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[conf] cleanup ahrs makefiles

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This commit is contained in:
Felix Ruess
2015-04-03 14:09:09 +02:00
parent df013ec60a
commit 99ad231feb
12 changed files with 106 additions and 184 deletions
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conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
-1
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@@ -1 +0,0 @@
$(error The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+8 -26
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@@ -5,38 +5,20 @@
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
else
AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
include $(CFG_SHARED)/ahrs_float_cmpl_quat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
#
# Simple simulation of the AHRS result
#
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+8 -27
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@@ -5,38 +5,20 @@
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
else
AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
include $(CFG_SHARED)/ahrs_float_cmpl_rmat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
#
# Simple simulation of the AHRS result
#
@@ -48,4 +30,3 @@ ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
-47
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@@ -1,47 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings via dcm algorithm
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
AHRS_CFLAGS += -DUSE_AHRS
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
endif
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm_wrapper.c
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
-20
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@@ -1,20 +0,0 @@
# Fixedwing AHRS module for GX3
# 2013, Utah State University, http://aggieair.usu.edu/
GX3_PORT ?= UART3
GX3_BAUD ?= B921600
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_IMU
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_gx3.h\"
AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
AHRS_SRCS += $(SRC_SUBSYSTEMS)/imu.c
AHRS_SRCS += subsystems/ahrs/ahrs_gx3.c
GX3_PORT_LOWER=$(shell echo $(GX3_PORT) | tr A-Z a-z)
AHRS_CFLAGS += -DUSE_$(GX3_PORT) -D$(GX3_PORT)_BAUD=$(GX3_BAUD)
AHRS_CFLAGS += -DGX3_PORT=$(GX3_PORT_LOWER)
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+8 -25
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@@ -5,37 +5,20 @@
# AHRS_H_Z
#
# for fixedwings disable mag by default
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
else
AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
include $(CFG_SHARED)/ahrs_int_cmpl_quat.makefile
# add some fixedwing specific flags
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
#
# NPS uses the real algorithm
#
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
#
# Simple simulation of the AHRS result
#
conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
+5 -8
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@@ -40,11 +40,8 @@ AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_FC_CFLAGS)
ap.srcs += $(AHRS_FC_SRCS)
nps.CFLAGS += $(AHRS_FC_CFLAGS)
nps.srcs += $(AHRS_FC_SRCS)
test_ahrs.CFLAGS += $(AHRS_FC_CFLAGS)
test_ahrs.srcs += $(AHRS_FC_SRCS)
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS)
$(TARGET).srcs += $(AHRS_FC_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
+5 -7
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@@ -39,11 +39,9 @@ AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_FC_CFLAGS)
ap.srcs += $(AHRS_FC_SRCS)
nps.CFLAGS += $(AHRS_FC_CFLAGS)
nps.srcs += $(AHRS_FC_SRCS)
test_ahrs.CFLAGS += $(AHRS_FC_CFLAGS)
test_ahrs.srcs += $(AHRS_FC_SRCS)
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS)
$(TARGET).srcs += $(AHRS_FC_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile
+57
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@@ -0,0 +1,57 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings via dcm algorithm
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_DCM_CFLAGS = -DUSE_AHRS
AHRS_DCM_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_DCM_CFLAGS += -DUSE_MAGNETOMETER
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_DCM_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
# this is the secondary AHRS
AHRS_DCM_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
AHRS_DCM_CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
else
# this is the primary AHRS
AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
AHRS_DCM_CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
endif
else
# plain old single AHRS usage
AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
endif
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm_wrapper.c
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_DCM_CFLAGS)
$(TARGET).srcs += $(AHRS_DCM_SRCS)
endif
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
+5 -8
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@@ -38,11 +38,8 @@ AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf.c
AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf_wrapper.c
AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_MLKF_CFLAGS)
ap.srcs += $(AHRS_MLKF_SRCS)
nps.CFLAGS += $(AHRS_MLKF_CFLAGS)
nps.srcs += $(AHRS_MLKF_SRCS)
test_ahrs.CFLAGS += $(AHRS_MLKF_CFLAGS)
test_ahrs.srcs += $(AHRS_MLKF_SRCS)
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_MLKF_CFLAGS)
$(TARGET).srcs += $(AHRS_MLKF_SRCS)
endif
conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
+5 -7
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@@ -37,11 +37,12 @@ AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
AHRS_ICE_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_ICE_CFLAGS)
ap.srcs += $(AHRS_ICE_SRCS)
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_ICE_CFLAGS)
$(TARGET).srcs += $(AHRS_ICE_SRCS)
endif
nps.CFLAGS += $(AHRS_ICE_CFLAGS)
nps.srcs += $(AHRS_ICE_SRCS)
#
# Simple simulation of the AHRS result
@@ -54,6 +55,3 @@ ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
test_ahrs.CFLAGS += $(AHRS_ICE_CFLAGS)
test_ahrs.srcs += $(AHRS_ICE_SRCS)
conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
+5 -8
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@@ -39,11 +39,8 @@ AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_ICQ_CFLAGS)
ap.srcs += $(AHRS_ICQ_SRCS)
nps.CFLAGS += $(AHRS_ICQ_CFLAGS)
nps.srcs += $(AHRS_ICQ_SRCS)
test_ahrs.CFLAGS += $(AHRS_ICQ_CFLAGS)
test_ahrs.srcs += $(AHRS_ICQ_SRCS)
# add it for all targets except sim and fbw
ifeq (,$(findstring $(TARGET),sim fbw))
$(TARGET).CFLAGS += $(AHRS_ICQ_CFLAGS)
$(TARGET).srcs += $(AHRS_ICQ_SRCS)
endif