Merge branch 'master' into dev

Makefile

@@ -233,11 +233,11 @@ fast_deb:
 	$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
 
 clean:
-	rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-arm7 debian/paparazzi-avr debian/paparazzi-base debian/paparazzi-bin debian/paparazzi-dev
-	rm -f  $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
-	find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \;
-	find . -name '*~' -exec rm -f {} \;
-	rm -f paparazzi sw/simulator/launchsitl
+	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
+	$(Q)rm -f  $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
+	$(Q)find . -mindepth 2 -name Makefile -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
+	$(Q)find . -name '*~' -exec rm -f {} \;
+	$(Q)rm -f paparazzi sw/simulator/launchsitl
 
 cleanspaces:
 	find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
@@ -247,9 +247,14 @@ cleanspaces:
 	find ./conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
 
 distclean : dist_clean
-dist_clean : clean
-	rm -r conf/srtm_data
-	rm -r conf/maps_data conf/maps.xml
+dist_clean :
+	@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
+
+dist_clean_irreversible: clean
+	rm -rf conf/srtm_data
+	rm -rf conf/maps_data conf/maps.xml
+	rm -rf conf/conf.xml conf/controlpanel.xml
+	rm -rf var
 
 ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
@@ -260,6 +265,9 @@ test_all_example_airframes:
 	$(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap
 	$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
 
+test_all_example_airframes2:
+	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile;   done
+
 commands: paparazzi sw/simulator/launchsitl
 
 paparazzi:

conf/Makefile.lpc21

@@ -221,18 +221,17 @@ printcommands:
 	@echo "Using DMP  = $(OBJDUMP)"
 	@echo "Using NM   = $(NM)"
 	@echo "Using SIZE = $(SIZE)"
-	@echo "Using OOCD = $(OOCD)"
 	@echo "GCC version:"
 	@$(CC) --version | head -1
 
 ifeq ("$(MULTILIB)","yes")
 printmultilib:
 	@echo "*** Using multilib ***"
-	@echo "--------------------------"
+	@echo "--------------------------------------"
 else
 printmultilib:
 	@echo "*** NOT using multilib ***"
-	@echo "--------------------------"
+	@echo "--------------------------------------"
 endif
 
 build: elf hex lss sym
@@ -247,10 +246,10 @@ sym: $(OBJDIR)/$(TARGET).sym
 HEXSIZE = $(SIZE) --target=$(FORMAT) $(OBJDIR)/$(TARGET).hex
 ELFSIZE = $(SIZE) -A $(OBJDIR)/$(TARGET).elf
 sizebefore:
-	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Previous size:"; $(ELFSIZE); fi
 
 sizeafter:
-	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Current size:"; $(ELFSIZE); fi
 
 
 # Program the device.
@@ -258,6 +257,7 @@ load upload program: $(OBJDIR)/$(TARGET).hex
 ifeq ($(FLASH_MODE),IAP)
 	$(SUDO) $(LPC21IAP)  $(OBJDIR)/$(TARGET).elf
 else ifeq ($(FLASH_MODE),JTAG)
+	@echo "Using OOCD = $(OOCD)"
 	@echo -e "  OOCD\t$<"
 	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
                 -f board/$(OOCD_TARGET).cfg \

conf/Makefile.stm32

@@ -44,6 +44,10 @@ TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
 GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
 GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
 
+# Detect if we are using the new libopencm3 or the old libopenstm32
+LIBOPENCM3_LIB=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "opencm3_stm32f1"; else echo "opencm3_stm32"; fi)
+LIBOPENCM3_DEFS=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "-DSTM32F1"; fi)
+
 # Define programs and commands.
 GCC_BIN_PREFIX=$(GCC_BIN_DIR)/arm-none-eabi
 CC   = $(GCC_BIN_PREFIX)-gcc
@@ -133,6 +137,7 @@ CFLAGS += -Wmissing-prototypes
 CFLAGS += -Wstrict-prototypes
 CFLAGS += -Wmissing-declarations
 CFLAGS += -Wswitch-default
+CFLAGS += $(LIBOPENCM3_DEFS)
 
 CFLAGS += $($(TARGET).CFLAGS)
 
@@ -148,7 +153,7 @@ else
 LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles  -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
 endif
 LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
-LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32 -lopencm3_stm32
+LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32 -l$(LIBOPENCM3_LIB)
 
 CPFLAGS = -j .isr_vector -j .text -j .data
 CPFLAGS_BIN = -Obinary
@@ -168,18 +173,17 @@ printcommands:
 	@echo "Using DMP  = $(DMP)"
 	@echo "Using NM   = $(NM)"
 	@echo "Using SIZE = $(SIZE)"
-	@echo "Using OOCD = $(OOCD)"
 	@echo "GCC version:"
 	@$(CC) --version | head -1
-	@echo "OOCD version:"
-	@$(OOCD) --version | head -1
 
 ifeq ("$(MULTILIB)","yes")
 printmultilib:
 	@echo "*** Using multilib ***"
+	@echo "--------------------------------------"
 else
 printmultilib:
 	@echo "*** NOT using multilib ***"
+	@echo "--------------------------------------"
 endif
 
 build: elf bin hex
@@ -194,10 +198,10 @@ sym: $(OBJDIR)/$(TARGET).sym
 # Display size of file.
 ELFSIZE = $(SIZE) -A $(OBJDIR)/$(TARGET).elf
 sizebefore:
-	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Previous size:"; $(ELFSIZE); fi
 
 sizeafter:
-	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+	@if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; echo "Current size:"; $(ELFSIZE); fi
 
 
 
@@ -246,6 +250,7 @@ upload: $(OBJDIR)/$(TARGET).bin
 	$(LOADER) -p /dev/ttyUSB0  -b 115200 -e -w -v $^
 else ifeq ($(FLASH_MODE),JTAG)
 upload:  $(OBJDIR)/$(TARGET).elf
+	@echo "Using OOCD = $(OOCD)"
 	@echo "  OOCD\t$<"
 	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
 		-f board/$(OOCD_BOARD).cfg \

conf/airframes/TU_Delft/skywalker.xml

@@ -7,7 +7,7 @@
 <airframe name="Yapa v1">
 
   <servos>
-    <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
+    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
@@ -17,8 +17,8 @@
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
     <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
   </commands>
 
@@ -103,8 +103,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.205" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.232" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
   </section>
 
   <section name="MISC">
@@ -120,6 +120,9 @@
     <define name="GLIDE_AIRSPEED" value="10"/>
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+    <define name="COMMAND_ROLL_TRIM" value="-2300" />
+    <define name="COMMAND_PITCH_TRIM" value="1800" />
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">

conf/airframes/TU_Delft/skywalkerfiber.xml

@@ -1,25 +1,91 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!--
-	YAPA + XSens + XBee
+<!-- 
+     Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
+     YAPA v2  (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
+     With modified power routing
+     * Aspiring
+     * XBee 2.4Ghz
+     * uBlox LEA5H and Sarantel helix GPS antenna
+
+     Notes:
+     The two aileron servos are separately connected and have an additional spoileron function
 -->
 
-<airframe name="Yapa v2">
+<airframe name="Graysky">
 
+<!-- **************************** FIRMWARE ********************************* -->
+  <firmware name="fixedwing">
+    <target name="ap" board="tiny_2.11">
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+      <configure name="AHRS_ALIGNER_LED" value="3"/>
+    </target>
+
+    <target name="sim" board="pc"/>
+
+    <define name="LOITER_TRIM"/>
+    <define name="TUNE_AGRESSIVE_CLIMB"/>
+    <define name="AGR_CLIMB"/>
+    <define name="ALT_KALMAN"/>
+
+    <!-- Radio Control -->
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+
+    <!-- Navigation -->
+    <subsystem name="navigation"/>
+
+    <!-- Sensors -->
+    <subsystem name="imu" type="aspirin_i2c"/>
+    <subsystem name="ahrs" type="float_dcm"/>
+    <subsystem name="gps" type="ublox"/>
+  </firmware>
+
+<!-- **************************** MODULES ********************************** --> 
+  <modules>
+<!--    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="LIGHT_LED_NAV" value="2"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+    </load>
+-->
+
+<!--    <load name="digital_cam_i2c.xml"/>  -->
+  <!--    <load name="ins_ppzuavimu.xml"/>  -->
+    <load name="digital_cam.xml">
+      <define name="DC_SHUTTER_LED" value="3"/>
+    </load>
+  </modules>
+
+<!-- ***************************** SERVOS ********************************** --> 
   <servos>
-    <servo name="THROTTLE" no="9" min="1100" neutral="1100" max="1900"/>
-    <servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
+    <!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
+    <servo name="THROTTLE"      no="9" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
     <servo name="AILERON_RIGHT" no="8" min="1000" neutral="1500" max="2000"/>
-    <servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
-    <servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
+    <servo name="ELEVATOR"      no="5" min="1900" neutral="1500" max="1100"/>
+    <servo name="RUDDER"        no="1" min="1100" neutral="1500" max="1900"/>
   </servos>
 
+<!-- commands section -->
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="YAW"      failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+<!-- both ailerons up as braking spoilerons -->
+    <axis name="BRAKE"    failsafe_value="9600"/>  
   </commands>
 
   <rc_commands>
@@ -30,6 +96,15 @@
     <set command="BRAKE" value="@FLAPS"/>
   </rc_commands>
 
+  <!-- To still be able to use rudder in autonomous fight YAW  can come in handy while tuning -->
+<!--
+  <auto_rc_commands>
+    <set command="YAW"      value="@YAW"/>
+    <set command="GAIN1"    value="@GAIN1"/>
+    <set command="CALIB"    value="@CALIB"/>
+  </auto_rc_commands>
+-->
+
   <section name="SERVO_MIXER_GAINS">
     <define name="AILERON_NEUTRAL" value="0.3f"/>
 
@@ -41,7 +116,7 @@
 
     <define name="PITCH_GAIN" value="0.9f"/>
 
-    <define name="BRAKE_AILEVON" value="-0.7f"/>
+    <define name="BRAKE_SPOILERON" value="-0.7f"/>
     <define name="BRAKE_PITCH" value="0.1f"/>
     <define name="MAX_BRAKE_RATE" value="130"/>
 
@@ -66,8 +141,8 @@
     <let var="aileron_down" value="(@ROLL  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
     <let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
     <let var="rightturn" value="(1 - $leftturn)"/>
-    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
-    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
+    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_SPOILERON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
+    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_SPOILERON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
 
     <set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
@@ -91,9 +166,11 @@
   <section name="BAT">
 <!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
 
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>   
     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -102,10 +179,11 @@
     <define name="GYRO_Q_NEUTRAL" value="0"/>
     <define name="GYRO_R_NEUTRAL" value="0"/>
 
-    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
-    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.947" integer="16"/>
+    <!-- ITG3200: SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <!-- IMU3000: SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <define name="GYRO_P_SENS" value="4.336" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.336" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.336" integer="16"/>
 
     <define name="GYRO_P_Q" value="0."/>
     <define name="GYRO_P_R" value="0"/>
@@ -115,12 +193,12 @@
     <define name="GYRO_R_Q" value="0."/>
 
     <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="-14"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+    <define name="ACCEL_X_NEUTRAL" value="-12"/>
+    <define name="ACCEL_Y_NEUTRAL" value="+3"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-30"/>
 
     <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
     <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
@@ -128,8 +206,8 @@
     <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
 
     <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
 
     <define name="MAG_X_NEUTRAL" value="0"/>
     <define name="MAG_Y_NEUTRAL" value="0"/>
@@ -154,6 +232,10 @@
   </section>
 
   <section name="MISC">
+
+    <define name="COMMAND_ROLL_TRIM" value="1" />
+    <define name="COMMAND_PITCH_TRIM" value="-1" />
+
     <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -162,11 +244,13 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
+<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
     <define name="GLIDE_AIRSPEED" value="10"/>
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
 
+<!-- ******************* VERTICAL CONTROL ********************************** --> 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
@@ -188,6 +272,8 @@
     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
   </section>
 
+<!-- ******************* HORIZONTAL CONTROL ******************************** --> 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.16799998283"/>
     <define name="COURSE_DGAIN" value="0.280999988317"/>
@@ -208,6 +294,7 @@
     <define name="ROLL_RATE_GAIN" value="-820.312011719"/>
   </section>
 
+<!-- ***************************** AGGRESIVE ******************************* -->
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="30"/>
     <define name="BLEND_END" value="15"/>
@@ -219,6 +306,7 @@
     <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
   </section>
 
+<!-- ****************************** FAILSAFE ******************************* -->
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
     <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
@@ -229,62 +317,10 @@
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
   </section>
 
+<!-- ******************************* CAMERA ******************************** -->
   <section name="DIGITAL_CAMERA" prefix="DC_">
     <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
   </section>
 
-
-  <modules>
-
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="2"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </load>
-
-<!--    <load name="digital_cam_i2c.xml"/>  -->
-  <!--    <load name="ins_ppzuavimu.xml"/>  -->
-    <load name="digital_cam.xml">
-      <define name="DC_SHUTTER_LED" value="2"/>
-    </load>
-
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="tiny_2.11">
-      <configure name="PERIODIC_FREQUENCY" value="120"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-      <configure name="AHRS_ALIGNER_LED" value="3"/>
-    </target>
-
-    <target name="sim" board="pc"/>
-
-    <define name="LOITER_TRIM"/>
-    <define name="TUNE_AGRESSIVE_CLIMB"/>
-    <define name="AGR_CLIMB"/>
-    <define name="ALT_KALMAN"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="navigation"/>
-
-    <subsystem name="imu" type="aspirin_i2c"/>
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="gps" type="ublox"/>
-
-</firmware>
-
 </airframe>

conf/airframes/microjet_example.xml

@@ -19,6 +19,7 @@
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="SHUTTER"    failsafe_value="0"/>
   </commands>
 
   <rc_commands>
@@ -120,7 +121,8 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.4"/>
+    <define name="COURSE_PGAIN" value="-1.0"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
 
     <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
@@ -195,6 +197,9 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="digital_cam_servo.xml">
+      <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
+    </load>
   </modules>
 
 

data/maps/Makefile

@@ -3,11 +3,15 @@ Q=@
 
 all: $(DATADIR)/maps.google.com $(PAPARAZZI_HOME)/conf/maps.xml
 
+clean:
+	
+
 $(DATADIR):
 	mkdir $(DATADIR)
 
 $(DATADIR)/maps.google.com: $(DATADIR) FORCE
-	wget -O $(@) http://maps.google.com/
+	@echo "DOWNLOAD: google maps version code";
+	$(Q)wget -q -O $(@) http://maps.google.com/
 
 $(PAPARAZZI_HOME)/conf/maps.xml: $(DATADIR)/maps.google.com
 	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $(@)

data/srtm/Makefile

@@ -3,6 +3,9 @@ Q=@
 
 SRTMData: $(DATADIR)/Africa $(DATADIR)/Australia $(DATADIR)/Eurasia $(DATADIR)/Islands $(DATADIR)/North_America $(DATADIR)/South_America
 
+clean:
+	
+
 $(DATADIR):
 	mkdir $(DATADIR)
 
@@ -29,3 +32,4 @@ $(DATADIR)/South_America: $(DATADIR)
 %.hgt.zip: SRTMData
 	$(Q)wget -c -nv -N http://dds.cr.usgs.gov/srtm/version2_1/SRTM3/$(shell grep -l $(@F) $(DATADIR)/* | sed -e s#$(DATADIR)/##)/$(@F)
 
+

githelper.sh

@@ -95,7 +95,7 @@ case "$choice" in
 	echo -e "-Now use one of your tags: \033[1mgit checkout TAG_NAME\033[0m (find the available TAG_NAMEs using  \033[1mgit tag\033[0m ) (note that after this command you will be in detached head state which means that you are using a older revision and you can not commit changes here. If you want to make changes you have to make a branch from your tag)"
         exit;
 	;;
- 4 ) clear; exit 1 ;;
+ 5 ) clear; exit 1 ;;
 esac
 
 done

sw/airborne/arch/stm32/mcu_arch.c

@@ -32,7 +32,11 @@
 #include <stm32/flash.h>
 #include <stm32/misc.h>
 #ifdef USE_OPENCM3
-#include <libopencm3/stm32/rcc.h>
+#	if defined(STM32F1) || defined(STM32F2) || defined(STM32F4)
+#		include <libopencm3/stm32/f1/rcc.h>
+#	else
+#		include <libopencm3/stm32/rcc.h>
+#	endif
 #endif
 
 

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -287,6 +287,8 @@ static inline void autopilot_check_motors_on( void ) {
       if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // wait until stick released
         autopilot_check_motor_status = STATUS_MOTORS_OFF;
       break;
+    default:
+      break;
   };
 }
 

sw/airborne/modules/digital_cam/dc.c

@@ -145,7 +145,7 @@ uint8_t dc_survey(float interval, float x, float y) {
     dc_gps_x = x;
     dc_gps_y = y;
   }
-  dc_gps_next_dist = interval;
+  dc_gps_next_dist = 0;
   dc_info();
   return 0;
 }

sw/ground_segment/misc/Makefile

@@ -10,7 +10,7 @@ endif
 all: davis2ivy kestrel2ivy
 
 clean:
-	rm *.o davis2ivy kestrel2ivy
+	rm -f *.o davis2ivy kestrel2ivy
 
 davis2ivy: davis2ivy.o
 	g++ -o davis2ivy davis2ivy.o  $(LIBRARYS)  -livy

sw/ground_segment/tmtc/GSM/Makefile

@@ -4,4 +4,4 @@ SMS_GS: SMS_Ground_UDtest_final.c
 	gcc -g -O2 -Wall `pkg-config --cflags glib-2.0 gtk+-2.0` -L/usr/lib -lglibivy -o SMS_GS SMS_Ground_UDtest_final.c `pkg-config --libs glib-2.0 gtk+-2.0` -lglibivy
 
 clean:
-	rm SMS_GS
+	rm -f SMS_GS

sw/ground_segment/tmtc/ivy_serial_bridge.c

@@ -110,6 +110,7 @@ static void on_Estimator(IvyClientPtr app, void *user_data, int argc, char *argv
   </message>
 */
 
+  local_uav.utm_z = (( atof(argv[0]) ) * 1000.0f);
   local_uav.climb   = atof(argv[1]);
 }
 
@@ -168,7 +169,6 @@ static void on_Gps(IvyClientPtr app, void *user_data, int argc, char *argv[])
 
   local_uav.utm_east = atoi(argv[1]);
   local_uav.utm_north = atoi(argv[2]);
-  local_uav.utm_z = atoi(argv[4]);
   local_uav.utm_zone = atoi(argv[9]);
   local_uav.speed = atoi(argv[5]);
 
@@ -268,7 +268,7 @@ void send_ivy(void)
    </message>
 */
 
-  IvySendMsg("%d NAVIGATION %d 0 0 0 0 0 0 0 \n", remote_uav.ac_id, remote_uav.block);
+//  IvySendMsg("%d NAVIGATION %d 0 0 0 0 0 0 0 \n", remote_uav.ac_id, remote_uav.block);
 
 /*
    <message name="BAT" id="12">
@@ -310,7 +310,7 @@ void send_ivy(void)
   delayer++;
   if (delayer > 5)
   {
-    IvySendMsg("%d NAVIGATION_REF %d %d %d\n", remote_uav.ac_id, remote_uav.utm_east, remote_uav.utm_north, remote_uav.utm_zone);
+//    IvySendMsg("%d NAVIGATION_REF %d %d %d\n", remote_uav.ac_id, remote_uav.utm_east, remote_uav.utm_north, remote_uav.utm_zone);
     delayer = 0;
   }
 

sw/ground_segment/tmtc/server.ml

@@ -447,6 +447,18 @@ let check_md5sum = fun ac_name alive_md5sum aircraft_conf_dir ->
 	done
     | _ -> failwith "Array expected here"
   with _ ->
+    try
+      match alive_md5sum with
+        Pprz.Array array ->
+	  let n = Array.length array in
+	  assert(n = String.length md5sum / 2);
+	  for i = 0 to n - 1 do
+	    let x = 0 in
+	    assert (x = Pprz.int_of_value array.(i))
+  	  done;
+          fprintf stderr "MD5 is ZERO, be carefull with configurations\n%!"
+      | _ -> failwith "Array expected here"
+    with _ ->
     let error_message = sprintf "WARNING: live md5 signature for %s does not match current configuration, please reload your code (disable check with -no_md5_check option)" ac_name in
     if !no_md5_check then
       fprintf stderr "%s; continuing anyway as requested\n%!" error_message

sw/in_progress/ir_calibration/gui.c

@@ -6,7 +6,7 @@
 #include <gtkdatabox_bars.h>
 #include <gtkdatabox_grid.h>
 #include <gtkdatabox_cross_simple.h>
-#include <gtkdatabox_marker.h>
+#include <gtkdatabox_markers.h>
 
 #define NB_POINTS 121
 

sw/in_progress/satcom/Makefile

@@ -10,4 +10,4 @@ tcp2ivy_generic: tcp2ivy_generic.c
 	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -I../../../var/${AIRCRAFT} -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lm
 
 clean:
-	rm email2udp udp2tcp tcp2ivy
+	rm -f email2udp udp2tcp tcp2ivy

sw/in_progress/videolizer/wis-go7007-linux/kernel/Makefile

@@ -5,6 +5,9 @@ obj-m += go7007.o go7007-usb.o snd-go7007.o wis-saa7115.o wis-tw9903.o \
 		wis-tw2804.o
 go7007-objs := go7007-v4l2.o go7007-driver.o go7007-i2c.o go7007-fw.o
 
+clean:
+	rm -f $(obj-m)
+
 ifneq ($(SAA7134_BUILD),)
 obj-m += saa7134-go7007.o
 endif

sw/lib/ocaml/ivy/Makefile

@@ -122,4 +122,6 @@ clean:
 .depend:
 	$(OCAMLDEP) $(INCLUDES) *.mli *.ml > .depend
 
+ifneq ($(MAKECMDGOALS),clean)
 include .depend
+endif

sw/lib/ocaml/ivy/examples/Makefile

@@ -26,4 +26,6 @@ clean:
 .depend:
 	$(OCAMLDEP) $(INCLUDES) *.mli *.ml > .depend
 
+ifneq ($(MAKECMDGOALS),clean)
 include .depend
+endif

sw/simulator/old_booz/tests/Makefile

@@ -68,3 +68,6 @@ TEST_SENSORS_SRCS = test_sensors.c                            \
 
 test_sensors : $(TEST_SENSORS_SRCS)
 	gcc $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+clean:
+	

sw/simulator/scilab/q3d/fonts/Makefile

@@ -4,3 +4,7 @@ GLIB_LDFLAGS =  `pkg-config glib-2.0 --libs` -lglibivy -lpcre
 
 ttx2scilab: ttx2scilab.c
 	$(CC) -Wall $(GLIB_CFLAGS) -o $@ $< $(GLIB_LDFLAGS)
+
+clean:
+	rm -f ttx2scilab
+

sw/tools/gen_aircraft.ml

@@ -232,7 +232,12 @@ let parse_firmware = fun makefile_ac firmware ->
     (* print makefile for this target *)
     fprintf makefile_ac "\n###########\n# -target: '%s'\n" (Xml.attrib target "name");
     fprintf makefile_ac "ifeq ($(TARGET), %s)\n" (Xml.attrib target "name");
-    try fprintf makefile_ac "BOARD_PROCESSOR = %s\n" (Xml.attrib target "processor") with _ -> ();
+    let has_processor =
+      try
+        not (String.compare (Xml.attrib target "processor") "" = 0)
+      with _ -> false in
+    if has_processor then
+      fprintf makefile_ac "BOARD_PROCESSOR = %s\n" (Xml.attrib target "processor");
     List.iter (print_firmware_configure makefile_ac) config;
     List.iter (print_firmware_configure makefile_ac) t_config;
     List.iter (print_firmware_define makefile_ac) defines;