
-
 }

 static inline void on_mag_event(void)
@@ -65,6 +65,7 @@ float  h_ctl_pitch_loop_setpoint;
 float  h_ctl_pitch_pgain;
 float  h_ctl_pitch_dgain;
 pprz_t h_ctl_elevator_setpoint;
+uint8_t h_ctl_pitch_mode;

 /* inner loop pre-command */
 float h_ctl_aileron_of_throttle;
@@ -417,7 +418,18 @@ inline static void h_ctl_pitch_loop( void ) {
    h_ctl_pitch_setpoint
    - h_ctl_elevator_of_roll / h_ctl_pitch_pgain * fabs(estimator_phi);

-  float err = estimator_theta - h_ctl_pitch_loop_setpoint;
+	float err = 0;
+	switch (h_ctl_pitch_mode){
+		case H_CTL_PITCH_MODE_THETA:
+			err = estimator_theta - h_ctl_pitch_loop_setpoint;
+		break;
+		case H_CTL_PITCH_MODE_AOA:
+			err = estimator_AOA - h_ctl_pitch_loop_setpoint;
+		break;
+		default:
+			err = estimator_theta - h_ctl_pitch_loop_setpoint;
+		break;
+	}
  float d_err = err - last_err;
  last_err = err;
  float cmd = h_ctl_pitch_pgain * (err + h_ctl_pitch_dgain * d_err);
@@ -56,6 +56,11 @@ extern float  h_ctl_roll_pgain;
 extern pprz_t h_ctl_aileron_setpoint;
 extern float  h_ctl_roll_slew;

+/* Pitch mode */
+#define H_CTL_PITCH_MODE_THETA	0
+#define H_CTL_PITCH_MODE_AOA	1
+extern uint8_t h_ctl_pitch_mode;
+
 /* inner pitch loop parameters */
 extern float  h_ctl_pitch_setpoint;
 extern float  h_ctl_pitch_loop_setpoint;
@@ -50,31 +50,31 @@ static inline void main_report( void ) {
    my_qdr = vid_qdr * 360 / 4980;
    if (my_qdr < 0) my_qdr+=3600;
    if (my_qdr > 3600) my_qdr-=3600;
-    uart0_transmit('\r');
+    Uart0Transmit('\r');
    break;
  case 1:
    tmp = my_qdr / 1000;
    my_qdr = my_qdr - 1000*tmp;
-    uart0_transmit('0'+tmp);
+    Uart0Transmit('0'+tmp);
    break;
  case 2:
    tmp = my_qdr / 100;
    my_qdr = my_qdr - 100*tmp;
-    uart0_transmit('0'+tmp);
+    Uart0Transmit('0'+tmp);
    break;
  case 3:
    tmp = my_qdr / 10;
    my_qdr = my_qdr - 10*tmp;
-    uart0_transmit('0'+tmp);
+    Uart0Transmit('0'+tmp);
    break;
  case 4:
-    uart0_transmit('.');
+    Uart0Transmit('.');
    break;
  case 5:
-    uart0_transmit('0'+my_qdr);
+    Uart0Transmit('0'+my_qdr);
    break;
  case 6:
-    uart0_transmit('\r');
+    Uart0Transmit('\r');
    break;
  }

@@ -59,10 +59,10 @@ static inline void main_periodic_task( void ) {
 static inline void main_event_task( void ) {

  if (Uart2ChAvailable())
-    uart1_transmit(Uart2Getch());
+    Uart1Transmit(Uart2Getch());

  if (Uart1ChAvailable())
-    uart2_transmit(Uart1Getch());
+    Uart2Transmit(Uart1Getch());


 }
@@ -246,8 +246,8 @@ static void test_uart_periodic(void) {

  if (idx_tx<sizeof(buf_src)) {
    switch (direction) {
-    case OneToThree : uart1_transmit(buf_src[idx_tx]); break;
-    case ThreeToOne : uart3_transmit(buf_src[idx_tx]); break;
+    case OneToThree : Uart1Transmit(buf_src[idx_tx]); break;
+    case ThreeToOne : Uart3Transmit(buf_src[idx_tx]); break;
    default: break;
    }
    idx_tx++;
--- a/Show More
+++ b/Show More