From a4632c33ca7cf84eedb2bdcf439293ace5fa04c7 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Thu, 11 Nov 2021 00:00:07 +0100 Subject: [PATCH] [modules] move gps from subsystems to modules --- conf/autopilot/fixedwing_autopilot.xml | 2 +- conf/autopilot/fixedwing_rusty.xml | 2 +- conf/autopilot/rotorcraft_autopilot.xml | 2 +- conf/autopilot/rover.xml | 2 +- conf/autopilot/rover_holonomic.xml | 2 +- conf/modules/gps.xml | 6 +++--- conf/modules/gps_datalink.xml | 10 +++++----- conf/modules/gps_furuno.xml | 12 ++++++------ conf/modules/gps_mediatek_diy.xml | 10 +++++----- conf/modules/gps_nmea.xml | 10 +++++----- conf/modules/gps_nps.xml | 6 +++--- conf/modules/gps_piksi.xml | 10 +++++----- conf/modules/gps_sim.xml | 6 +++--- conf/modules/gps_sim_hitl.xml | 6 +++--- conf/modules/gps_sirf.xml | 10 +++++----- conf/modules/gps_skytraq.xml | 10 +++++----- conf/modules/gps_ublox.xml | 10 +++++----- conf/modules/gps_udp.xml | 10 +++++----- conf/modules/ins_vectornav.xml | 4 ++-- conf/modules/ins_xsens.xml | 2 +- conf/modules/ins_xsens700.xml | 2 +- conf/settings/nps.xml | 2 +- conf/settings/rotorcraft_basic_multi.xml | 2 +- sw/airborne/arch/sim/sim_ap.c | 2 +- sw/airborne/arch/sim/sim_gps.c | 2 +- sw/airborne/boards/apogee/baro_board.c | 2 +- sw/airborne/boards/bebop/board.c | 2 +- sw/airborne/firmwares/fixedwing/autopilot_static.c | 2 +- sw/airborne/firmwares/fixedwing/fixedwing_datalink.c | 2 +- sw/airborne/firmwares/fixedwing/nav.c | 2 +- .../firmwares/rotorcraft/autopilot_firmware.c | 2 +- sw/airborne/firmwares/rotorcraft/autopilot_static.c | 2 +- sw/airborne/firmwares/rotorcraft/navigation.c | 2 +- sw/airborne/firmwares/rover/autopilot_firmware.c | 2 +- sw/airborne/firmwares/rover/navigation.c | 2 +- sw/airborne/modules/cam_control/point.c | 2 +- sw/airborne/modules/com/generic_com.c | 2 +- .../modules/computer_vision/lib/exif/exif_module.c | 2 +- sw/airborne/modules/core/abi_common.h | 4 ++-- sw/airborne/modules/datalink/mavlink.c | 2 +- sw/airborne/modules/decawave/dw1000_arduino.c | 2 +- sw/airborne/modules/digital_cam/dc.c | 2 +- sw/airborne/modules/digital_cam/dc.h | 2 +- .../modules/digital_cam/dc_ctrl_parrot_mykonos.c | 4 ++-- sw/airborne/modules/digital_cam/hackhd.c | 4 ++-- .../e_identification_fr/e_identification_fr.c | 2 +- sw/airborne/modules/geo_mag/geo_mag.c | 2 +- sw/airborne/{subsystems => modules/gps}/gps.c | 2 +- sw/airborne/{subsystems => modules/gps}/gps.h | 0 .../{subsystems => modules}/gps/gps_datalink.c | 2 +- .../{subsystems => modules}/gps/gps_datalink.h | 2 +- sw/airborne/{subsystems => modules}/gps/gps_furuno.c | 4 ++-- sw/airborne/{subsystems => modules}/gps/gps_mtk.c | 0 sw/airborne/{subsystems => modules}/gps/gps_mtk.h | 2 +- sw/airborne/{subsystems => modules}/gps/gps_nmea.c | 2 +- sw/airborne/{subsystems => modules}/gps/gps_nmea.h | 2 +- sw/airborne/{subsystems => modules}/gps/gps_piksi.c | 6 +++--- sw/airborne/{subsystems => modules}/gps/gps_piksi.h | 2 +- sw/airborne/{subsystems => modules}/gps/gps_sim.c | 2 +- sw/airborne/{subsystems => modules}/gps/gps_sim.h | 2 +- .../{subsystems => modules}/gps/gps_sim_hitl.c | 6 +++--- .../{subsystems => modules}/gps/gps_sim_hitl.h | 2 +- .../{subsystems => modules}/gps/gps_sim_nps.c | 4 ++-- .../{subsystems => modules}/gps/gps_sim_nps.h | 0 sw/airborne/{subsystems => modules}/gps/gps_sirf.c | 2 +- sw/airborne/{subsystems => modules}/gps/gps_sirf.h | 2 +- .../{subsystems => modules}/gps/gps_skytraq.c | 4 ++-- .../{subsystems => modules}/gps/gps_skytraq.h | 0 sw/airborne/{subsystems => modules}/gps/gps_ubx.c | 4 ++-- sw/airborne/{subsystems => modules}/gps/gps_ubx.h | 2 +- sw/airborne/modules/gps/gps_ubx_ucenter.c | 2 +- sw/airborne/{subsystems => modules}/gps/gps_udp.c | 2 +- sw/airborne/{subsystems => modules}/gps/gps_udp.h | 2 +- .../{subsystems => modules}/gps/librtcm3/CRC24Q.h | 0 .../{subsystems => modules}/gps/librtcm3/common.h | 0 .../{subsystems => modules}/gps/librtcm3/rtcm3.h | 0 sw/airborne/modules/gsm/gsm.c | 2 +- sw/airborne/modules/ins/ahrs_chimu_spi.c | 2 +- sw/airborne/modules/ins/ahrs_chimu_uart.c | 2 +- sw/airborne/modules/ins/alt_filter.c | 2 +- sw/airborne/modules/ins/ins_arduimu.c | 2 +- sw/airborne/modules/ins/ins_arduimu_basic.c | 2 +- sw/airborne/modules/ins/ins_skeleton.h | 2 +- sw/airborne/modules/ins/ins_xsens.c | 2 +- sw/airborne/modules/ins/ins_xsens700.c | 2 +- sw/airborne/modules/ins/xsens.h | 2 +- sw/airborne/modules/ins/xsens700.h | 2 +- sw/airborne/modules/loggers/sdlog_chibios.c | 2 +- sw/airborne/modules/meteo/humid_sht.c | 2 +- sw/airborne/modules/meteo/meteo_france_DAQ.c | 2 +- sw/airborne/modules/meteo/meteo_stick.c | 2 +- sw/airborne/modules/meteo/mf_ptu.c | 2 +- sw/airborne/modules/meteo/temp_temod.c | 2 +- sw/airborne/modules/meteo/windturbine.c | 2 +- sw/airborne/modules/multi/potential.c | 2 +- sw/airborne/modules/multi/traffic_info.h | 2 +- sw/airborne/modules/nav/nav_smooth.c | 2 +- sw/airborne/modules/sensors/airspeed_ets.c | 2 +- sw/airborne/modules/sensors/baro_sim.c | 2 +- sw/airborne/modules/vehicle_interface/vi.c | 2 +- sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c | 2 +- sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h | 2 +- sw/airborne/subsystems/ahrs/ahrs_float_dcm.c | 2 +- sw/airborne/subsystems/ahrs/ahrs_float_dcm.h | 2 +- sw/airborne/subsystems/ahrs/ahrs_gx3.h | 2 +- sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c | 2 +- sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h | 2 +- sw/airborne/subsystems/datalink/datalink.c | 2 +- sw/airborne/subsystems/ins.c | 2 +- sw/airborne/subsystems/ins/hf_float.c | 2 +- sw/airborne/subsystems/ins/ins_alt_float.c | 2 +- sw/airborne/subsystems/ins/ins_float_invariant.c | 2 +- sw/airborne/subsystems/ins/ins_float_invariant.h | 2 +- sw/airborne/subsystems/ins/ins_gps_passthrough.c | 2 +- sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c | 2 +- sw/airborne/subsystems/ins/ins_int.c | 2 +- sw/airborne/subsystems/ins/ins_int.h | 2 +- sw/airborne/subsystems/ins/ins_vectornav.h | 2 +- sw/airborne/subsystems/intermcu/intermcu_ap.c | 2 +- sw/airborne/subsystems/intermcu/intermcu_fbw.c | 2 +- sw/ground_segment/misc/Makefile | 2 +- sw/simulator/nps/nps_autopilot_fixedwing.c | 2 +- sw/simulator/nps/nps_autopilot_rotorcraft.c | 2 +- sw/simulator/nps/nps_ivy.c | 4 ++-- sw/tools/generators/gen_ubx.ml | 2 +- 125 files changed, 176 insertions(+), 176 deletions(-) rename sw/airborne/{subsystems => modules/gps}/gps.c (99%) rename sw/airborne/{subsystems => modules/gps}/gps.h (100%) rename sw/airborne/{subsystems => modules}/gps/gps_datalink.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_datalink.h (98%) rename sw/airborne/{subsystems => modules}/gps/gps_furuno.c (98%) rename sw/airborne/{subsystems => modules}/gps/gps_mtk.c (100%) rename sw/airborne/{subsystems => modules}/gps/gps_mtk.h (98%) rename sw/airborne/{subsystems => modules}/gps/gps_nmea.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_nmea.h (98%) rename sw/airborne/{subsystems => modules}/gps/gps_piksi.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_piksi.h (97%) rename sw/airborne/{subsystems => modules}/gps/gps_sim.c (97%) rename sw/airborne/{subsystems => modules}/gps/gps_sim.h (90%) rename sw/airborne/{subsystems => modules}/gps/gps_sim_hitl.c (96%) rename sw/airborne/{subsystems => modules}/gps/gps_sim_hitl.h (96%) rename sw/airborne/{subsystems => modules}/gps/gps_sim_nps.c (98%) rename sw/airborne/{subsystems => modules}/gps/gps_sim_nps.h (100%) rename sw/airborne/{subsystems => modules}/gps/gps_sirf.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_sirf.h (98%) rename sw/airborne/{subsystems => modules}/gps/gps_skytraq.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_skytraq.h (100%) rename sw/airborne/{subsystems => modules}/gps/gps_ubx.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_ubx.h (99%) rename sw/airborne/{subsystems => modules}/gps/gps_udp.c (99%) rename sw/airborne/{subsystems => modules}/gps/gps_udp.h (91%) rename sw/airborne/{subsystems => modules}/gps/librtcm3/CRC24Q.h (100%) rename sw/airborne/{subsystems => modules}/gps/librtcm3/common.h (100%) rename sw/airborne/{subsystems => modules}/gps/librtcm3/rtcm3.h (100%) diff --git a/conf/autopilot/fixedwing_autopilot.xml b/conf/autopilot/fixedwing_autopilot.xml index fd5467949d..61bbb111a3 100644 --- a/conf/autopilot/fixedwing_autopilot.xml +++ b/conf/autopilot/fixedwing_autopilot.xml @@ -17,7 +17,7 @@ - + diff --git a/conf/autopilot/fixedwing_rusty.xml b/conf/autopilot/fixedwing_rusty.xml index 12c00de4ad..3f711588eb 100644 --- a/conf/autopilot/fixedwing_rusty.xml +++ b/conf/autopilot/fixedwing_rusty.xml @@ -18,7 +18,7 @@ - + diff --git a/conf/autopilot/rotorcraft_autopilot.xml b/conf/autopilot/rotorcraft_autopilot.xml index a27d0b602a..64e8a8688f 100644 --- a/conf/autopilot/rotorcraft_autopilot.xml +++ b/conf/autopilot/rotorcraft_autopilot.xml @@ -12,7 +12,7 @@ - + - + ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), nmea furuno)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_nmea.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\" endif diff --git a/conf/modules/gps_mediatek_diy.xml b/conf/modules/gps_mediatek_diy.xml index f69ea5fad4..8b16b18792 100644 --- a/conf/modules/gps_mediatek_diy.xml +++ b/conf/modules/gps_mediatek_diy.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -34,15 +34,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), mtk mediatek)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_mtk.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_MTK else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_mtk.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_MTK endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_mtk.h\" endif diff --git a/conf/modules/gps_nmea.xml b/conf/modules/gps_nmea.xml index 32c055df69..f19f56c6b6 100644 --- a/conf/modules/gps_nmea.xml +++ b/conf/modules/gps_nmea.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -34,15 +34,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), nmea)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_nmea.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\" endif diff --git a/conf/modules/gps_nps.xml b/conf/modules/gps_nps.xml index 90ce0cab03..965fe3218e 100644 --- a/conf/modules/gps_nps.xml +++ b/conf/modules/gps_nps.xml @@ -13,13 +13,13 @@ gps
- +
- - + + diff --git a/conf/modules/gps_piksi.xml b/conf/modules/gps_piksi.xml index 70769ff0b4..e08660a2a0 100644 --- a/conf/modules/gps_piksi.xml +++ b/conf/modules/gps_piksi.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -37,15 +37,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), piksi)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_piksi.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_PIKSI else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_PIKSI endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\" endif diff --git a/conf/modules/gps_sim.xml b/conf/modules/gps_sim.xml index 92e2ae8c08..2b0785a348 100644 --- a/conf/modules/gps_sim.xml +++ b/conf/modules/gps_sim.xml @@ -12,13 +12,13 @@ gps
- +
- - + + diff --git a/conf/modules/gps_sim_hitl.xml b/conf/modules/gps_sim_hitl.xml index 03139b3ebd..e7fbce95ae 100644 --- a/conf/modules/gps_sim_hitl.xml +++ b/conf/modules/gps_sim_hitl.xml @@ -13,14 +13,14 @@
- +
- + - + diff --git a/conf/modules/gps_sirf.xml b/conf/modules/gps_sirf.xml index 5d92596fbc..76f48e944f 100644 --- a/conf/modules/gps_sirf.xml +++ b/conf/modules/gps_sirf.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -34,15 +34,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), sirf)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_sirf.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SIRF else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_sirf.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SIRF endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_sirf.h\" endif diff --git a/conf/modules/gps_skytraq.xml b/conf/modules/gps_skytraq.xml index 5046b5b2e2..276b14006c 100644 --- a/conf/modules/gps_skytraq.xml +++ b/conf/modules/gps_skytraq.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -34,15 +34,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), skytraq)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_skytraq.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SKYTRAQ else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_skytraq.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SKYTRAQ endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_skytraq.h\" endif diff --git a/conf/modules/gps_ublox.xml b/conf/modules/gps_ublox.xml index 44ab97735a..41e51e8883 100644 --- a/conf/modules/gps_ublox.xml +++ b/conf/modules/gps_ublox.xml @@ -16,7 +16,7 @@
- +
@@ -25,7 +25,7 @@ - + @@ -34,15 +34,15 @@ ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), ublox)) # this is the secondary GPS - $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\" + $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX else - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX endif else # plain old single GPS usage - $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\" + $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\" endif diff --git a/conf/modules/gps_udp.xml b/conf/modules/gps_udp.xml index 337d3894d0..9e843ef9fa 100644 --- a/conf/modules/gps_udp.xml +++ b/conf/modules/gps_udp.xml @@ -17,27 +17,27 @@
- +
- + ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), udp)) # this is the secondary GPS - ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_udp.h\" + ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_udp.h\" ap.CFLAGS += -DSECONDARY_GPS=GPS_UDP else - ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\" + ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_udp.h\" ap.CFLAGS += -DPRIMARY_GPS=GPS_UDP endif else # plain old single GPS usage - ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\" + ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_udp.h\" endif diff --git a/conf/modules/ins_vectornav.xml b/conf/modules/ins_vectornav.xml index 05beb8d496..a534c64d91 100644 --- a/conf/modules/ins_vectornav.xml +++ b/conf/modules/ins_vectornav.xml @@ -38,7 +38,7 @@ - + ifdef SECONDARY_GPS @@ -52,7 +52,7 @@ endif else # plain old single GPS usage - ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\" + ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\" endif diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml index 49e7634d83..ecb5327279 100644 --- a/conf/modules/ins_xsens.xml +++ b/conf/modules/ins_xsens.xml @@ -34,7 +34,7 @@ - + diff --git a/conf/modules/ins_xsens700.xml b/conf/modules/ins_xsens700.xml index 7889a730cc..959401467e 100644 --- a/conf/modules/ins_xsens700.xml +++ b/conf/modules/ins_xsens700.xml @@ -34,7 +34,7 @@ - + diff --git a/conf/settings/nps.xml b/conf/settings/nps.xml index f306cc3a78..7b3de9366f 100644 --- a/conf/settings/nps.xml +++ b/conf/settings/nps.xml @@ -6,7 +6,7 @@ - + diff --git a/conf/settings/rotorcraft_basic_multi.xml b/conf/settings/rotorcraft_basic_multi.xml index 4f1356cb7a..19ee8acd95 100644 --- a/conf/settings/rotorcraft_basic_multi.xml +++ b/conf/settings/rotorcraft_basic_multi.xml @@ -11,7 +11,7 @@ - + diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c index 7eb4d38ac1..f726cbd072 100644 --- a/sw/airborne/arch/sim/sim_ap.c +++ b/sw/airborne/arch/sim/sim_ap.c @@ -12,7 +12,7 @@ #include "std.h" #include "inter_mcu.h" #include "autopilot.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/settings.h" #include "firmwares/fixedwing/nav.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c index a87a08889a..de13aba961 100644 --- a/sw/airborne/arch/sim/sim_gps.c +++ b/sw/airborne/arch/sim/sim_gps.c @@ -7,7 +7,7 @@ /** From airborne/autopilot/ */ #include "generated/airframe.h" #include "generated/flight_plan.h" -#include "subsystems/gps/gps_sim.h" +#include "modules/gps/gps_sim.h" #include "math/pprz_geodetic_float.h" #include "math/pprz_geodetic_int.h" diff --git a/sw/airborne/boards/apogee/baro_board.c b/sw/airborne/boards/apogee/baro_board.c index 07b88309c0..cd14dac446 100644 --- a/sw/airborne/boards/apogee/baro_board.c +++ b/sw/airborne/boards/apogee/baro_board.c @@ -39,7 +39,7 @@ // sd-log #if APOGEE_BARO_SDLOG #include "modules/loggers/sdlog_chibios.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" bool log_apogee_baro_started; #endif diff --git a/sw/airborne/boards/bebop/board.c b/sw/airborne/boards/bebop/board.c index db8094e79d..5e874744eb 100644 --- a/sw/airborne/boards/bebop/board.c +++ b/sw/airborne/boards/bebop/board.c @@ -31,7 +31,7 @@ #include #include "mcu.h" #include "boards/bebop.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" static int kill_gracefull(char *process_name) { diff --git a/sw/airborne/firmwares/fixedwing/autopilot_static.c b/sw/airborne/firmwares/fixedwing/autopilot_static.c index 8ef5f05cd3..69feae1daa 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot_static.c +++ b/sw/airborne/firmwares/fixedwing/autopilot_static.c @@ -40,7 +40,7 @@ #include "modules/nav/nav_geofence.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif static bool gps_lost; diff --git a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c index 21b01b9438..559bd83db2 100644 --- a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c +++ b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c @@ -42,7 +42,7 @@ #endif #ifdef HITL -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif #define MOfMM(_x) (((float)(_x))/1000.) diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c index 1f2ac5bd1d..20f2d12706 100644 --- a/sw/airborne/firmwares/fixedwing/nav.c +++ b/sw/airborne/firmwares/fixedwing/nav.c @@ -35,7 +35,7 @@ static unit_t unit __attribute__((unused)); #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "autopilot.h" #include "inter_mcu.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/flight_plan.h" diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c index e1b1194d31..bd1506cf60 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c @@ -37,7 +37,7 @@ #include "modules/radio_control/radio_control.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #else #if NO_GPS_NEEDED_FOR_NAV #define GpsIsLost() FALSE diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c index 4767287d6d..c0f2aad6cf 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_static.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.c @@ -51,7 +51,7 @@ #include "generated/settings.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #else #if NO_GPS_NEEDED_FOR_NAV #define GpsIsLost() FALSE diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c index 578e32f0f3..c4d9decd4d 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.c +++ b/sw/airborne/firmwares/rotorcraft/navigation.c @@ -31,7 +31,7 @@ #include "firmwares/rotorcraft/navigation.h" #include "pprz_debug.h" -#include "subsystems/gps.h" // needed by auto_nav from the flight plan +#include "modules/gps/gps.h" // needed by auto_nav from the flight plan #include "subsystems/ins.h" #include "state.h" diff --git a/sw/airborne/firmwares/rover/autopilot_firmware.c b/sw/airborne/firmwares/rover/autopilot_firmware.c index 191a7040c5..dbc1e62061 100644 --- a/sw/airborne/firmwares/rover/autopilot_firmware.c +++ b/sw/airborne/firmwares/rover/autopilot_firmware.c @@ -35,7 +35,7 @@ #include "modules/radio_control/radio_control.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #else #if NO_GPS_NEEDED_FOR_NAV #define GpsIsLost() FALSE diff --git a/sw/airborne/firmwares/rover/navigation.c b/sw/airborne/firmwares/rover/navigation.c index bf7e598a62..3a894c0d7e 100644 --- a/sw/airborne/firmwares/rover/navigation.c +++ b/sw/airborne/firmwares/rover/navigation.c @@ -30,7 +30,7 @@ #include "firmwares/rover/navigation.h" #include "pprz_debug.h" -#include "subsystems/gps.h" // needed by auto_nav from the flight plan +#include "modules/gps/gps.h" // needed by auto_nav from the flight plan #include "subsystems/ins.h" #include "state.h" diff --git a/sw/airborne/modules/cam_control/point.c b/sw/airborne/modules/cam_control/point.c index 1cb6e3a48f..f0b8127ee1 100644 --- a/sw/airborne/modules/cam_control/point.c +++ b/sw/airborne/modules/cam_control/point.c @@ -77,7 +77,7 @@ #include "autopilot.h" #include "generated/flight_plan.h" #include "subsystems/navigation/common_nav.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "math/pprz_geodetic_float.h" #include "state.h" diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c index 77e9afec5b..3eb2ab1079 100644 --- a/sw/airborne/modules/com/generic_com.c +++ b/sw/airborne/modules/com/generic_com.c @@ -28,7 +28,7 @@ #include "mcu_periph/i2c.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/energy/electrical.h" #include "generated/airframe.h" #include "inter_mcu.h" diff --git a/sw/airborne/modules/computer_vision/lib/exif/exif_module.c b/sw/airborne/modules/computer_vision/lib/exif/exif_module.c index 8c2d7faac3..f6a76d1692 100644 --- a/sw/airborne/modules/computer_vision/lib/exif/exif_module.c +++ b/sw/airborne/modules/computer_vision/lib/exif/exif_module.c @@ -22,7 +22,7 @@ #include "exif_module.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" ////////////////////////////////////////////////////////////// diff --git a/sw/airborne/modules/core/abi_common.h b/sw/airborne/modules/core/abi_common.h index 0ec3821767..8ab09ba039 100644 --- a/sw/airborne/modules/core/abi_common.h +++ b/sw/airborne/modules/core/abi_common.h @@ -32,9 +32,9 @@ #include "std.h" #include "math/pprz_algebra_int.h" #include "math/pprz_algebra_float.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" /* Include here headers with structure definition you may want to use with ABI - * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure + * Ex: '#include "modules/gps/gps.h"' in order to use the GpsState structure */ #include "modules/core/abi_sender_ids.h" diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c index 2e95802f0a..dea125efac 100644 --- a/sw/airborne/modules/datalink/mavlink.c +++ b/sw/airborne/modules/datalink/mavlink.c @@ -661,7 +661,7 @@ static void mavlink_send_attitude_quaternion(struct transport_tx *trans, struct } #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif static void mavlink_send_gps_raw_int(struct transport_tx *trans, struct link_device *dev) diff --git a/sw/airborne/modules/decawave/dw1000_arduino.c b/sw/airborne/modules/decawave/dw1000_arduino.c index 761784992b..fd685736eb 100644 --- a/sw/airborne/modules/decawave/dw1000_arduino.c +++ b/sw/airborne/modules/decawave/dw1000_arduino.c @@ -31,7 +31,7 @@ #include "subsystems/datalink/downlink.h" #include "modules/core/abi.h" #include "modules/decawave/trilateration.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "state.h" #include "generated/flight_plan.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c index 4d6c905efe..7b56e310b5 100644 --- a/sw/airborne/modules/digital_cam/dc.c +++ b/sw/airborne/modules/digital_cam/dc.c @@ -96,7 +96,7 @@ uint16_t dc_photo_nr = 0; #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #if DC_SHOT_EXTRA_DL #include "modules/datalink/extra_pprz_dl.h" #endif diff --git a/sw/airborne/modules/digital_cam/dc.h b/sw/airborne/modules/digital_cam/dc.h index 5bad2f4b32..32bcce21f7 100644 --- a/sw/airborne/modules/digital_cam/dc.h +++ b/sw/airborne/modules/digital_cam/dc.h @@ -40,7 +40,7 @@ #include "std.h" #include "state.h" #include "generated/airframe.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" /** export the number of the last photo */ extern uint16_t dc_photo_nr; diff --git a/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c b/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c index 5f1ab3daa2..c0515bb1d4 100644 --- a/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c +++ b/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c @@ -54,7 +54,7 @@ #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "subsystems/datalink/telemetry.h" //? or just downlink.h should be enough @@ -109,7 +109,7 @@ static inline void dc_ctrl_parrot_mykonos_send_shot_position(void) #if DC_CTRL_PARROT_MYKONOS_LOG #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif struct Dc_Ctrl_Parrot_Mykonos dc_ctrl_parrot_mykonos; diff --git a/sw/airborne/modules/digital_cam/hackhd.c b/sw/airborne/modules/digital_cam/hackhd.c index 4372981ba5..affd6cc2c9 100644 --- a/sw/airborne/modules/digital_cam/hackhd.c +++ b/sw/airborne/modules/digital_cam/hackhd.c @@ -86,7 +86,7 @@ static inline uint16_t pin_of_gpio(uint32_t __attribute__((unused)) port, uint16 #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" static inline void hackhd_send_shot_position(void) { @@ -117,7 +117,7 @@ static inline void hackhd_send_shot_position(void) #if HACKHD_LOG #include "modules/loggers/sdlog_chibios.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" static inline void hackhd_log_shot_position(void) { diff --git a/sw/airborne/modules/e_identification_fr/e_identification_fr.c b/sw/airborne/modules/e_identification_fr/e_identification_fr.c index 1174b4c156..1d2db123d8 100644 --- a/sw/airborne/modules/e_identification_fr/e_identification_fr.c +++ b/sw/airborne/modules/e_identification_fr/e_identification_fr.c @@ -26,7 +26,7 @@ #include "modules/e_identification_fr/e_identification_fr.h" #include "state.h" #include "mcu_periph/uart.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/airframe.h" #include "generated/flight_plan.h" diff --git a/sw/airborne/modules/geo_mag/geo_mag.c b/sw/airborne/modules/geo_mag/geo_mag.c index 77482083de..35a87b1901 100644 --- a/sw/airborne/modules/geo_mag/geo_mag.c +++ b/sw/airborne/modules/geo_mag/geo_mag.c @@ -29,7 +29,7 @@ #include "modules/geo_mag/geo_mag.h" #include "math/pprz_geodetic_wmm2020.h" #include "math/pprz_algebra_double.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" //FIXME: should not be in this spot diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/modules/gps/gps.c similarity index 99% rename from sw/airborne/subsystems/gps.c rename to sw/airborne/modules/gps/gps.c index 1c1d22a0c6..3313e62ba6 100644 --- a/sw/airborne/subsystems/gps.c +++ b/sw/airborne/modules/gps/gps.c @@ -38,7 +38,7 @@ */ #include "modules/core/abi.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "led.h" #include "modules/core/settings.h" #include "generated/settings.h" diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/modules/gps/gps.h similarity index 100% rename from sw/airborne/subsystems/gps.h rename to sw/airborne/modules/gps/gps.h diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/modules/gps/gps_datalink.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_datalink.c rename to sw/airborne/modules/gps/gps_datalink.c index ef5138c25d..f8bead32dc 100644 --- a/sw/airborne/subsystems/gps/gps_datalink.c +++ b/sw/airborne/modules/gps/gps_datalink.c @@ -30,7 +30,7 @@ #include "generated/flight_plan.h" // reference lla NAV_XXX0 -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "subsystems/imu.h" #include "subsystems/datalink/datalink.h" diff --git a/sw/airborne/subsystems/gps/gps_datalink.h b/sw/airborne/modules/gps/gps_datalink.h similarity index 98% rename from sw/airborne/subsystems/gps/gps_datalink.h rename to sw/airborne/modules/gps/gps_datalink.h index 34316a1f74..3806bd4fab 100644 --- a/sw/airborne/subsystems/gps/gps_datalink.h +++ b/sw/airborne/modules/gps/gps_datalink.h @@ -32,7 +32,7 @@ #include "std.h" #include "generated/airframe.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifndef PRIMARY_GPS #define PRIMARY_GPS GPS_DATALINK diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/modules/gps/gps_furuno.c similarity index 98% rename from sw/airborne/subsystems/gps/gps_furuno.c rename to sw/airborne/modules/gps/gps_furuno.c index 48fa8962cd..78b1393f2b 100644 --- a/sw/airborne/subsystems/gps/gps_furuno.c +++ b/sw/airborne/modules/gps/gps_furuno.c @@ -22,11 +22,11 @@ */ /** - * @file subsystems/gps/gps_furuno.c + * @file modules/gps/gps_furuno.c * GPS furuno based NMEA parser */ -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "gps_nmea.h" #include #include diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/modules/gps/gps_mtk.c similarity index 100% rename from sw/airborne/subsystems/gps/gps_mtk.c rename to sw/airborne/modules/gps/gps_mtk.c diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/modules/gps/gps_mtk.h similarity index 98% rename from sw/airborne/subsystems/gps/gps_mtk.h rename to sw/airborne/modules/gps/gps_mtk.h index cba70e6dcc..ade8f1eb3f 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.h +++ b/sw/airborne/modules/gps/gps_mtk.h @@ -34,7 +34,7 @@ #ifndef MTK_H #define MTK_H -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "mcu_periph/uart.h" /** Includes macros generated from mtk.xml */ diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/modules/gps/gps_nmea.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_nmea.c rename to sw/airborne/modules/gps/gps_nmea.c index 42141d44a9..f2b7b59c31 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.c +++ b/sw/airborne/modules/gps/gps_nmea.c @@ -31,7 +31,7 @@ */ #include "gps_nmea.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/modules/gps/gps_nmea.h similarity index 98% rename from sw/airborne/subsystems/gps/gps_nmea.h rename to sw/airborne/modules/gps/gps_nmea.h index 0baeaedd76..bfa4f99203 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.h +++ b/sw/airborne/modules/gps/gps_nmea.h @@ -30,7 +30,7 @@ #define GPS_NMEA_H #include "mcu_periph/uart.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #define GPS_NMEA_NB_CHANNELS 12 diff --git a/sw/airborne/subsystems/gps/gps_piksi.c b/sw/airborne/modules/gps/gps_piksi.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_piksi.c rename to sw/airborne/modules/gps/gps_piksi.c index 847b7a3036..82c6c4ecd8 100644 --- a/sw/airborne/subsystems/gps/gps_piksi.c +++ b/sw/airborne/modules/gps/gps_piksi.c @@ -22,7 +22,7 @@ */ /** - * @file subsystems/gps/gps_piksi.c + * @file modules/gps/gps_piksi.c * * Driver for Piksi modules from Swift-Nav * @@ -30,8 +30,8 @@ * https://github.com/swift-nav/sbp_tutorial */ -#include "subsystems/gps/gps_piksi.h" -#include "subsystems/gps.h" +#include "modules/gps/gps_piksi.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "math/pprz_geodetic_double.h" diff --git a/sw/airborne/subsystems/gps/gps_piksi.h b/sw/airborne/modules/gps/gps_piksi.h similarity index 97% rename from sw/airborne/subsystems/gps/gps_piksi.h rename to sw/airborne/modules/gps/gps_piksi.h index 6b979fd4cc..e44ca0e357 100644 --- a/sw/airborne/subsystems/gps/gps_piksi.h +++ b/sw/airborne/modules/gps/gps_piksi.h @@ -21,7 +21,7 @@ */ /** - * @file subsystems/gps/gps_piksi.h + * @file modules/gps/gps_piksi.h * * Driver for Piksi modules from Swift-Nav * diff --git a/sw/airborne/subsystems/gps/gps_sim.c b/sw/airborne/modules/gps/gps_sim.c similarity index 97% rename from sw/airborne/subsystems/gps/gps_sim.c rename to sw/airborne/modules/gps/gps_sim.c index 16764b92f4..45d909261c 100644 --- a/sw/airborne/subsystems/gps/gps_sim.c +++ b/sw/airborne/modules/gps/gps_sim.c @@ -19,7 +19,7 @@ * Boston, MA 02111-1307, USA. */ -#include "subsystems/gps/gps_sim.h" +#include "modules/gps/gps_sim.h" #include "modules/core/abi.h" void gps_sim_init(void) diff --git a/sw/airborne/subsystems/gps/gps_sim.h b/sw/airborne/modules/gps/gps_sim.h similarity index 90% rename from sw/airborne/subsystems/gps/gps_sim.h rename to sw/airborne/modules/gps/gps_sim.h index eb4163a1eb..754ddd9014 100644 --- a/sw/airborne/subsystems/gps/gps_sim.h +++ b/sw/airborne/modules/gps/gps_sim.h @@ -2,7 +2,7 @@ #define GPS_SIM_H #include "std.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifndef PRIMARY_GPS #define PRIMARY_GPS GPS_SIM diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.c b/sw/airborne/modules/gps/gps_sim_hitl.c similarity index 96% rename from sw/airborne/subsystems/gps/gps_sim_hitl.c rename to sw/airborne/modules/gps/gps_sim_hitl.c index e29f0fbb77..ec942b1b72 100644 --- a/sw/airborne/subsystems/gps/gps_sim_hitl.c +++ b/sw/airborne/modules/gps/gps_sim_hitl.c @@ -20,12 +20,12 @@ */ /** - * @file subsystems/gps/gps_sim_hitl.c + * @file modules/gps/gps_sim_hitl.c * GPS subsystem simulation from rotorcrafts horizontal/vertical reference system */ -#include "subsystems/gps/gps_sim_hitl.h" -#include "subsystems/gps.h" +#include "modules/gps/gps_sim_hitl.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "state.h" diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.h b/sw/airborne/modules/gps/gps_sim_hitl.h similarity index 96% rename from sw/airborne/subsystems/gps/gps_sim_hitl.h rename to sw/airborne/modules/gps/gps_sim_hitl.h index ecba3bdd24..e5006811ef 100644 --- a/sw/airborne/subsystems/gps/gps_sim_hitl.h +++ b/sw/airborne/modules/gps/gps_sim_hitl.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/gps/gps_sim_hitl.h + * @file modules/gps/gps_sim_hitl.h * GPS subsystem simulation from rotorcrafts horizontal/vertical reference system */ diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/modules/gps/gps_sim_nps.c similarity index 98% rename from sw/airborne/subsystems/gps/gps_sim_nps.c rename to sw/airborne/modules/gps/gps_sim_nps.c index 32925d969a..5dd6b8fd08 100644 --- a/sw/airborne/subsystems/gps/gps_sim_nps.c +++ b/sw/airborne/modules/gps/gps_sim_nps.c @@ -19,8 +19,8 @@ * Boston, MA 02111-1307, USA. */ -#include "subsystems/gps/gps_sim_nps.h" -#include "subsystems/gps.h" +#include "modules/gps/gps_sim_nps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "nps_sensors.h" #include "nps_fdm.h" diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/modules/gps/gps_sim_nps.h similarity index 100% rename from sw/airborne/subsystems/gps/gps_sim_nps.h rename to sw/airborne/modules/gps/gps_sim_nps.h diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/modules/gps/gps_sirf.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_sirf.c rename to sw/airborne/modules/gps/gps_sirf.c index d51ba61f9e..e9544ed64d 100644 --- a/sw/airborne/subsystems/gps/gps_sirf.c +++ b/sw/airborne/modules/gps/gps_sirf.c @@ -21,7 +21,7 @@ */ -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/modules/gps/gps_sirf.h similarity index 98% rename from sw/airborne/subsystems/gps/gps_sirf.h rename to sw/airborne/modules/gps/gps_sirf.h index b0ec0cc2ce..25d6e82fe4 100644 --- a/sw/airborne/subsystems/gps/gps_sirf.h +++ b/sw/airborne/modules/gps/gps_sirf.h @@ -30,7 +30,7 @@ #define GPS_SIRF_H #include "std.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifndef PRIMARY_GPS #define PRIMARY_GPS GPS_SIRF diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/modules/gps/gps_skytraq.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_skytraq.c rename to sw/airborne/modules/gps/gps_skytraq.c index b87cbf0509..7cc9170a45 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.c +++ b/sw/airborne/modules/gps/gps_skytraq.c @@ -19,8 +19,8 @@ * Boston, MA 02111-1307, USA. */ -#include "subsystems/gps.h" -#include "subsystems/gps/gps_skytraq.h" +#include "modules/gps/gps.h" +#include "modules/gps/gps_skytraq.h" #include "modules/core/abi.h" #include "led.h" #include "pprzlink/pprzlink_device.h" diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/modules/gps/gps_skytraq.h similarity index 100% rename from sw/airborne/subsystems/gps/gps_skytraq.h rename to sw/airborne/modules/gps/gps_skytraq.h diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/modules/gps/gps_ubx.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_ubx.c rename to sw/airborne/modules/gps/gps_ubx.c index 95cf98d314..27fea324f0 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/modules/gps/gps_ubx.c @@ -20,7 +20,7 @@ */ -#include "subsystems/gps/gps_ubx.h" +#include "modules/gps/gps_ubx.h" #include "modules/core/abi.h" #include "led.h" @@ -30,7 +30,7 @@ #if USE_GPS_UBX_RTCM -#include "subsystems/gps/librtcm3/CRC24Q.h" +#include "modules/gps/librtcm3/CRC24Q.h" #define RTCM3_PREAMBLE 0xD3 #define RTCM3_MSG_1005 0x69 #define RTCM3_MSG_1077 0xB1 diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/modules/gps/gps_ubx.h similarity index 99% rename from sw/airborne/subsystems/gps/gps_ubx.h rename to sw/airborne/modules/gps/gps_ubx.h index 0d9e8513b4..93eadfdccf 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.h +++ b/sw/airborne/modules/gps/gps_ubx.h @@ -27,7 +27,7 @@ #ifndef GPS_UBX_H #define GPS_UBX_H -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifdef GPS_CONFIGURE #warning "Please use gps_ubx_ucenter.xml module instead of GPS_CONFIGURE" diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c index b236fae932..844eb3f78a 100644 --- a/sw/airborne/modules/gps/gps_ubx_ucenter.c +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c @@ -28,7 +28,7 @@ */ #include "modules/gps/gps_ubx_ucenter.h" -#include "subsystems/gps/gps_ubx.h" +#include "modules/gps/gps_ubx.h" #include "ubx_protocol.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/modules/gps/gps_udp.c similarity index 99% rename from sw/airborne/subsystems/gps/gps_udp.c rename to sw/airborne/modules/gps/gps_udp.c index d8ae167b89..8c5fbe6239 100644 --- a/sw/airborne/subsystems/gps/gps_udp.c +++ b/sw/airborne/modules/gps/gps_udp.c @@ -19,7 +19,7 @@ * Boston, MA 02111-1307, USA. */ -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "fms/fms_network.h" diff --git a/sw/airborne/subsystems/gps/gps_udp.h b/sw/airborne/modules/gps/gps_udp.h similarity index 91% rename from sw/airborne/subsystems/gps/gps_udp.h rename to sw/airborne/modules/gps/gps_udp.h index 072b09ac47..29a5ba174f 100644 --- a/sw/airborne/subsystems/gps/gps_udp.h +++ b/sw/airborne/modules/gps/gps_udp.h @@ -2,7 +2,7 @@ #define GPS_UDP_H #include "std.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifndef PRIMARY_GPS #define PRIMARY_GPS GPS_UDP diff --git a/sw/airborne/subsystems/gps/librtcm3/CRC24Q.h b/sw/airborne/modules/gps/librtcm3/CRC24Q.h similarity index 100% rename from sw/airborne/subsystems/gps/librtcm3/CRC24Q.h rename to sw/airborne/modules/gps/librtcm3/CRC24Q.h diff --git a/sw/airborne/subsystems/gps/librtcm3/common.h b/sw/airborne/modules/gps/librtcm3/common.h similarity index 100% rename from sw/airborne/subsystems/gps/librtcm3/common.h rename to sw/airborne/modules/gps/librtcm3/common.h diff --git a/sw/airborne/subsystems/gps/librtcm3/rtcm3.h b/sw/airborne/modules/gps/librtcm3/rtcm3.h similarity index 100% rename from sw/airborne/subsystems/gps/librtcm3/rtcm3.h rename to sw/airborne/modules/gps/librtcm3/rtcm3.h diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c index ccc0ae826a..a18b76da61 100644 --- a/sw/airborne/modules/gsm/gsm.c +++ b/sw/airborne/modules/gsm/gsm.c @@ -59,7 +59,7 @@ Receiving: #include "mcu_periph/uart.h" #include "std.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "autopilot.h" #include "modules/energy/electrical.h" //#include "subsystems/navigation/common_nav.h" //why is should this be needed? diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c index 34e5e610da..c1a45a3e0d 100644 --- a/sw/airborne/modules/ins/ahrs_chimu_spi.c +++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c @@ -13,7 +13,7 @@ #include "state.h" // For centripedal corrections -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "subsystems/ahrs.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c index c1b16891bd..d49748d91e 100644 --- a/sw/airborne/modules/ins/ahrs_chimu_uart.c +++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c @@ -9,7 +9,7 @@ #include "state.h" // For centripedal corrections -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "subsystems/ahrs.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/ins/alt_filter.c b/sw/airborne/modules/ins/alt_filter.c index 88479aca5e..8bf6a0b891 100644 --- a/sw/airborne/modules/ins/alt_filter.c +++ b/sw/airborne/modules/ins/alt_filter.c @@ -21,7 +21,7 @@ */ #include "modules/ins/alt_filter.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/sensors/baro_ets.h" #include "mcu_periph/uart.h" diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c index d1e661a890..205ae9ed7d 100644 --- a/sw/airborne/modules/ins/ins_arduimu.c +++ b/sw/airborne/modules/ins/ins_arduimu.c @@ -17,7 +17,7 @@ Autoren@ZHAW: schmiemi #ifndef UBX #error "currently only compatible with uBlox GPS modules" #endif -#include "subsystems/gps.h" +#include "modules/gps/gps.h" int32_t GPS_Data[14]; #ifndef ARDUIMU_I2C_DEV diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c index 469adbe1f3..2ea46513d3 100644 --- a/sw/airborne/modules/ins/ins_arduimu_basic.c +++ b/sw/airborne/modules/ins/ins_arduimu_basic.c @@ -31,7 +31,7 @@ #include "state.h" // GPS data for ArduIMU -#include "subsystems/gps.h" +#include "modules/gps/gps.h" // Command vector for thrust #include "generated/airframe.h" diff --git a/sw/airborne/modules/ins/ins_skeleton.h b/sw/airborne/modules/ins/ins_skeleton.h index a59606a45c..9781704c4b 100644 --- a/sw/airborne/modules/ins/ins_skeleton.h +++ b/sw/airborne/modules/ins/ins_skeleton.h @@ -34,7 +34,7 @@ #include "math/pprz_orientation_conversion.h" #include "subsystems/ins.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" /** Ins implementation state (fixed point) */ struct InsModuleInt { diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c index ec6a36b998..17211fd117 100644 --- a/sw/airborne/modules/ins/ins_xsens.c +++ b/sw/airborne/modules/ins/ins_xsens.c @@ -37,7 +37,7 @@ #if !USE_GPS #error "USE_GPS needs to be 1 to use the Xsens GPS!" #endif -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "math/pprz_geodetic_float.h" #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */ #endif diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c index e28b7ffac1..a7c4c53a77 100644 --- a/sw/airborne/modules/ins/ins_xsens700.c +++ b/sw/airborne/modules/ins/ins_xsens700.c @@ -38,7 +38,7 @@ #if !USE_GPS #error "USE_GPS needs to be 1 to use the Xsens GPS!" #endif -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #include "math/pprz_geodetic_wgs84.h" #include "math/pprz_geodetic_float.h" diff --git a/sw/airborne/modules/ins/xsens.h b/sw/airborne/modules/ins/xsens.h index 795748a626..c732e36a34 100644 --- a/sw/airborne/modules/ins/xsens.h +++ b/sw/airborne/modules/ins/xsens.h @@ -36,7 +36,7 @@ #if USE_GPS_XSENS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif struct XsensTime { diff --git a/sw/airborne/modules/ins/xsens700.h b/sw/airborne/modules/ins/xsens700.h index 2cceb33ddd..c42425a95a 100644 --- a/sw/airborne/modules/ins/xsens700.h +++ b/sw/airborne/modules/ins/xsens700.h @@ -35,7 +35,7 @@ #include "xsens_parser.h" #if USE_GPS_XSENS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif struct XsensTime { diff --git a/sw/airborne/modules/loggers/sdlog_chibios.c b/sw/airborne/modules/loggers/sdlog_chibios.c index 33d72826b7..a772a0f119 100644 --- a/sw/airborne/modules/loggers/sdlog_chibios.c +++ b/sw/airborne/modules/loggers/sdlog_chibios.c @@ -39,7 +39,7 @@ #if HAL_USE_RTC #include #include -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif // Delay before starting SD log diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c index 03b0f4fdd6..e237d6a19d 100644 --- a/sw/airborne/modules/meteo/humid_sht.c +++ b/sw/airborne/modules/meteo/humid_sht.c @@ -38,7 +38,7 @@ // sd-log #if SHT_SDLOG #include "modules/loggers/sdlog_chibios.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" bool log_sht_started; #endif diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c index 23402671f2..86e6c202ea 100644 --- a/sw/airborne/modules/meteo/meteo_france_DAQ.c +++ b/sw/airborne/modules/meteo/meteo_france_DAQ.c @@ -40,7 +40,7 @@ #include "modules/loggers/sdlog_chibios.h" #include "modules/loggers/pprzlog_tp.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/datalink/extra_pprz_dl.h" struct MF_DAQ mf_daq; diff --git a/sw/airborne/modules/meteo/meteo_stick.c b/sw/airborne/modules/meteo/meteo_stick.c index a879701e73..6cf75c851f 100644 --- a/sw/airborne/modules/meteo/meteo_stick.c +++ b/sw/airborne/modules/meteo/meteo_stick.c @@ -189,7 +189,7 @@ bool log_ptu_started; #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #define MS_DATA_SIZE 4 diff --git a/sw/airborne/modules/meteo/mf_ptu.c b/sw/airborne/modules/meteo/mf_ptu.c index 3dd35de51f..19e0164f77 100644 --- a/sw/airborne/modules/meteo/mf_ptu.c +++ b/sw/airborne/modules/meteo/mf_ptu.c @@ -70,7 +70,7 @@ bool log_ptu_started; #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif void mf_ptu_init(void) diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c index 2e5bf55cc2..24d4094cf6 100644 --- a/sw/airborne/modules/meteo/temp_temod.c +++ b/sw/airborne/modules/meteo/temp_temod.c @@ -36,7 +36,7 @@ // sd-log #if TEMP_TEMOD_SDLOG #include "modules/loggers/sdlog_chibios.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" bool log_temod_started; #endif diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c index 57c841e6f4..a831891f49 100644 --- a/sw/airborne/modules/meteo/windturbine.c +++ b/sw/airborne/modules/meteo/windturbine.c @@ -29,7 +29,7 @@ #include "meteo/windturbine.h" #include "core/trigger_ext.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "mcu_periph/sys_time.h" diff --git a/sw/airborne/modules/multi/potential.c b/sw/airborne/modules/multi/potential.c index 0d22ee380a..5f81686ad6 100644 --- a/sw/airborne/modules/multi/potential.c +++ b/sw/airborne/modules/multi/potential.c @@ -13,7 +13,7 @@ #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" #include "autopilot.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/airframe.h" //#include diff --git a/sw/airborne/modules/multi/traffic_info.h b/sw/airborne/modules/multi/traffic_info.h index 2f3b8bd404..58693d1d17 100644 --- a/sw/airborne/modules/multi/traffic_info.h +++ b/sw/airborne/modules/multi/traffic_info.h @@ -31,7 +31,7 @@ #include "mcu_periph/sys_time.h" #include "math/pprz_geodetic_int.h" #include "math/pprz_geodetic_float.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #ifndef NB_ACS_ID #define NB_ACS_ID 256 diff --git a/sw/airborne/modules/nav/nav_smooth.c b/sw/airborne/modules/nav/nav_smooth.c index 9299491a71..10ee338fac 100644 --- a/sw/airborne/modules/nav/nav_smooth.c +++ b/sw/airborne/modules/nav/nav_smooth.c @@ -31,7 +31,7 @@ #include "modules/nav/nav_smooth.h" #include "state.h" #include "firmwares/fixedwing/nav.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #define Sign(_x) ((_x) > 0 ? 1 : (-1)) #define Norm2Pi(x) ({ uint8_t _i=1; float _x = x; while (_i && _x < 0.) { _i++;_x += 2*M_PI; } while (_i && _x > 2*M_PI) { _i++; _x -= 2*M_PI; } _x; }) diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c index 197ef657f8..693ad198e2 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.c +++ b/sw/airborne/modules/sensors/airspeed_ets.c @@ -87,7 +87,7 @@ PRINT_CONFIG_VAR(AIRSPEED_ETS_START_DELAY) #ifndef SITL #if AIRSPEED_ETS_SDLOG #include "modules/loggers/sdlog_chibios.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" bool log_airspeed_ets_started; #endif #endif diff --git a/sw/airborne/modules/sensors/baro_sim.c b/sw/airborne/modules/sensors/baro_sim.c index 8c92acb8b5..b9816172f5 100644 --- a/sw/airborne/modules/sensors/baro_sim.c +++ b/sw/airborne/modules/sensors/baro_sim.c @@ -26,7 +26,7 @@ */ #include "math/pprz_isa.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" PRINT_CONFIG_VAR(BARO_SIM_SENDER_ID) diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c index 9506ff5b37..e64ecf8599 100644 --- a/sw/airborne/modules/vehicle_interface/vi.c +++ b/sw/airborne/modules/vehicle_interface/vi.c @@ -23,7 +23,7 @@ #include "subsystems/imu.h" #include "subsystems/ahrs.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/airframe.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c index 3d622d5975..a7bc991323 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c @@ -34,7 +34,7 @@ #include "math/pprz_simple_matrix.h" #include "generated/airframe.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif //#include "../../test/pprz_algebra_print.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h index 9453f946b0..29f396d8a0 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h @@ -33,7 +33,7 @@ #include "std.h" #include "math/pprz_algebra_float.h" #include "math/pprz_orientation_conversion.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" enum AhrsFCStatus { AHRS_FC_UNINIT, diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c index 2746c7426e..afa76825e3 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c @@ -35,7 +35,7 @@ #include "math/pprz_algebra_float.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif #include diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h index 45b946fd71..2c431c2130 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h @@ -27,7 +27,7 @@ #include #include "math/pprz_algebra_float.h" #include "math/pprz_orientation_conversion.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" enum AhrsDCMStatus { AHRS_DCM_UNINIT, diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h index deb93a7f82..dd7cec5453 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h +++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h @@ -35,7 +35,7 @@ #include "generated/airframe.h" #include "subsystems/imu.h" #include "subsystems/ins.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "mcu_periph/uart.h" #include "state.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c index d2832435cb..c7981d8e49 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c @@ -34,7 +34,7 @@ #include "subsystems/ahrs/ahrs_int_utils.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif #include "math/pprz_trig_int.h" #include "math/pprz_algebra_int.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h index 862750f22b..23a1329868 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h @@ -32,7 +32,7 @@ #define AHRS_INT_CMPL_QUAT_H #include "subsystems/ahrs.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "std.h" #include "math/pprz_algebra_int.h" #include "math/pprz_orientation_conversion.h" diff --git a/sw/airborne/subsystems/datalink/datalink.c b/sw/airborne/subsystems/datalink/datalink.c index 0bdb81de56..d54e41057c 100644 --- a/sw/airborne/subsystems/datalink/datalink.c +++ b/sw/airborne/subsystems/datalink/datalink.c @@ -41,7 +41,7 @@ #endif #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif #ifdef RADIO_CONTROL_DATALINK_LED diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c index b709b3d3ae..2c05029829 100644 --- a/sw/airborne/subsystems/ins.c +++ b/sw/airborne/subsystems/ins.c @@ -29,7 +29,7 @@ #if USE_GPS // for ins_reset_utm_zone -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "state.h" #endif diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c index 28646dd45b..f12759c689 100644 --- a/sw/airborne/subsystems/ins/hf_float.c +++ b/sw/airborne/subsystems/ins/hf_float.c @@ -30,7 +30,7 @@ #include "subsystems/ins/hf_float.h" #include "subsystems/imu.h" #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include #include "filters/low_pass_filter.h" #include "generated/airframe.h" diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c index 285a20a49a..59dd5de6c0 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.c +++ b/sw/airborne/subsystems/ins/ins_alt_float.c @@ -34,7 +34,7 @@ #include "state.h" #include "mcu_periph/sys_time.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "firmwares/fixedwing/nav.h" #include "generated/airframe.h" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c index cd4968f0e4..0b51db339e 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.c +++ b/sw/airborne/subsystems/ins/ins_float_invariant.c @@ -31,7 +31,7 @@ #include "subsystems/ahrs/ahrs_int_utils.h" #include "subsystems/ins.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/airframe.h" #include "generated/flight_plan.h" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.h b/sw/airborne/subsystems/ins/ins_float_invariant.h index 034764e07a..e520f86ee4 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.h +++ b/sw/airborne/subsystems/ins/ins_float_invariant.h @@ -28,7 +28,7 @@ #define INS_FLOAT_INVARIANT_H #include "subsystems/ins.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "math/pprz_algebra_float.h" #include "math/pprz_orientation_conversion.h" diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c index 79ec55d621..bcb3e09002 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c +++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c @@ -33,7 +33,7 @@ #include #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "modules/core/abi.h" #ifndef USE_INS_NAV_INIT diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c index 3f445a612e..2825ebfe3d 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c +++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c @@ -33,7 +33,7 @@ #include #include "state.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "firmwares/fixedwing/nav.h" diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c index 662bbdd13d..e602bd6e95 100644 --- a/sw/airborne/subsystems/ins/ins_int.c +++ b/sw/airborne/subsystems/ins/ins_int.c @@ -31,7 +31,7 @@ #include "modules/core/abi.h" #include "subsystems/imu.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "generated/airframe.h" diff --git a/sw/airborne/subsystems/ins/ins_int.h b/sw/airborne/subsystems/ins/ins_int.h index 4ef20080d5..5eb682219d 100644 --- a/sw/airborne/subsystems/ins/ins_int.h +++ b/sw/airborne/subsystems/ins/ins_int.h @@ -30,7 +30,7 @@ #define INS_INT_H #include "subsystems/ins.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "std.h" #include "math/pprz_geodetic_int.h" #include "math/pprz_algebra_float.h" diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h b/sw/airborne/subsystems/ins/ins_vectornav.h index 2c84b11aa1..f336dd54ac 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.h +++ b/sw/airborne/subsystems/ins/ins_vectornav.h @@ -30,7 +30,7 @@ #define INS_VECTORNAV_H // Subsystems -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #include "subsystems/ins.h" // Peripheral diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.c b/sw/airborne/subsystems/intermcu/intermcu_ap.c index b7e15532bf..d79ecb9ea4 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_ap.c +++ b/sw/airborne/subsystems/intermcu/intermcu_ap.c @@ -50,7 +50,7 @@ static inline void intermcu_parse_msg(void (*rc_frame_handler)(void)); #if IMCU_GPS #include "std.h" #include "modules/core/abi.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" static struct GpsState gps_imcu; #endif diff --git a/sw/airborne/subsystems/intermcu/intermcu_fbw.c b/sw/airborne/subsystems/intermcu/intermcu_fbw.c index ebba7eeeff..13358a0b89 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_fbw.c +++ b/sw/airborne/subsystems/intermcu/intermcu_fbw.c @@ -75,7 +75,7 @@ static void checkPx4RebootCommand(unsigned char b); #endif #include "modules/core/abi.h" -#include "subsystems/gps.h" +#include "modules/gps/gps.h" static abi_event gps_ev; static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s); #endif diff --git a/sw/ground_segment/misc/Makefile b/sw/ground_segment/misc/Makefile index 4fb66ffe36..e9a8a8d741 100644 --- a/sw/ground_segment/misc/Makefile +++ b/sw/ground_segment/misc/Makefile @@ -55,7 +55,7 @@ GLIB_LDFLAGS = $(shell pkg-config glib-2.0 --libs) -lglibivy -lm $(shell pcre-co # Paparazzi includes INCLUDES += $(shell pkg-config glib-2.0 --cflags) -I$(PAPARAZZI_SRC)/sw/airborne/ -I$(PAPARAZZI_SRC)/sw/include/ $(IVY_INC) -INCLUDES += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include/ -I$(PAPARAZZI_SRC)/sw/airborne/subsystems/gps/librtcm3/ -I$(PAPARAZZI_SRC)/sw/airborne/arch/linux/ +INCLUDES += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include/ -I$(PAPARAZZI_SRC)/sw/airborne/modules/gps/librtcm3/ -I$(PAPARAZZI_SRC)/sw/airborne/arch/linux/ all: davis2ivy kestrel2ivy natnet2ivy sbp2ivy video_synchronizer sbs2ivy rtcm2ivy diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c index 4148279aa0..0531789ef7 100644 --- a/sw/simulator/nps/nps_autopilot_fixedwing.c +++ b/sw/simulator/nps/nps_autopilot_fixedwing.c @@ -101,7 +101,7 @@ void nps_autopilot_run_systime_step(void) } #include -#include "subsystems/gps.h" +#include "modules/gps/gps.h" void nps_autopilot_run_step(double time) { diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 17a866128d..b0def137c2 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -88,7 +88,7 @@ void nps_autopilot_run_systime_step(void) } #include -#include "subsystems/gps.h" +#include "modules/gps/gps.h" void nps_autopilot_run_step(double time) { diff --git a/sw/simulator/nps/nps_ivy.c b/sw/simulator/nps/nps_ivy.c index a2c1695701..4f6513d658 100644 --- a/sw/simulator/nps/nps_ivy.c +++ b/sw/simulator/nps/nps_ivy.c @@ -23,7 +23,7 @@ #include "subsystems/datalink/downlink.h" #if USE_GPS -#include "subsystems/gps.h" +#include "modules/gps/gps.h" #endif #include NPS_SENSORS_PARAMS @@ -112,7 +112,7 @@ static void on_WORLD_ENV(IvyClientPtr app __attribute__((unused)), nps_set_time_factor(atof(argv[5])); #if USE_GPS - // directly set gps fix in subsystems/gps/gps_sim_nps.h + // directly set gps fix in modules/gps/gps_sim_nps.h gps_has_fix = atoi(argv[6]); // gps_availability #endif } diff --git a/sw/tools/generators/gen_ubx.ml b/sw/tools/generators/gen_ubx.ml index 99bc65fed2..f5baf31c06 100644 --- a/sw/tools/generators/gen_ubx.ml +++ b/sw/tools/generators/gen_ubx.ml @@ -160,7 +160,7 @@ let _ = fprintf out "/* Please DO NOT EDIT */\n\n"; fprintf out "#include \"pprzlink/pprzlink_device.h\"\n\n"; - fprintf out "#include \"subsystems/gps/gps_ubx.h\"\n\n"; + fprintf out "#include \"modules/gps/gps_ubx.h\"\n\n"; define "UBX_SYNC1" "0xB5"; define "UBX_SYNC2" "0x62";