mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
airframes cleanup. Moved airframes that seem not to beeing used anymore into the subdir obsolete. If you still use one of these airframes please update them and move them back to the appropriate place.
This commit is contained in:
Felix Ruess
@@ -0,0 +1,227 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="Corsica Prototype Tiny 0.99">
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
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<servo name="AILERON_LEFT" no="4" min="1840" neutral="1706" max="1520"/>
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<servo name="AILERON_RIGHT" no="5" min="1639" neutral="1420" max="1266"/>
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<servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/>
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<servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="FLAPS" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FLAPS" value="@FLAPS"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="0.0"/>
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<define name="FLAPS_COEFF" value="0.5"/>
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<define name="FLAPS_CONSTANT" value="1200"/>
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</section>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll - (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll + (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="1.0"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_2"/>
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<define name="IR2" value="ADC_1"/>
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="LATERAL_CORRECTION" value="1.10599994659"/>
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<define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-6.47442293167" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="12.261297226" unit="deg"/>
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<define name="CORRECTION_UP" value="1.0"/>
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<define name="CORRECTION_DOWN" value="1.0"/>
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<define name="CORRECTION_LEFT" value="1.0"/>
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<define name="CORRECTION_RIGHT" value="1.0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.03"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.80"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.70"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0280000008643"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.499000012875"/>
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<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="-19703.390625"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_SLEW" value="0.1"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
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<define name="ROLL_RATE_GAIN" value="-963.302978516"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.1"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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<makefile>
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CONFIG=\"tiny_0_99.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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# 41.200MHz
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c
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# transparent
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
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ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DINFRARED
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += nav_line.c nav_survey_rectangle.c
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# Current sensor
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ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
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ap.srcs += adc_generic.c
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# Configuration for Hardware In The Loop
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# ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
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sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
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ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
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ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
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</makefile>
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</airframe>
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