[modules] simulator modules (SIM and NPS) (#1990)

conf/modules/nps.xml

@@ -0,0 +1,91 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nps" dir="simulator">
+  <doc>
+    <description>
+      New Paparazzi Simulator (NPS)
+
+      Bindings between embedded autopilot code and a flight dynamic model (FDM).
+      Possible FDM are: JSBSim or CRRCSIM, see corresponding modules.
+      Can run Software In The Loop (SITL) or Hardware In The Loop (HITL) simulations.
+    </description>
+    <configure name="USE_HITL" value="0|1" description="run as SITL (0:default) or HITL (1) simulation"/>
+  </doc>
+  <header/>
+  <makefile target="nps">
+    <configure name="USE_HITL" default="0"/>
+    <flag name="ARCHDIR" value="sim"/>
+    <flag name="MAKEFILE" value="nps"/>
+    <define name="SITL"/>
+    <define name="USE_NPS"/>
+    <raw>
+      nps.LDFLAGS += -lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas
+      
+      # detect system arch and include rt and pthread library only on linux
+      UNAME_S := $(shell uname -s)
+      ifeq ($(UNAME_S),Linux)
+      nps.LDFLAGS += -lrt -pthread
+      endif
+
+      # sdl needed for joystick input
+      nps.LDFLAGS += $(shell sdl-config --libs)
+
+      # glib is still needed for some components (such as radio input)
+      nps.CFLAGS  += $(shell pkg-config glib-2.0 --cflags)
+      nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs)
+
+      #
+      # add the simulator directory to the make searchpath
+      #
+      VPATH += $(PAPARAZZI_SRC)/sw/simulator
+    </raw>
+    <include name="$(SRC_FIRMWARE)"/>
+    <include name="$(SRC_BOARD)"/>
+    <include name="$(PAPARAZZI_SRC)/sw/simulator"/>
+    <include name="$(PAPARAZZI_SRC)/sw/simulator/nps"/>
+    <include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
+    <file name="nps_random.c" dir="nps"/>
+    <file name="nps_sensors.c" dir="nps"/>
+    <file name="nps_sensors_utils.c" dir="nps"/>
+    <file name="nps_sensor_gyro.c" dir="nps"/>
+    <file name="nps_sensor_accel.c" dir="nps"/>
+    <file name="nps_sensor_mag.c" dir="nps"/>
+    <file name="nps_sensor_baro.c" dir="nps"/>
+    <file name="nps_sensor_sonar.c" dir="nps"/>
+    <file name="nps_sensor_gps.c" dir="nps"/>
+    <file name="nps_sensor_airspeed.c" dir="nps"/>
+    <file name="nps_sensor_temperature.c" dir="nps"/>
+    <file name="nps_electrical.c" dir="nps"/>
+    <file name="nps_atmosphere.c" dir="nps"/>
+    <file name="nps_ivy.c" dir="nps"/>
+    <file name="nps_flightgear.c" dir="nps"/>
+    <file name="nps_radio_control.c" dir="nps"/>
+    <file name="nps_radio_control_joystick.c" dir="nps"/>
+    <file name="nps_radio_control_spektrum.c" dir="nps"/>
+    <file name="nps_main_common.c" dir="nps"/>
+    <file name="math/pprz_geodetic_wmm2015.c" dir="math"/>
+  </makefile>
+  <makefile target="nps" cond="if ($(USE_HITL),0)">
+    <file name="nps_main_sitl.c" dir="nps"/>
+  </makefile>
+  <makefile target="nps" cond="if ($(USE_HITL),1)">
+    <configure name="INS_DEV" default="/dev/ttyUSB1"/>
+    <configure name="INS_BAUD" default="B921600"/>
+    <configure name="AP_DEV" default="/dev/ttyUSB2"/>
+    <configure name="AP_BAUD" default="B921600"/>
+    <define name="INS_DEV" value="$(INS_DEV)" type="string"/>
+    <define name="INS_BAUD" value="$(INS_BAUD)"/>
+    <define name="AP_DEV" value="$(AP_DEV)" type="string"/>
+    <define name="AP_BAUD" value="$(AP_BAUD)"/>
+    <file name="nps_main_hitl.c" dir="nps"/>
+    <file name="nps_ins_vectornav.c" dir="nps"/> <!-- TODO: move to ins_vectornav -->
+  </makefile>
+  <makefile target="nps" firmware="fixedwing">
+    <file name="nps_autopilot_fixedwing" dir="nps"/>
+  </makefile>
+  <makefile target="nps" firmware="rotorcraft">
+    <file name="nps_autopilot_rotorcraft" dir="nps"/>
+  </makefile>
+</module>
+
+

conf/modules/sim.xml

@@ -0,0 +1,29 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sim" dir="simulator">
+  <doc>
+    <description>
+      Basic Simulator (SIM)
+
+      Bindings between embedded autopilot code and a flight dynamic model (FDM).
+      FDM and low level code is written in OCaml.
+      Only for fixed-wing.
+    </description>
+  </doc>
+  <header/>
+  <makefile target="sim">
+    <define name="SITL"/>
+    <raw>
+      UNAME = $(shell uname -s)
+      ifeq ("$(UNAME)","Darwin")
+        sim.CFLAGS += $(shell if test -d /opt/paparazzi/include; then echo "-I/opt/paparazzi/include"; elif test -d /opt/local/include; then echo "-I/opt/local/include"; fi)
+      endif
+    </raw>
+    <file_arch name="sim_ap.c" dir="."/>
+    <file_arch name="sim_gps.c" dir="."/>
+    <file_arch name="sim_adc_generics.c" dir="."/>
+    <file_arch name="sim_ahrs.c" dir="."/>
+    <file_arch name="sim_ir.c" dir="."/>
+  </makefile>
+</module>
+

conf/modules/telemetry_ivy.xml

@@ -21,5 +21,16 @@
     <file name="telemetry.c" dir="subsystems/datalink"/>
     <file name="ivy_transport.c" dir="pprzlink/src"/>
   </makefile>
+  <makefile target="ap" firmware="fixedwing">
+    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
+  <makefile target="ap|fbw" firmware="fixedwing">
+    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
+  <makefile target="ap" firmware="rotorcraft">
+    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
 </module>
 

conf/modules/telemetry_sim.xml

@@ -22,6 +22,9 @@
     <file name="datalink.c" dir="subsystems/datalink"/>
     <file name="telemetry.c" dir="subsystems/datalink"/>
     <file name="ivy_transport.c" dir="pprzlink/src"/>
+    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
   </makefile>
 </module>