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+ + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + +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 -DRADIO_CONTROL_TYPE=RC_FUTABA +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 + +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.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 + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1 +ap.CFLAGS += -DGPS_BAUD=38400 + +ap.srcs += gps_ubx.c gps.c + +ap.CFLAGS += -DINFRARED +ap.srcs += infrared.c estimator.c +# -DALT_KALMAN + +ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c + +ap.CFLAGS += -DGYRO -DADXRS150 +ap.srcs += gyro.c + +ap.srcs += bomb.c + +#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH +#ap.srcs += point.c cam.c + +ap.srcs += traffic_info.c nav_line.c + +ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A +ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c +ap.CFLAGS += -D BARO_MS5534A_W1=0xB636 -D BARO_MS5534A_W2=0x62DB -D BARO_MS5534A_W3=0x9E9C -D BARO_MS5534A_W4=0xBECB + +# Video switch +ap.CFLAGS += -DUSE_GPIO +ap.srcs += $(SRC_ARCH)/gpio.c + +ap.CFLAGS += -DUSE_CURRENT + +# Hardware In The Loop + +#ap.CFLAGS += -DHITL + + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM +sim.srcs += bomb.c nav_survey_rectangle.c + +sim.srcs += traffic_info.c nav_line.c + + + +