*** empty log message ***

Makefile.ac

@@ -27,13 +27,14 @@ CONF_XML=$(CONF)/conf.xml
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 AIRFRAME_H=$(ACINCLUDE)/airframe.h
 CONTROL_H=$(ACINCLUDE)/control.h
+CONTROL_C=$(ACINCLUDE)/ap/control.c
 RADIO_H=$(ACINCLUDE)/radio.h
 FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
 FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
 INFLIGHT_CALIB_H=$(ACINCLUDE)/inflight_calib.h
 MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
 
-all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC)
+all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(CONTROL_C) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC)
 
 
 $(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
@@ -45,11 +46,20 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML)
 	mv /tmp/radio.h $@
 
 $(CONTROL_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
-	TMPFILE=$(shell echo `tempfile`)
-	$(TOOLS)/gen_control.out $< > $TMPFILE
-	mv $TMPFILE $@
-#	$(TOOLS)/gen_control.out $< > /tmp/control.h
-#	mv /tmp/control.h $@
+#	export TMPFILE=$(shell echo `tempfile`)
+#	echo =$(shell echo `echo $TMPFILE`)
+#	$(TOOLS)/gen_control.out h $< > $(shell echo $TMPFILE)
+#	mv $TMPFILE $@
+	$(TOOLS)/gen_control.out h $< > /tmp/control.h
+	mv /tmp/control.h $@
+
+$(CONTROL_C) : $(CONF)/$(AIRFRAME) $(CONF_XML)
+#	TMPFILE=$(shell echo `tempfile`)
+#	$(TOOLS)/gen_control.out c $< > $(shell echo $TMPFILE)
+#	mv $TMPFILE $@
+	mkdir -p $(ACINCLUDE)/ap
+	$(TOOLS)/gen_control.out c $< > /tmp/control.c
+	mv /tmp/control.c $@
 
 $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
 	$(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h

conf/Makefile.arm7

@@ -183,7 +183,8 @@ endif
 # Settings and variables:
 #LPC21ISP = lpc21isp
 LPC21ISP = lpc21isp
-LPC21ISP_PORT = /dev/ttyUSB0
+#LPC21ISP_PORT = /dev/ttyUSB0
+LPC21ISP_PORT = /dev/ttyS0
 LPC21ISP_BAUD = 115200
 LPC21ISP_XTAL = 14746
 #LPC21ISP_BAUD = 38400

conf/airframes/microjet4.xml

@@ -1,5 +1,55 @@
 <airframe name="Microjet4">
-  <makefile>
+ <!-- tiny test airframe -->
+<!-- commands section -->
+  <servos>
+    <servo name="GAZ"           no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.55"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="GAZ"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+<control>
+  <mode name="MANUAL">
+    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
+    <input input="rc_values[RADIO_ROLL]" output="control_commands[COMMAND_ROLL]" range="1"/>
+    <input input="rc_values[RADIO_PITCH]" output="control_commands[COMMAND_PITCH]" range="1"/>
+  </mode>
+</control>
+
+
+ <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny_test.makefile
+ap.CFLAGS += -DTRACES=uart0
+ap.EXTRA_SRCS += $(SRC_ARCH)/traces.c $(SRC_ARCH)/uart.c
+ap.CFLAGS += -DRADIO_CONTROL 
+ap.EXTRA_SRCS += $(SRC_ARCH)/ppm_hw.c radio_control.c 
+ap.CFLAGS += -DAUTOPILOT
+ap.EXTRA_SRCS += autopilot_fbw.c 
+#ap.CFLAGS += -DCONTROL 
+#ap.EXTRA_SRCS += $(ACINCLUDE)/ap/control.c 
+ap.CFLAGS += -DESTIMATOR
+ap.EXTRA_SRCS += estimator.c
+ap.CFLAGS += -DGPS -DUBX
+ap.EXTRA_SRCS += gps.c gps_ubx.c
+ap.CFLAGS += -DMODEM
+ap.EXTRA_SRCS += $(SRC_ARCH)/modem_hw.c
   </makefile>
 </airframe>