diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index 0e2fef40aa..812d8ed402 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -196,7 +196,7 @@
-
+
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index 239d3ecace..d1d6271509 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -176,7 +176,7 @@
-
+
@@ -189,7 +189,7 @@
-
+
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index f144a138e5..6d10394322 100644
--- a/conf/airframes/CDW/ChimuTinyFwSpi.xml
+++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -175,7 +175,7 @@
-
+
@@ -186,7 +186,7 @@
-
+
diff --git a/conf/airframes/CDW/LisaFw.xml b/conf/airframes/CDW/LisaFw.xml
index 15baa30976..37cb8df3ea 100644
--- a/conf/airframes/CDW/LisaFw.xml
+++ b/conf/airframes/CDW/LisaFw.xml
@@ -200,7 +200,7 @@
-->
-
+
diff --git a/conf/airframes/CDW/TinyFw.xml b/conf/airframes/CDW/TinyFw.xml
index 160460fe9a..31523ce721 100644
--- a/conf/airframes/CDW/TinyFw.xml
+++ b/conf/airframes/CDW/TinyFw.xml
@@ -187,7 +187,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index a10debf64c..b1b5b3861d 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -49,7 +49,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index b02cd6ec66..c7e177da46 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -47,7 +47,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 83436e97ef..f1edbb278c 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -47,7 +47,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index f82437175f..40fe027ca5 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -49,7 +49,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 2ab3b975ac..17d65550e7 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -20,7 +20,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 714f48dc14..4235bd68c9 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -26,7 +26,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index 1ed5c98946..f1ed87e6be 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -34,7 +34,7 @@
-
+
-
+
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index c118819f03..c4881fe2b3 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -34,7 +34,7 @@
-
+
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 59cacc5ea6..80e16b86ce 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -28,7 +28,7 @@
-
+
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index 018c4551cf..134dfba4ed 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -28,7 +28,7 @@
-
+
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index 5f75acae18..515b5179ad 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -28,7 +28,7 @@
-
+
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index e27ed4dde5..c61e31f6b4 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -260,7 +260,7 @@
-
+
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index 875701c703..f207399ce6 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -16,7 +16,7 @@
-
+
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index 0f9e70f29f..7b9a62075f 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -16,7 +16,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 3ef28141cd..3c61ec196b 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -261,7 +261,7 @@
-->
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index c9bacfa7ed..f43c11d34e 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -298,7 +298,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index fadfc8e760..e2886febb2 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -215,7 +215,7 @@
-
+
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index ff34074880..63256bbf06 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -18,7 +18,7 @@
-
+
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 313e793a84..34404f643d 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -169,7 +169,7 @@
-
+
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 763be2683d..7e4ca831bc 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -25,7 +25,7 @@
-
+
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index edf296f575..f1241e5274 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -24,7 +24,7 @@
-
+
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index cfe4def763..d212c9586d 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -213,7 +213,7 @@
-
+
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index c11a5d7754..95dd5eae07 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -42,7 +42,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
-
+
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index a62561af4a..21578763b8 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -28,7 +28,7 @@
-
+
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index 9257855ec5..967e9cb736 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -28,7 +28,7 @@
-
+
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 18dc8cc3ca..9c70b45f8e 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -217,7 +217,7 @@
-
+
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 4d00f9c4fa..54be2a848c 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -24,7 +24,7 @@
-
+
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 833482d4ba..fb06b46334 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -197,7 +197,7 @@
-
+
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 217b5f9bbd..c35b765f3c 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -17,7 +17,7 @@
-
+
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 91c6cad9a1..59b3a1db34 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -10,7 +10,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index d725fffcde..9fcb3e4fd8 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -23,7 +23,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index 8da7f898a5..0126c730bf 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -21,7 +21,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 43cad0aa91..f7f7c92b6d 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -34,7 +34,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index a22e56f15f..90c5701c00 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -34,7 +34,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index f97b1f2fea..ea06dceedb 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -34,7 +34,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 2f28f49668..3c3955a099 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -29,7 +29,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index a92f5d8271..2831f87b3c 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -17,7 +17,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index 33e68d8522..ba9395fce4 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -17,7 +17,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index 144fa3b68f..bd593ded79 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -35,7 +35,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index cd9c69901e..c901aafb24 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -182,7 +182,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 13fca656e9..e2490384cf 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -23,7 +23,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 13db40d0c9..622adedb12 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -24,7 +24,7 @@
-
+
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
index 30cfa01a09..fc87901459 100644
--- a/conf/airframes/test_hb.xml
+++ b/conf/airframes/test_hb.xml
@@ -17,7 +17,7 @@
-
+
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index b5974575d7..58a8205193 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -23,7 +23,7 @@
-
+
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index 5ed5655242..52b4e0f3d9 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -26,7 +26,7 @@
-
+
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 264b8af0ec..c5187f7674 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -23,7 +23,7 @@
-
+
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 51592e9f3f..197e442754 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -15,7 +15,7 @@
-
+
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox.makefile
new file mode 100644
index 0000000000..d8d5723be0
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox.makefile
@@ -0,0 +1,23 @@
+# UBlox LEA 5H
+
+
+ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DUSE_$(GPS_PORT)
+ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+
+ifneq ($(GPS_LED),none)
+ ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+
+jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile
similarity index 85%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
rename to conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile
index 40338ab345..43d6130d6b 100644
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile
@@ -1,4 +1,4 @@
-# UBlox LEA 5H
+# UBlox Hardware In The Loop
ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
index 368d4e76a8..da4d84a19d 100644
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
@@ -1,22 +1,3 @@
# UBlox LEA 4P
-
-ap.CFLAGS += -DUSE_GPS -DUBX
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
-
-ifneq ($(GPS_LED),none)
- ap.CFLAGS += -DGPS_LED=$(GPS_LED)
-endif
-
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-sim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-
-jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+$(error The gps_ublox_lea4p subsystem has been renamed, please replace with in your airframe file.)
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
index d8d5723be0..59e9799be5 100644
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
@@ -1,23 +1,4 @@
# UBlox LEA 5H
+$(error The gps_ublox_lea5h subsystem has been renamed, please replace with in your airframe file.)
-ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
-
-ifneq ($(GPS_LED),none)
- ap.CFLAGS += -DGPS_LED=$(GPS_LED)
-endif
-
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-
-jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile
new file mode 100644
index 0000000000..368d4e76a8
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile
@@ -0,0 +1,22 @@
+# UBlox LEA 4P
+
+
+ap.CFLAGS += -DUSE_GPS -DUBX
+ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DUSE_$(GPS_PORT)
+ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+
+ifneq ($(GPS_LED),none)
+ ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+sim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+
+jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
diff --git a/sw/airborne/arch/lpc21/mcu_periph/gpio_arch.h b/sw/airborne/arch/lpc21/mcu_periph/gpio_arch.h
new file mode 100644
index 0000000000..b25efbcd9a
--- /dev/null
+++ b/sw/airborne/arch/lpc21/mcu_periph/gpio_arch.h
@@ -0,0 +1,10 @@
+#ifndef MY_GPIO_ARCH_H
+#define MY_GPIO_ARCH_H
+
+
+#define GPIO_ARCH_SET_SPI_CS_HIGH() \
+{ \
+}
+
+
+#endif /* MY_GPIO_ARCH_H */
diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
new file mode 100644
index 0000000000..8fb35263c6
--- /dev/null
+++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
@@ -0,0 +1,21 @@
+#ifndef MY_GPIO_ARCH_H
+#define MY_GPIO_ARCH_H
+
+#include
+#include
+
+#define GPIO_ARCH_SET_SPI_CS_HIGH() \
+{ \
+ GPIO_InitTypeDef GPIO_InitStructure; \
+ /* initialise peripheral clock for port B */ \
+ RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE); \
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; \
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; \
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; \
+ GPIO_Init(GPIOB, &GPIO_InitStructure); \
+ /* set port B pin 12 to be high */ \
+ GPIO_WriteBit(GPIOB, GPIO_Pin_12 , Bit_SET ); \
+}
+
+
+#endif /* MY_GPIO_ARCH_H */
diff --git a/sw/airborne/modules/ins/ins_ppzuavimu.c b/sw/airborne/modules/ins/ins_ppzuavimu.c
index be8bf19f3b..eb5fbc1afd 100644
--- a/sw/airborne/modules/ins/ins_ppzuavimu.c
+++ b/sw/airborne/modules/ins/ins_ppzuavimu.c
@@ -23,6 +23,9 @@
#include "mcu_periph/i2c.h"
#include "led.h"
+// Set SPI_CS High
+#include "mcu_periph/gpio_arch.h"
+
// Downlink
#include "mcu_periph/uart.h"
#include "messages.h"
@@ -60,6 +63,8 @@ struct Imu imu;
void imu_impl_init(void)
{
+ GPIO_ARCH_SET_SPI_CS_HIGH();
+
/////////////////////////////////////////////////////////////////////
// ITG3200
ppzuavimu_itg3200.type = I2CTransTx;
diff --git a/sw/ground_segment/cockpit/speech.ml b/sw/ground_segment/cockpit/speech.ml
index 124d90986b..eb8b0dcc64 100644
--- a/sw/ground_segment/cockpit/speech.ml
+++ b/sw/ground_segment/cockpit/speech.ml
@@ -1,38 +1,41 @@
+(*
+ * $Id$
+ *
+ * Speech support for GCS alerts
+ *
+ * Copyright (C) 2011
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ *)
+
let active = ref false
-let current_os = ref "not_set"
-
-(* These two functions are from sw/lib/defivybus.ml *)
-let read_process_output command =
- let buffer_size = 2048 in
- let buffer = Buffer.create buffer_size in
- let string = String.create buffer_size in
- let in_channel = Unix.open_process_in command in
- let chars_read = ref 1 in
- while !chars_read <> 0 do
- chars_read := input in_channel string 0 buffer_size;
- Buffer.add_substring buffer string 0 !chars_read
- done;
- ignore (Unix.close_process_in in_channel);
- Buffer.contents buffer
-
-let contains s substring =
- try ignore (Str.search_forward (Str.regexp_string substring) s 0); true
- with Not_found -> false
-
let say = fun s ->
(
if !active then (
- (* Checks if the os is known and gets the uname if not *)
- if contains !current_os "not_set" then (
- current_os := read_process_output "uname";
- );
+ (* If the os is Linux, use "spd-say" (add additional cases here if necessary) *)
+ if Os_calls.contains (Os_calls.os_name) "Linux" then
+ ignore (Sys.command (Printf.sprintf "spd-say '%s'&" s))
(* If the os is Darwin, then use "say" *)
- if contains !current_os "Darwin" then (
- ignore (Sys.command (Printf.sprintf "say '%s'&" s));
- )
- (* If the os is anything else, use "spd-say" (add additional cases here if necessary) *)
- else (
- ignore (Sys.command (Printf.sprintf "spd-say '%s'&" s));
- )
+ else if Os_calls.contains (Os_calls.os_name) "Darwin" then
+ ignore (Sys.command (Printf.sprintf "say '%s'&" s))
+ (* If the os is anything else, not supported (add additional cases here if necessary) *)
+ else
+ ignore (Sys.command (Printf.sprintf "echo Current OS not supported by -speech option"))
));;
diff --git a/sw/lib/ocaml/Makefile b/sw/lib/ocaml/Makefile
index d403f96eec..ff83f7c7bc 100644
--- a/sw/lib/ocaml/Makefile
+++ b/sw/lib/ocaml/Makefile
@@ -39,7 +39,7 @@ OCAMLYACC=ocamlyacc
OCAMLLIBDIR=$(shell ocamlc -where)
-SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml editAirframe.ml defivybus.ml
+SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml os_calls.ml editAirframe.ml defivybus.ml
CMO = $(SRC:.ml=.cmo)
CMX = $(SRC:.ml=.cmx)
diff --git a/sw/lib/ocaml/defivybus.ml b/sw/lib/ocaml/defivybus.ml
index 56ed92608a..86fe47a8cb 100644
--- a/sw/lib/ocaml/defivybus.ml
+++ b/sw/lib/ocaml/defivybus.ml
@@ -23,29 +23,10 @@
* Boston, MA 02111-1307, USA.
*
*)
-
-let read_process_output command =
- let buffer_size = 2048 in
- let buffer = Buffer.create buffer_size in
- let string = String.create buffer_size in
- let in_channel = Unix.open_process_in command in
- let chars_read = ref 1 in
- while !chars_read <> 0 do
- chars_read := input in_channel string 0 buffer_size;
- Buffer.add_substring buffer string 0 !chars_read
- done;
- ignore (Unix.close_process_in in_channel);
- Buffer.contents buffer
-
-let contains s substring =
- try ignore (Str.search_forward (Str.regexp_string substring) s 0); true
- with Not_found -> false
-
let default_ivy_bus = String.copy (
try (Sys.getenv "IVY_BUS" )
with Not_found ->
- (if contains (read_process_output "uname") "Darwin" then
+ (if Os_calls.contains (Os_calls.os_name) "Darwin" then
"224.255.255.255:2010"
else
- "127.255.255.255:2010"))
-
+ "127.255.255.255:2010"))
diff --git a/sw/lib/ocaml/os_calls.ml b/sw/lib/ocaml/os_calls.ml
new file mode 100644
index 0000000000..2ceb053fb7
--- /dev/null
+++ b/sw/lib/ocaml/os_calls.ml
@@ -0,0 +1,49 @@
+(*
+ * $Id$
+ *
+ * Support for obtaining os specific information at runtime
+ *
+ * Copyright (C) 2011 Eric Parsonage and Stephen Dwyer
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ *)
+let current_os = ref "not_set"
+
+let read_process_output command =
+ let buffer_size = 2048 in
+ let buffer = Buffer.create buffer_size in
+ let string = String.create buffer_size in
+ let in_channel = Unix.open_process_in command in
+ let chars_read = ref 1 in
+ while !chars_read <> 0 do
+ chars_read := input in_channel string 0 buffer_size;
+ Buffer.add_substring buffer string 0 !chars_read
+ done;
+ ignore (Unix.close_process_in in_channel);
+ Buffer.contents buffer
+
+let contains s substring =
+ try ignore (Str.search_forward (Str.regexp_string substring) s 0); true
+ with Not_found -> false
+
+let os_name = String.copy (
+ if contains !current_os "not_set" then (
+ current_os := read_process_output "uname" );
+ !current_os
+ )
diff --git a/sw/lib/ocaml/os_calls.mli b/sw/lib/ocaml/os_calls.mli
new file mode 100644
index 0000000000..3aa9819f00
--- /dev/null
+++ b/sw/lib/ocaml/os_calls.mli
@@ -0,0 +1,2 @@
+val contains : string -> string -> bool
+val os_name : string
diff --git a/sw/supervision/pc_aircraft.ml b/sw/supervision/pc_aircraft.ml
index 97d54c82a8..585af46b47 100644
--- a/sw/supervision/pc_aircraft.ml
+++ b/sw/supervision/pc_aircraft.ml
@@ -84,7 +84,12 @@ let parse_conf_xml = fun vbox ->
Gtk_tools.combo ("" :: !strings) vbox
let editor =
- try Sys.getenv "EDITOR" with _ -> "gedit"
+ try Sys.getenv "EDITOR" with _ -> (
+ if Os_calls.contains (Os_calls.os_name) "Darwin" then
+ "open"
+ else
+ "gedit"
+ )
let edit = fun file ->
ignore (Sys.command (sprintf "%s %s&" editor file))