Merge remote-tracking branch 'paparazzi/master' into generators

Conflicts:
	Makefile.ac

CHANGELOG.md

@@ -1,3 +1,170 @@
+Paparazzi 5.1_devel
+===================
+
+current development in master since v5.1_devel tag
+
+not complete and in no particular order...
+
+General
+-------
+
+- lots of cleanup
+- GCS: higher max zoom level
+  [#632] (https://github.com/paparazzi/paparazzi/issues/632)
+- GCS: different aircraft icons (added flying wing, quadrotor)
+- GUI for selecting the desired active list of airframes (select_conf.py)
+  [#536] (https://github.com/paparazzi/paparazzi/issues/536)
+- paparazzi center: flash mode selection via drop down menu
+  [#597] (https://github.com/paparazzi/paparazzi/pull/597)
+- add support for new telemetry types
+  [#589] (https://github.com/paparazzi/paparazzi/pull/589)
+
+Simulation
+----------
+
+- simulate datalink loss
+  [#631] (https://github.com/paparazzi/paparazzi/issues/631)
+- FlightGear viz: daytime everywhere
+  [#555] (https://github.com/paparazzi/paparazzi/issues/555)
+
+Hardware support
+----------------
+
+- Support for all 3 ADCs of F4
+  [#551] (https://github.com/paparazzi/paparazzi/issues/551)
+- new peripheral drivers:
+  - ST LIS302DL accelerometer (SPI)
+  - ST L3GD20 gyro (SPI)
+  - ST LSM303DLHC 3D accelerometer and magnetometer (I2C)
+  - converted barometers MS5611, BMP085 to generic peripherals
+    [#515] (https://github.com/paparazzi/paparazzi/pull/515)
+
+Airborne
+--------
+
+- API function to periodically send telemetry messages: register_periodic_telemetry
+  [#472] (https://github.com/paparazzi/paparazzi/pull/472)
+- generic gpio interface
+  [#498] (https://github.com/paparazzi/paparazzi/issues/498)
+  [#651] (https://github.com/paparazzi/paparazzi/issues/651)
+- gps_ubx_ucenter module improvements
+  [#646] (https://github.com/paparazzi/paparazzi/issues/646)
+  [#653] (https://github.com/paparazzi/paparazzi/issues/653)
+- HOTT telemetry module added
+  [#591] (https://github.com/paparazzi/paparazzi/pull/591)
+- GPS subsystem to stream external position data to the vehicle over UDP
+  [#630] (https://github.com/paparazzi/paparazzi/pull/630)
+- INS reset/realign API updates
+  [#644] (https://github.com/paparazzi/paparazzi/pull/644)
+- INS alt_float: remove ALT_KALMAN_ENABLED
+  [#594] (https://github.com/paparazzi/paparazzi/issues/594)
+- barometer interface via ABI
+  [#525] (https://github.com/paparazzi/paparazzi/pull/525)
+- AHRS int_cmpl_quat frequency scaling
+  [#371] (https://github.com/paparazzi/paparazzi/pull/371)
+
+Rotorcraft firmware
+-------------------
+
+- AR Drone 2 updates
+  [#626] (https://github.com/paparazzi/paparazzi/issues/626)
+  [#598] (https://github.com/paparazzi/paparazzi/pull/598)
+- guidance improvements
+  [#539] (https://github.com/paparazzi/paparazzi/pull/539)
+  [#546] (https://github.com/paparazzi/paparazzi/pull/546)
+- adaptive thrust estimation limits
+  [#495] (https://github.com/paparazzi/paparazzi/issues/495)
+- improve in_flight detection heuristic
+  [#469] (https://github.com/paparazzi/paparazzi/pull/469)
+
+Fixedwing firmware
+------------------
+
+- alt_float: remove ALT_KALMAN_ENABLED
+  [#594] (https://github.com/paparazzi/paparazzi/issues/594)
+
+
+Paparazzi 5.0.4_stable
+======================
+
+Maintenance release
+
+- fix perl script compile_all_test_targets
+- add pcre lib to jsbsim, cleanup shell commands
+- fix InsideX for sectors (GetPosX and GetPosY in nav.h (FW) are in local coordinates)
+  [#602] (https://github.com/paparazzi/paparazzi/issues/602)
+- stm32: enable correct error interrupts for i2c2 and i2c3
+
+
+Paparazzi 5.0.3_stable
+======================
+
+Maintenance release
+
+- fix Paparazzi Center on Mac OS (detection of child processes exitting)
+  [#290] (https://github.com/paparazzi/paparazzi/issues/290)
+- state interface: fix stateCalcHorizontalSpeedNorm_i
+- fix/improve dependency generation for building firmware
+- abort with meaningful error if ARM toolchain is not found
+
+
+Paparazzi 5.0.2_stable
+======================
+
+Maintenance release
+
+- add launch and noground options to pprzsim-launch
+- fixedwing: fix initialzation of trim commands, including yaw
+- fixedwing: fixes to use ins_alt_dot from ins_alt_float (with USE_BAROMETER)
+  [#511] (https://github.com/paparazzi/paparazzi/pull/511)
+- state interface: fix local/global coordinate validity checks
+- state interface: fix local ned/enu to ecef conversion
+- lib/ocaml: update leap_seconds to 16 (last one was on June 30, 2012)
+
+
+Paparazzi 5.0.1_stable
+======================
+
+Maintenance release
+
+General
+-------
+
+- joystick hat support for input2ivy
+  [#460] (https://github.com/paparazzi/paparazzi/pull/460)
+- high speed logger: fix mag channels
+- math: fix ecef_of_[ned|enu]_i
+- fix google maps version download parsing
+
+Rotorcraft/Fixedwing firmwares
+------------------------------
+
+- rotorcraft: add MODE_STARTUP
+  [#467] (https://github.com/paparazzi/paparazzi/pull/467)
+- ARDrone2: GPS satellite informaton
+  [#474] (https://github.com/paparazzi/paparazzi/pull/474)
+- fixedwing: init state interface before sensors and ins
+- fixedwing: don't overwrite yaw command with trim
+
+Simulator
+---------
+
+- NPS: explicitly add pcre lib
+- NPS: make radio_control tpye datalink work
+- don't try to use ADC_CHANNEL_CURRENT in SITL
+
+Drivers and architecture specific
+---------------------------------
+
+- fixes for imu_drotek_10dof_v2
+- init spi_slave_hs for imu_chimu
+- mpu60x0_i2c: only copy ext data if i2c_bypass is false
+- aspirin_v2.2: unselect baro at startup
+- aspirin_2_spi: default AHRS_PROPAGATE_FREQUENCY is 512
+- STM32F4: fix ppm input timer frequency for TIM2
+- add i2c3 initialization
+
+
 Paparazzi 5.0.0_stable
 ======================
 
@@ -71,6 +238,24 @@ Rotorcraft firmware specific
 - Care Free Mode
 
 
+Paparazzi 4.2.2_stable
+======================
+
+Maintenance release
+
+- DFU upload matches Lia board by default as well
+- partial compatibilty with Aspirin2.2
+  [#369] (https://github.com/paparazzi/paparazzi/pull/369)
+- fix failsafe vertical setpoint in rotorcraft firmware
+- fix plotprofile building on Ubuntu 13.04
+- circle-count without rewinding when flying in opposite direction
+  [#441] (https://github.com/paparazzi/paparazzi/pull/441)
+- add yaw trim
+  [#444] (https://github.com/paparazzi/paparazzi/pull/444)
+- add XSens Mti-G 700 support
+  [#443] (https://github.com/paparazzi/paparazzi/pull/443)
+
+
 Paparazzi 4.2.1_stable
 ======================
 
@@ -99,6 +284,7 @@ Since last stable v4.0:
 - AP/FBW separation using spi or uart
 - Sensors fix and addition (GPS, current, baro)
 
+
 Paparazzi 4.1.1_testing
 =======================
 
@@ -128,6 +314,7 @@ Second release candidate for next stable release.
 - Digital cam module: release camera button on init
 - Fix second order term in propagation of x-position in HFF
 
+
 Paparazzi 4.1.0_testing
 =======================
 
@@ -147,6 +334,16 @@ First release candidate for next stable release.
   [#276] (https://github.com/paparazzi/paparazzi/pull/276)
 
 
+Paparazzi 4.0.4
+===============
+
+Maintenance release
+
+- fix google map version parsing for new maps site using https
+- minor fix for hff
+- use GPS_TRIGGERED_FUNCTION for ins_chimu_spi
+
+
 Paparazzi 4.0.3
 ===============
 

Makefile.ac

@@ -31,7 +31,7 @@ AIRBORNE=sw/airborne
 MESSAGES_XML = $(CONF)/messages.xml
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 AIRCRAFT_CONF_DIR = $(ACINCLUDE)/conf
-AC_GENERATED = $(ACINCLUDE)/generated
+AC_GENERATED = $(ACINCLUDE)/$(TARGET)/generated
 
 AIRFRAME_H=$(AC_GENERATED)/airframe.h
 PERIODIC_H=$(AC_GENERATED)/periodic_telemetry.h
@@ -152,7 +152,7 @@ $(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_TELE
 	$(Q)chmod a+r $@
 	$(Q)cp $(SETTINGS_XMLS) $(AIRCRAFT_CONF_DIR)/settings
 
-$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_modules.out $(CONF)/modules/*.xml
+$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_modules.out
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
 	@echo GENERATE $@
 	$(eval $@_TMP := $(shell $(MKTEMP)))
@@ -174,7 +174,7 @@ $(SETTINGS_TELEMETRY) : $(PERIODIC_H)
 %.ac_h : $(GENERATORS)/gen_aircraft.out
 	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
 	@echo BUILD $(AIRCRAFT), TARGET $*
-	+$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out $(AIRCRAFT)
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out $(AIRCRAFT)
 
 %.compile: %.ac_h print_version
 	cd $(AIRBORNE); $(MAKE) TARGET=$* all

conf/Makefile.stm32-upload

@@ -59,9 +59,14 @@ else ifeq ($(FLASH_MODE),DFU-UTIL)
 #
 # DFU flash mode using dfu-util
 DFU_ADDR ?= 0x08000000
+DFU_SIZE ?= $(shell stat --printf=%s $^)
 upload: $(OBJDIR)/$(TARGET).bin
 	@echo "Using dfu-util at $(DFU_ADDR)"
 	$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR) -D $^
+	$(Q)rm -f $(OBJDIR)/verify.bla
+	$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR):$(DFU_SIZE) -U $(OBJDIR)/verify.bla
+	$(Q)diff $^ $(OBJDIR)/verify.bla
+	$(Q)rm -f $(OBJDIR)/verify.bla
 
 #
 # serial flash mode

conf/abi.xml

@@ -11,6 +11,11 @@
     <message name="BARO_DIFF" id="1">
       <field name="pressure" type="float" unit="Pa"/>
     </message>
+
+    <message name="AGL" id="2">
+      <field name="distance" type="float" unit="m"/>
+    </message>
+
   </class>
 
 

conf/airframes/CDW/tiny2_chimu_spi_pt.xml

@@ -160,9 +160,7 @@
       <define name="CHIMU_BIG_ENDIAN" />
     </load>
     <load name="cam_point.xml" />
-    <load name="gps_ubx_ucenter.xml">
+    <load name="gps_ubx_ucenter.xml"/>
-      <define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
-    </load>
   </modules>
 
   <firmware name="fixedwing">

conf/airframes/ENAC/quadrotor/blender.xml

@@ -5,7 +5,7 @@
   <modules main_freq="512">
     <load name="servo_switch.xml"/>
     <load name="rotorcraft_cam.xml"/>
-    <!--load name="sonar_adc_ins.xml"/-->
+    <!--load name="sonar_adc.xml"/-->
     <!--load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
     </load-->
@@ -124,7 +124,6 @@
 
   <!-- Magnetic field for Toulouse (declination -16°) -->
   <!--section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
     <define name="H_X" value=" 0.513081"/>
     <define name="H_Y" value="-0.00242783"/>

conf/airframes/ENAC/quadrotor/booz2_g1.xml

@@ -3,8 +3,9 @@
   <modules main_freq="512">
     <load name="servo_switch.xml"/>
     <load name="rotorcraft_cam.xml"/>
-    <load name="sonar_adc_ins.xml">
+    <load name="sonar_adc.xml">
       <configure name="ADC_SONAR" value="ADC_0"/>
+      <define name="USE_SONAR"/>
       <!--define name="SENSOR_SYNC_SEND_SONAR"/-->
     </load>
     <!--load name="baro_mpl3115.xml">
@@ -24,6 +25,7 @@
   </modules>
 
   <firmware name="rotorcraft">
+    <define name="DEBUG_VFF_EXTENDED"/>
     <define name="USE_INS_NAV_INIT"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
@@ -177,13 +179,16 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
-    <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
     <define name="SONAR_MAX_RANGE" value="5.0"/>
     <define name="SONAR_MIN_RANGE" value="0.25"/>
     <!--define name="SONAR_VARIANCE_THRESHOLD" value="0.01"/-->
   </section>
 
+  <section name="SONAR">
+    <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
+    <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
+  </section>
+
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
     <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
     <define name="MAX_ERR_Z"    value="POS_BFP_OF_REAL( 10.)"/>

conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml

@@ -7,8 +7,6 @@
     <target name="ap" board="ardrone2_raw">
       <define name="USE_INS_NAV_INIT"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
 
       <define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>

conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml

@@ -193,7 +193,6 @@
     </section>
 
     <section name="AHRS" prefix="AHRS_">
-        <define name="PROPAGATE_FREQUENCY" value="512"/>
         <define name="H_X" value=" 0.3723657"/>
         <define name="H_Y" value=" 0.1515225"/>
         <define name="H_Z" value="-0.9156335"/>

conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml

@@ -210,7 +210,6 @@
     </section>
 
     <section name="AHRS" prefix="AHRS_">
-        <define name="PROPAGATE_FREQUENCY" value="512"/>
         <define name="H_X" value=" 0.3723657"/>
         <define name="H_Y" value=" 0.1515225"/>
         <define name="H_Z" value="-0.9156335"/>

conf/airframes/ardrone2_raw.xml

@@ -4,10 +4,7 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2_raw">
-      <define name="USE_INS_NAV_INIT"/>
+      <define name="USE_SONAR"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
       <subsystem name="telemetry" type="udp"/>
       <subsystem name="radio_control" type="datalink"/>
@@ -107,6 +104,10 @@
   </section>
 
   <section name="INS" prefix="INS_">
+    <define name="SONAR_SENS" value="0.00034"/>
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
+    <define name="SONAR_VARIANCE_THRESHOLD" VALUE="2.0"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

conf/airframes/ardrone2_raw_optitrack.xml

@@ -4,10 +4,6 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2_raw">
-      <define name="USE_INS_NAV_INIT"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
       <subsystem name="telemetry" type="udp"/>
       <subsystem name="radio_control" type="datalink"/>

conf/airframes/esden/gain_scheduling_example.xml

@@ -168,7 +168,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/hexy_ll11a2pwm.xml

@@ -182,7 +182,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/hexy_lm2a2pwm.xml

@@ -143,7 +143,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/lisa2_hex.xml

@@ -150,7 +150,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/qs_asp22.xml

@@ -176,7 +176,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/quady_ll11a2pwm.xml

@@ -178,7 +178,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/quady_lm1a1pwm.xml

@@ -139,7 +139,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/esden/quady_lm2a2pwmppm.xml

@@ -139,7 +139,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/examples/quadrotor_lisa_mx.xml

@@ -37,16 +37,23 @@
     <subsystem name="ahrs"          type="int_cmpl_quat">
       <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
     </subsystem>
-    <subsystem name="ins"/>
+    <subsystem name="ins" type="hff"/>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
+  <firmware name="test_progs">
+    <target name="test_sys_time_timer" board="lisa_mx_2.0"/>
+    <target name="test_telemetry" board="lisa_mx_2.0"/>
+  </firmware>
+
   <modules>
     <load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
     </load>
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="geo_mag.xml"/>
   </modules>
 
   <servos driver="Pwm">

conf/airframes/examples/quadshot_asp21_spektrum.xml

@@ -201,7 +201,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>

conf/airframes/obsolete/NoVa_L.xml

@@ -181,7 +181,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>

conf/airframes/obsolete/Poine/booz2_a7.xml

@@ -153,7 +153,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>

conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml

@@ -169,7 +169,6 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7eu.h\"
 ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
 
 include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile

conf/airframes/obsolete/booz2_flixr.xml

@@ -113,7 +113,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>

conf/airframes/obsolete/example_heli_lisam.xml

@@ -196,8 +196,6 @@ AP_MODE_NAV
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
     <!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>

conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml

@@ -111,7 +111,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <!-- Ostheim v.d. Rhoen -->
     <define name="H_X" value="0.405857063"/>
     <define name="H_Y" value="0.014454969"/>

conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml

@@ -75,7 +75,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>

conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml

@@ -82,7 +82,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>

conf/boards/booz_1.0.makefile

@@ -8,9 +8,7 @@ BOARD=booz
 BOARD_VERSION=1.0
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-ifndef FLASH_MODE
+FLASH_MODE ?= IAP
-FLASH_MODE = IAP
-endif
 
 #
 #

conf/boards/hb_1.1.makefile

@@ -8,9 +8,7 @@ BOARD=hb
 BOARD_VERSION=1.1
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-ifndef FLASH_MODE
+FLASH_MODE ?= IAP
-FLASH_MODE = IAP
-endif
 
 #
 #

conf/boards/krooz_sd.makefile

@@ -22,11 +22,9 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/krooz.ld
 
 # -----------------------------------------------------------------------
 
-ifndef FLASH_MODE
+# default flash mode is via usb dfu bootloader (luftboot)
-FLASH_MODE = DFU
+# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL
-#FLASH_MODE = JTAG
+FLASH_MODE ?= DFU
-#FLASH_MODE = SERIAL
-endif
 
 DFU_ADDR = 0x8004000
 DFU_PRODUCT = any

conf/boards/lisa_mx_2.0.makefile

@@ -13,19 +13,14 @@ ARCH=stm32
 ARCH_L=f4
 HARD_FLOAT=yes
 $(TARGET).ARCHDIR = $(ARCH)
-# not needed?
-$(TARGET).OOCD_INTERFACE=flossjtag
-#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
 $(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
 
 # -----------------------------------------------------------------------
 
 # default flash mode is via usb dfu bootloader (luftboot)
-# other possibilities: JTAG, SWD, SERIAL
+# other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL
-FLASH_MODE ?= DFU
+FLASH_MODE ?= DFU-UTIL
 
-DFU_ADDR = 0x8004000
-DFU_PRODUCT = any
 
 #
 #

conf/boards/logom_2.6.makefile

@@ -11,9 +11,7 @@ BOARD_VERSION=2.6
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-ifndef FLASH_MODE
+FLASH_MODE ?= IAP
-FLASH_MODE = IAP
-endif
 
 
 LPC21ISP_BAUD = 38400

conf/boards/navgo_1.0.makefile

@@ -11,9 +11,7 @@ BOARD_VERSION=1.0
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-ifndef FLASH_MODE
+FLASH_MODE ?= IAP
-FLASH_MODE = IAP
-endif
 
 
 LPC21ISP_BAUD = 38400

conf/boards/stm32f4_discovery.makefile

@@ -18,10 +18,8 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/apogee.ld
 HARD_FLOAT=yes
 
 # default flash mode is via usb dfu bootloader
-# possibilities: DFU, SWD
+# possibilities: STLINK, DFU-UTIL, SWD, JTAG_BMP
-FLASH_MODE ?= DFU
+FLASH_MODE ?= STLINK
-STLINK ?= n
-DFU_UTIL ?= y
 
 #
 # default LED configuration
@@ -42,7 +40,7 @@ MODEM_BAUD ?= B57600
 GPS_PORT ?= UART3
 GPS_BAUD ?= B38400
 
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
 
 
 #

conf/control_panel_example.xml

@@ -77,7 +77,7 @@
       <arg flag="-d" constant="/dev/ttyUSB1"/>
     </program>
 
-    <programe name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
+    <program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
   </section>
 
 

conf/firmwares/setup.makefile

@@ -27,7 +27,7 @@ tunnel.srcs   += mcu.c \
                  $(SRC_ARCH)/mcu_arch.c \
                  $(SRC_LISA)/tunnel_hw.c
 tunnel.CFLAGS += -DUSE_LED
-tunnel.srcs   += $(SRC_ARCH)/led_hw.c
+tunnel.srcs   += $(SRC_ARCH)/mcu_periph/gpio_arch.c $(SRC_ARCH)/led_hw.c
 ifneq ($(SYS_TIME_LED),none)
 tunnel.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 endif

conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile

@@ -27,18 +27,17 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
-# for fixedwings this is already added in autopilot.makefile
-#ifdef AHRS_PROPAGATE_FREQUENCY
-#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-#endif
-#
-#ifdef AHRS_CORRECT_FREQUENCY
-#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-#endif
-
 #
 # NPS uses the real algorithm
 #

conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile

@@ -27,18 +27,18 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_quat.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
-# for fixedwings this is already added in autopilot.makefile
-#ifdef AHRS_PROPAGATE_FREQUENCY
-#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-#endif
-#
-#ifdef AHRS_CORRECT_FREQUENCY
-#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-#endif
-
 #
 # NPS uses the real algorithm
 #

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -165,14 +165,6 @@ ap_srcs += subsystems/air_data.c
 # BARO
 include $(CFG_SHARED)/baro_board.makefile
 
-# ahrs frequencies if configured
-ifdef AHRS_PROPAGATE_FREQUENCY
-ap_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-endif
-ifdef AHRS_CORRECT_FREQUENCY
-ap_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-endif
-
 
 ######################################################################
 ##

conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile

@@ -17,15 +17,8 @@ ifneq ($(AHRS_ALIGNER_LED),none)
   INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
 
-ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_PROPAGATE_FREQUENCY ?= 125
-else
+AHRS_CORRECT_FREQUENCY ?= 125
-  AHRS_PROPAGATE_FREQUENCY = 125
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 125
-endif
 
 INS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
 INS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)

conf/firmwares/subsystems/rotorcraft/ins.makefile

@@ -9,3 +9,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
 
+ifdef INS_PROPAGATE_FREQUENCY
+$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
+endif

conf/firmwares/subsystems/rotorcraft/ins_extended.makefile

@@ -10,3 +10,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c
 $(TARGET).CFLAGS += -DUSE_VFF_EXTENDED
 
+ifdef INS_PROPAGATE_FREQUENCY
+$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
+endif

conf/firmwares/subsystems/shared/baro_board.makefile

@@ -27,6 +27,7 @@ else ifeq ($(BOARD), lisa_m)
 # defaults to i2c baro bmp085 on the board
 LISA_M_BARO ?= BARO_BOARD_BMP085
   ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
     ap.CFLAGS += -DBB_MS5611_SPI_DEV=spi2
@@ -35,12 +36,14 @@ LISA_M_BARO ?= BARO_BOARD_BMP085
     ap.srcs += peripherals/ms5611_spi.c
     ap.srcs += boards/baro_board_ms5611_spi.c
   else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
     ap.CFLAGS += -DUSE_I2C2
     ap.CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
     ap.srcs += peripherals/ms5611.c
     ap.srcs += peripherals/ms5611_i2c.c
     ap.srcs += boards/baro_board_ms5611_i2c.c
   else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
+    ap.CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
     ap.CFLAGS += -DUSE_I2C2
     ap.srcs += peripherals/bmp085.c
     ap.srcs += $(SRC_BOARD)/baro_board.c
@@ -50,6 +53,7 @@ else ifeq ($(BOARD), lisa_mx)
 # defaults to MS5611 via SPI on Aspirin
 LISA_MX_BARO ?= BARO_MS5611_SPI
   ifeq ($(LISA_MX_BARO), BARO_MS5611_SPI)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
     ap.CFLAGS += -DBB_MS5611_SPI_DEV=spi2
@@ -58,12 +62,14 @@ LISA_MX_BARO ?= BARO_MS5611_SPI
     ap.srcs += peripherals/ms5611_spi.c
     ap.srcs += boards/baro_board_ms5611_spi.c
   else ifeq ($(LISA_MX_BARO), BARO_MS5611_I2C)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
     ap.CFLAGS += -DUSE_I2C2
     ap.CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
     ap.srcs += peripherals/ms5611.c
     ap.srcs += peripherals/ms5611_i2c.c
     ap.srcs += boards/baro_board_ms5611_i2c.c
   else ifeq ($(LISA_MX_BARO), BARO_BOARD_BMP085)
+    ap.CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
     ap.CFLAGS += -DUSE_I2C2
     ap.srcs += peripherals/bmp085.c
     ap.srcs += $(SRC_BOARD)/baro_board.c
@@ -85,6 +91,7 @@ else ifeq ($(BOARD), lia)
 # fixme, reuse the baro drivers in lisa_m dir
 LIA_BARO ?= BARO_MS5611_SPI
   ifeq ($(LIA_BARO), BARO_MS5611_SPI)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
     ap.CFLAGS += -DBB_MS5611_SPI_DEV=spi2
@@ -93,6 +100,7 @@ LIA_BARO ?= BARO_MS5611_SPI
     ap.srcs += peripherals/ms5611_spi.c
     ap.srcs += boards/baro_board_ms5611_spi.c
   else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
+    ap.CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
     ap.CFLAGS += -DUSE_I2C2
     ap.CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
     ap.srcs += peripherals/ms5611.c

conf/firmwares/subsystems/shared/imu_ardrone2.makefile

@@ -16,6 +16,12 @@ endif
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
 
+# Set the AHRS propegation frequencies
+AHRS_PROPAGATE_FREQUENCY ?= 200
+AHRS_CORRECT_FREQUENCY ?= 200
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
 #
 # Simulator
 #

conf/firmwares/subsystems/shared/imu_krooz_sd.makefile

@@ -21,9 +21,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
 AHRS_PROPAGATE_FREQUENCY ?= 512
 AHRS_CORRECT_FREQUENCY ?= 512
 AHRS_MAG_CORRECT_FREQUENCY ?= 75
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)

conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile

@@ -26,9 +26,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
 AHRS_PROPAGATE_FREQUENCY ?= 512
 AHRS_CORRECT_FREQUENCY ?= 512
 AHRS_MAG_CORRECT_FREQUENCY ?= 75
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)

conf/firmwares/test_progs.makefile

@@ -91,12 +91,12 @@ LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
 test_sys_time_timer.ARCHDIR = $(ARCH)
 test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
 test_sys_time_timer.srcs   += $(COMMON_TEST_SRCS)
-test_sys_time_timer.srcs   += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_timer.c
+test_sys_time_timer.srcs   += test/mcu_periph/test_sys_time_timer.c
 
 test_sys_time_usleep.ARCHDIR = $(ARCH)
 test_sys_time_usleep.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
 test_sys_time_usleep.srcs   += $(COMMON_TEST_SRCS)
-test_sys_time_usleep.srcs   += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_usleep.c
+test_sys_time_usleep.srcs   += test/mcu_periph/test_sys_time_usleep.c
 
 
 #