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+ +CONFIG = \"tiny_2_1_1.h\" + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +XSENS_UART_NR = 0 + +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED +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_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.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 + +# Maxstream API protocol +ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 -DTELEMETRY_MODE_FBW=1 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c + +ap.CFLAGS += -DINTER_MCU -DUSE_MODULES +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4 -DUSE_ADC_5 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.srcs += gps_xsens.c gps.c latlong.c + +ap.CFLAGS += -DALT_KALMAN +ap.srcs += estimator.c + +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c + +ap.srcs += nav_line.c nav_survey_rectangle.c + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO +sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c + +