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+ + +CONFIG = \"tiny_2_1_1.h\" + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.srcs += commands.c + +########## RC actuators + radio +ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 +ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c + +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +########## Modems +#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 +#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c + +#TRANSPARENT +ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + +########## ADC +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +########## GPS +ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG +# -DGPS_LED=2 +ap.srcs += gps_ubx.c gps.c latlong.c + +########## IR sensors +ap.CFLAGS += -DINFRARED -DALT_KALMAN +ap.srcs += infrared.c estimator.c + +########## Gyro +#ap.CFLAGS += -DGYRO -DADXRS150 +#ap.srcs += gyro.c + +########## Nav +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c +ap.srcs += nav_survey_rectangle.c +ap.srcs += nav_line.c + +########## Barometer (SPI) +#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A +#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c + +########## Lights +ap.CFLAGS += -DUSE_LIGHT +ap.srcs += light.c + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN + +sim.srcs += nav_line.c nav_survey_rectangle.c + + +