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.

conf/airframes/obsolete/black_one.xml

@@ -66,7 +66,7 @@
     <define name="VSUPPLY" value="ADC_7"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -96,10 +96,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="474"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -109,7 +109,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="LOW_BATTERY" value="6.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -121,7 +121,7 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.025"/>
@@ -161,7 +161,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="1750"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -201,9 +201,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -225,7 +225,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -234,7 +234,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/dc_mc.xml

@@ -22,13 +22,13 @@ main.srcs = main_dc_mc.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED 
+main.CFLAGS += -DLED
 #-DTIME_LED=1
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 main.srcs += $(SRC_ARCH)/uart_hw.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 main.srcs += downlink.c pprz_transport.c
 
 main.srcs +=  $(SRC_ARCH)/dc_mc_link.c

conf/airframes/obsolete/drops.xml

@@ -70,7 +70,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="32"/> 
+    <define name="GYRO_NB_SAMPLES" value="32"/>
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -102,7 +102,7 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -110,9 +110,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -128,7 +128,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
@@ -205,9 +205,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -231,7 +231,7 @@ 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_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -241,7 +241,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/example.xml

@@ -10,7 +10,7 @@ FLASH_MODE = IAP
 
 #
 # GPS :
-# 
+#
 #
 example_gps.ARCHDIR = $(ARCHI)
 example_gps.ARCH = arm7tdmi
@@ -30,7 +30,7 @@ example_gps.srcs += $(SRC_ARCH)/armVIC.c
 example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 example_gps.srcs += $(SRC_ARCH)/uart_hw.c
 
-example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 example_gps.srcs += downlink.c pprz_transport.c
 
 example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400

conf/airframes/obsolete/funjetfmi1.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi1.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
@@ -163,9 +163,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -173,7 +173,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -194,7 +194,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -205,7 +205,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -242,4 +242,3 @@ sim.CFLAGS += -DUSE_JOYSTICK
 
   </makefile>
 </airframe>
-

conf/airframes/obsolete/funjetgfi3.xml

@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_RIGHT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
@@ -84,7 +84,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -98,9 +98,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>  
+    <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.024"/>
     <!-- outer loop saturation -->
@@ -138,7 +138,7 @@
     <define name="PITCH_PGAIN" value="-5500."/>
     <define name="PITCH_DGAIN" value="0.4"/>
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -180,17 +180,17 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
-  
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -205,7 +205,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -215,7 +215,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -269,4 +269,3 @@ sim.srcs += nav_survey_rectangle.c nav_line.c
 
   </makefile>
 </airframe>
-

conf/airframes/obsolete/funjetgfi4.xml

@@ -36,7 +36,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -82,9 +82,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -98,7 +98,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="10" unit="volt"/>
@@ -164,9 +164,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -174,7 +174,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -195,7 +195,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -206,7 +206,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi5.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi6.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi7.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi8.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/funjetgfi9.xml

@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -165,9 +165,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/glass_one1.xml

@@ -49,7 +49,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -84,10 +84,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -96,7 +96,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -109,9 +109,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -150,7 +150,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -190,9 +190,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -215,7 +215,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -224,7 +224,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/glass_one2.xml

@@ -80,7 +80,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -93,9 +93,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -134,7 +134,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -164,9 +164,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -189,7 +189,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -198,7 +198,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/glass_one3.xml

@@ -50,7 +50,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -85,10 +85,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -97,7 +97,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -110,9 +110,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -151,7 +151,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -191,9 +191,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -216,7 +216,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -225,7 +225,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/kalscott_easystar.xml

@@ -1,36 +1,36 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<!-- 
+<!--
 	Multiplex EasyStar, using rudder
 	TWOG v1 board
 	Tilted infrared sensor
-	XBee 2.4GHz modem in transparent mode		
+	XBee 2.4GHz modem in transparent mode
 -->
 
 <airframe name="EasyStar TWOG">
 <!-- commands section -->
   <servos>
-    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>  
+    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
     <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
     <servo name="RUDDER"        no="4" min="2050" neutral="1440" max="950"/>
   </servos>
-  
+
   <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>  
+    <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>  
+    <axis name="PITCH"    failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="ROLL"      value="@ROLL"/>
     <set command="PITCH"     value="@PITCH"/>
-    <set command="THROTTLE"  value="@THROTTLE"/> 
+    <set command="THROTTLE"  value="@THROTTLE"/>
-  </rc_commands> 
+  </rc_commands>
 
   <command_laws>
     <set servo="THROTTLE"    value="@THROTTLE"/>
-    <set servo="RUDDER"      value="@ROLL"/>  
+    <set servo="RUDDER"      value="@ROLL"/>
-    <set servo="ELEVATOR"    value="@PITCH"/>      
+    <set servo="ELEVATOR"    value="@PITCH"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -81,13 +81,13 @@
     <define name="CARROT" value="4." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="NO_XBEE_API_INIT" value="TRUE"/> 
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
     <define name="MIN_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
     <!-- outer loop -->
@@ -145,11 +145,11 @@
     <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
-  
+
   <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="PPRZ"/>
     <define name="DEVICE_ADDRESS" value="...."/>
-  </section>  
+  </section>
 
   <makefile>
 CONFIG = \"tiny_2_1_1.h\"
@@ -159,7 +159,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES 
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -170,29 +170,29 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 # Radio configuration
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 # ADC configuration
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 # GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2 
+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
 
 ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 # Control loops
-ap.CFLAGS += -DNAV -DLOITER_TRIM 
+ap.CFLAGS += -DNAV -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += nav_line.c
 ap.srcs += nav_survey_rectangle.c
@@ -200,8 +200,8 @@ ap.srcs += nav_survey_rectangle.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES 
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
-sim.srcs += nav_line.c nav_survey_rectangle.c 
+sim.srcs += nav_line.c nav_survey_rectangle.c
 
   </makefile>
 </airframe>

conf/airframes/obsolete/lila.xml

@@ -36,7 +36,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -53,7 +53,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -85,7 +85,7 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -93,9 +93,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
@@ -111,7 +111,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
@@ -178,9 +178,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
@@ -213,7 +213,7 @@ 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  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -223,7 +223,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/mac06a.xml

@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="GAZ"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -52,7 +52,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -82,10 +82,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="515"/>
-    <define name="ADC_TEMP_NEUTRAL" value="470"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="470"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -96,7 +96,7 @@
 
     <define name="LOW_BATTERY" value="6.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -106,7 +106,7 @@
 
     <define name="TRIGGER_DELAY" value="1."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.03"/>
@@ -143,7 +143,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -182,19 +182,19 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_GAZ" value="0.3" unit="%"/>
+	<define name="DEFAULT_GAZ" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
 -->
-  
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -209,7 +209,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE  ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #XBEE  ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -219,7 +219,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/malolo_sim.xml

@@ -34,7 +34,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -52,7 +52,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
 
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -80,13 +80,13 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -94,7 +94,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -108,7 +108,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -184,12 +184,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -236,7 +236,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
 
-sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c 
+sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c
 sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
 sim.srcs += nav_line.c nav_survey_rectangle.c
 

conf/airframes/obsolete/microjet5.xml

@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -51,7 +51,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
 
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -79,13 +79,13 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -93,7 +93,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -106,7 +106,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <!-- outer loop proportional gain -->
@@ -164,9 +164,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
  <makefile>
@@ -185,13 +185,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 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
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/microjet5_tp_auto.xml

@@ -29,7 +29,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -47,7 +47,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_4"/>
     <define name="GYRO_TEMP" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -67,8 +67,8 @@
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_COEF" value="1"/>
     <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
     <define name="ROLL_DIRECTION" value="1"/>
   </section>
@@ -77,14 +77,14 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="11000"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." 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"/>
   </section>
- 
+
   <section name="ALT" prefix="CLIMB_">
     <define name="PITCH_PGAIN" value="-0.05"/>
     <define name="PITCH_IGAIN" value="0.075"/>
@@ -94,7 +94,7 @@
     <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
     <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
   </section>
- 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.4"/>
     <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
@@ -107,7 +107,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
 
   </section>
 
@@ -158,12 +158,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
   <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -189,7 +189,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -199,7 +199,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c latlong.
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
@@ -209,11 +209,11 @@ ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
-ap.CFLAGS += -DINFRARED 
+ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150

conf/airframes/obsolete/microjet6.xml

@@ -31,7 +31,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="GAZ"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -49,7 +49,7 @@
     <define name="IR_TOP" value="ADC_6"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -77,17 +77,17 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -103,7 +103,7 @@
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -145,7 +145,7 @@
     <define name="PITCH_PGAIN" value="-12500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
@@ -182,12 +182,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -209,19 +209,19 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # API mode
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/microjetI.xml

@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -77,14 +77,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -113,7 +113,7 @@
     <define name="LIGHT_LED_1" value="4"/>
     <define name="LIGHT_LED_2" value="5"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -147,7 +147,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -197,18 +197,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.120MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/microjetII.xml

@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -78,14 +78,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -147,7 +147,7 @@
     <define name="PITCH_PGAIN" value="-9500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -197,18 +197,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.000MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/microjetIII.xml

@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"       value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"   value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -78,14 +78,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -135,7 +135,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -164,7 +164,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-   
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -186,18 +186,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/minimag_fs.xml

@@ -84,7 +84,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -97,7 +97,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="Digital camera telecommand">
     <!-- ADC 4 and ADC 5 pins are used. They are seen as LEDs -->
     <!-- ADC 4 -->
@@ -111,7 +111,7 @@
     <define name="DC_SHUTTER_LED" value="4"/>
     <define name="DC_ZOOM_LED" value="5"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -151,7 +151,7 @@
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="ELEVATOR_OF_ROLL" value="2000"/>    
+    <define name="ELEVATOR_OF_ROLL" value="2000"/>
   </section>
 
   <section name="NAV">
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 </section>
- 
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -191,7 +191,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -199,7 +199,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/miniwing.xml

@@ -35,7 +35,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -79,9 +79,9 @@
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="2100."/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="6.2" unit="V"/>
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -95,7 +95,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
@@ -161,9 +161,9 @@
 
   <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_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -171,7 +171,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
@@ -194,7 +194,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UA
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/mmlaas_N1.xml

@@ -86,7 +86,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -141,7 +141,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -187,12 +187,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -216,13 +216,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/mmlaas_N2.xml

@@ -87,7 +87,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -100,7 +100,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -188,12 +188,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -220,13 +220,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/mmlaas_N3.xml

@@ -87,7 +87,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -100,7 +100,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="40."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -188,12 +188,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -217,13 +217,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/nova.xml

@@ -11,7 +11,7 @@ timu.ARCH = arm7tdmi
 timu.TARGET = timu
 timu.TARGETDIR = timu
 
-timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)' 
+timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
 timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 timu.CFLAGS += -DLED  -DLED -DTIME_LED=1

conf/airframes/obsolete/red_one.xml

@@ -57,7 +57,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -89,10 +89,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -106,7 +106,7 @@
     <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
     <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -119,9 +119,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -160,7 +160,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -200,9 +200,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -236,7 +236,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -245,7 +245,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/slayer1.xml

@@ -30,7 +30,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="GAZ"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -78,15 +78,15 @@
     <define name="ADC_ROLL_NEUTRAL" value="467"/>
     <define name="ADC_PITCH_NEUTRAL" value="471"/>
     <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
     <define name="PITCH_SCALE" value="1.3846"/>
-    <define name="PITCH_DIRECTION" value="1."/> 
+    <define name="PITCH_DIRECTION" value="1."/>
   </section>
 
  <section name="BAT">
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
  <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
@@ -175,13 +175,13 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -201,7 +201,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
@@ -211,7 +211,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -244,7 +244,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += bomb.c nav_survey_rectangle.c nav_line.c 
+sim.srcs += bomb.c nav_survey_rectangle.c nav_line.c
 
   </makefile>
 </airframe>

conf/airframes/obsolete/slayer3.xml

@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="GAZ"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -76,10 +76,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="478"/>
-    <define name="ADC_TEMP_NEUTRAL" value="802"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="802"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
  <section name="BAT">
@@ -89,7 +89,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
  <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -143,7 +143,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="2000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
@@ -176,13 +176,13 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -203,7 +203,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -213,7 +213,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/slayerJH.xml

@@ -27,7 +27,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
@@ -73,7 +73,7 @@
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="452"/>
     <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
  <section name="BAT">
@@ -82,7 +82,7 @@
     <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
     <define name="LOW_BAT_LEVEL" value="10." unit="V"/>
   </section>
- 
+
  <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -157,9 +157,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -184,7 +184,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #MAXSTREAM
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
@@ -196,7 +196,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -213,7 +213,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c snav.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c 
+ap.srcs += gyro.c
 
 
 # Video switch

conf/airframes/obsolete/slicer1.xml

@@ -39,7 +39,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -59,7 +59,7 @@
     <define name="IR_TOP" value="ADC_2"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -91,14 +91,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -145,7 +145,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
@@ -167,7 +167,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
   <section name="CAM" prefix="CAM_">
     <define name="TILT_MAX"      value="30" unit="deg"/>
     <define name="TILT_NEUTRAL"  value="0" unit="deg"/>
@@ -196,14 +196,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 72MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/slicer2.xml

@@ -34,7 +34,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -52,7 +52,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -85,14 +85,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -139,7 +139,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
@@ -178,14 +178,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 72MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/spirit.xml

@@ -8,7 +8,7 @@
     <servo name="AILERON_LEFT" no="2" min="1300" neutral="1150" max="940"/> <!-- safety settings ok-->
     <servo name="AILERON_RIGHT" no="3" min="1250" neutral="1393" max="1556"/>
     <servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
-    <!-- no rudder on this model <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/> --> 
+    <!-- no rudder on this model <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/> -->
   </servos>
 
   <commands>
@@ -57,7 +57,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_6"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
  </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -85,8 +85,8 @@
   <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_COEF" value="1"/>
     <define name="ADC_ROLL_NEUTRAL" value="512"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
     <define name="ROLL_DIRECTION" value="1"/>
   </section>
@@ -96,7 +96,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -144,7 +144,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
@@ -173,7 +173,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-  
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -195,14 +195,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/spirit_proto.xml

@@ -85,7 +85,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -133,7 +133,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
@@ -162,7 +162,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-  
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -183,14 +183,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/storm1.xml

@@ -38,7 +38,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -106,7 +106,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="19." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -127,7 +127,7 @@
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
 
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -169,7 +169,7 @@
     <define name="PITCH_PGAIN" value="-12500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -210,12 +210,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <!--
 <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -238,7 +238,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -255,7 +255,7 @@ ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/tiny2.xml

@@ -83,7 +83,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -96,7 +96,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -138,7 +138,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -179,12 +179,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -208,7 +208,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 #XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -218,7 +218,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c

conf/airframes/obsolete/tl.xml

@@ -3,8 +3,8 @@
   <servos min="0" neutral="0" max="0xff">
     <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
-    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1810"/>   
+    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1810"/>
- 
+
     <servo name="MOTOR_LEFT"   no="3" min="1250" neutral="1250" max="1810"/>
     <servo name="CAM" no="0" min="900" neutral="1500" max="2100"/>
    </servos>
@@ -23,10 +23,10 @@
           <let var="yaw"      value="1.0 * @YAW"/>
           <let var="throttle" value="1.0 * @THROTTLE"/>
           <let var="right" value="$throttle + $yaw"/><!-- add trim term for Right -->
-          <let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->  
+          <let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->
           <set servo="AILERON" value="$roll"/>
           <set servo="ELEVATOR"  value="$pitch"/>
-          <set servo="MOTOR_LEFT"  value="$left - Max(0, $right - MAX_PPRZ)"/> 
+          <set servo="MOTOR_LEFT"  value="$left - Max(0, $right - MAX_PPRZ)"/>
           <set servo="MOTOR_RIGHT" value="$right - Max(0, $left - MAX_PPRZ)"/>
           <set servo="CAM" value="@CAM"/>
    </command_laws>
@@ -67,7 +67,7 @@
     <define name="TL_BARO_W4" value="0xB259"/>
   </section>
 
-  
+
 
   <section name="horizontal_control">
     <define name="NAV_GOTO_H_PGAIN" value="-1000" unit="pprz/m"/>
@@ -100,9 +100,9 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
 
@@ -112,7 +112,7 @@ ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl
 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
-ap.srcs += $(TL)/tl_imu.c 
+ap.srcs += $(TL)/tl_imu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
 
@@ -136,7 +136,7 @@ tmm.ARCH = arm7tdmi
 tmm.TARGET = tmm
 tmm.TARGETDIR = tmm
 
-tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' 
+tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 tmm.CFLAGS += -DLED  -DLED -DTIME_LED=1
@@ -154,14 +154,14 @@ timu.ARCH = arm7tdmi
 timu.TARGET = timu
 timu.TARGETDIR = timu
 
-timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' 
+timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 timu.CFLAGS += -DLED  -DLED -DTIME_LED=1
 timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
 timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
 
-timu.srcs += $(TL)/tl_imu.c 
+timu.srcs += $(TL)/tl_imu.c
 timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
 timu.srcs += $(SRC_ARCH)/adc_hw.c
 timu.srcs += $(TL)/tl_baro.c

conf/airframes/obsolete/twinjet1.xml

@@ -73,12 +73,12 @@
 
   <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="316"/>
-    <define name="ADC_TEMP_NEUTRAL" value="328"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="328"/>
-    <define name="ADC_TEMP_SLOPE" value="-0.36"/>   
+    <define name="ADC_TEMP_SLOPE" value="-0.36"/>
     <define name="ROLL_DIRECTION" value="1."/>
-    <define name="ROLL_SCALE" value="0.44"/>   
+    <define name="ROLL_SCALE" value="0.44"/>
   </section>
- 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
@@ -89,7 +89,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
@@ -123,7 +123,7 @@
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
   </section>
- 
+
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
     <define name="VOLTAGE_ADC_A" value="0.0156"/>
@@ -133,14 +133,14 @@
     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
     <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
     <define name="LIGHT_LED_1" value="3"/>
   </section>
- 
+
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
@@ -181,7 +181,7 @@ fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK
 fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 fbw.CFLAGS += -DRADIO_CONTROL
-fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
+fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
 fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c

conf/airframes/obsolete/twinstar1.xml

@@ -57,7 +57,7 @@
     <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
     <linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
   </section>
- 
+
   <section name="PID">
     <define name="ROLL_PGAIN" value="10000."/>
     <define name="PITCH_OF_ROLL" value="0.0"/>
@@ -65,7 +65,7 @@
     <define name="MAX_ROLL" value="0.55"/>
     <define name="MAX_PITCH" value="0.35"/>
     <define name="MIN_PITCH" value="-0.35"/>
-    <define name="AILERON_OF_GAZ" value="0"/>    
+    <define name="AILERON_OF_GAZ" value="0"/>
     <define name="CRUISE_THROTTLE" value="0.45"/>
   </section>
 
@@ -78,7 +78,7 @@
     <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
     <define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
   </section>
- 
+
 
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -93,7 +93,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>

conf/airframes/obsolete/twinstar6.xml

@@ -116,7 +116,7 @@
     <define name="DC_SHUTTER_LED" value="4"/>
     <define name="DC_ZOOM_LED" value="5"/>
   </section>
- 
+
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.05"/>
@@ -140,7 +140,7 @@
   <section name="NAV">
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
   </section>
- 
+
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="VOLTAGE_ADC_A" value="0.0156"/>
@@ -148,7 +148,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -189,7 +189,7 @@ fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK
 fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 fbw.CFLAGS += -DRADIO_CONTROL
-fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
+fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
 fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
@@ -250,5 +250,3 @@ sim.srcs += nav_line.c nav_survey_rectangle.c dc.c
 
   </makefile>
 </airframe>
-
-

conf/airframes/obsolete/twinstarmm.xml

@@ -103,9 +103,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -124,7 +124,7 @@
 
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>  
+    <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 -->
@@ -164,7 +164,7 @@
     <define name="PITCH_DGAIN" value="-1700."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
-    
+
     <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/-->
  </section>
@@ -213,7 +213,7 @@ 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_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
@@ -224,7 +224,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -261,5 +261,3 @@ sim.srcs += bomb.c
 
   </makefile>
 </airframe>
-
-

conf/airframes/obsolete/twisted.xml

@@ -5,7 +5,7 @@
   <servos>
     <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
-    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1850"/>    
+    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1850"/>
     <servo name="MOTOR_LEFT"   no="3" min="1250" neutral="1250" max="1850"/>
   </servos>
 
@@ -38,7 +38,7 @@
 	  <set servo="AILERON" value="$roll"/>
 	  <set servo="ELEVATOR"  value="$pitch"/>
 	  <set servo="MOTOR_LEFT"  value="$throttle - $yaw - .06*$throttle"/> <!-- add trim term for Right -->
-	  <set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->  
+	  <set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->
   </command_laws>
 
 <makefile>
@@ -53,7 +53,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c commands.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c

conf/airframes/obsolete/tyto1.xml

@@ -36,7 +36,7 @@
 
   <command_laws>
 	<let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-	<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+	<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 	<set servo="GAZ_LEFT" value="@THROTTLE"/>
 	<set servo="GAZ_RIGHT" value="@THROTTLE"/>
 	<set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -59,7 +59,7 @@
 
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_7"/> <!-- NOT PLUGGED !!! -->
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -87,10 +87,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="538"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -101,7 +101,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -115,7 +115,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -157,7 +157,7 @@
     <define name="PITCH_PGAIN" value="5000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0.2"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
@@ -180,12 +180,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -214,7 +214,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -224,7 +224,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c