From 9bfb5ef9a2cd17c6d21ea7a755d22cf439cd87dc Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Tue, 20 Mar 2012 14:48:53 +1100
Subject: [PATCH 01/17] Making the /Error/ regex match on word boundries so it
 won't match i2c_error for example.

---
 tests/LisaL/01_upload.t                         | 4 ++--
 tests/examples/01_compile_all_example_targets.t | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tests/LisaL/01_upload.t b/tests/LisaL/01_upload.t
index c32d5b62b5..56c139579e 100644
--- a/tests/LisaL/01_upload.t
+++ b/tests/LisaL/01_upload.t
@@ -17,7 +17,7 @@ my $compile_output = run_program(
 	"make $make_compile_options",
 	0,1);
 unlike($compile_output, '/Aircraft \'LisaLv11_Booz2v12_RC\' not found in/', "The compile output does not contain the message \"Aircraft \'LisaLv11_Booz2v12_RC\' not found in\"");
-unlike($compile_output, '/Error/i', "The compile output does not contain the word \"Error\"");
+unlike($compile_output, '/\bError\b/i', "The compile output does not contain the word \"Error\"");
 
 ####################
 # Upload the airframe
@@ -27,7 +27,7 @@ my $upload_output = run_program(
 	$ENV{'PAPARAZZI_SRC'},
 	"make $make_upload_options",
 	0,1);
-unlike($upload_output, '/Error/i', "The upload output does not contain the word \"Error\"");
+unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
 
 # Start the server process
 my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
diff --git a/tests/examples/01_compile_all_example_targets.t b/tests/examples/01_compile_all_example_targets.t
index d8cb760458..275a370384 100644
--- a/tests/examples/01_compile_all_example_targets.t
+++ b/tests/examples/01_compile_all_example_targets.t
@@ -37,7 +37,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 					$ENV{'PAPARAZZI_SRC'},
 					"make $make_upload_options",
 					$ENV->{'TEST_VERBOSE'},1);
-				unlike($upload_output, '/Error/i', "The upload output does not contain the word \"Error\"");
+				unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
 			}
 		}
 		elsif ($process =~ m#target#)
@@ -57,7 +57,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 					$ENV{'PAPARAZZI_SRC'},
 					"make $make_upload_options",
 					$ENV->{'TEST_VERBOSE'},1);
-				unlike($upload_output, '/Error/i', "The upload output does not contain the word \"Error\"");
+				unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
 			}
 		}
 	}

From 2c9f96252332d9d3159e451918bd21b02d0011fe Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 13:56:33 +1100
Subject: [PATCH 02/17] Changing the testing to not run hardware tests by
 default. Started to create some sim testing for the Microjet. Removed the
 test_all_examples target.

---
 Makefile                                      |  5 +-
 .../LisaL/{01_upload.t => 01_With_b2_v1.2.t}  | 15 ++-
 tests/LisaL/02_With_aspirin_v1.5_and_overo.t  | 94 +++++++++++++++++++
 tests/Makefile                                | 16 +++-
 tests/sim/01_Microjet.t                       | 84 +++++++++++++++++
 5 files changed, 199 insertions(+), 15 deletions(-)
 rename tests/LisaL/{01_upload.t => 01_With_b2_v1.2.t} (87%)
 create mode 100644 tests/LisaL/02_With_aspirin_v1.5_and_overo.t
 create mode 100644 tests/sim/01_Microjet.t

diff --git a/Makefile b/Makefile
index 65e483cf43..95a1d950a2 100644
--- a/Makefile
+++ b/Makefile
@@ -274,8 +274,5 @@ sw/simulator/launchsitl:
 	chmod a+x $@
 
 test: all replace_current_conf_xml
-	cd tests; $(MAKE) $(@)
-
-test_all_example_airframes: replace_current_conf_xml
-	cd tests; $(MAKE) $(@) TARGET_BOARD=examples
+	cd tests; $(MAKE) test
 
diff --git a/tests/LisaL/01_upload.t b/tests/LisaL/01_With_b2_v1.2.t
similarity index 87%
rename from tests/LisaL/01_upload.t
rename to tests/LisaL/01_With_b2_v1.2.t
index 56c139579e..23f83fdbcf 100644
--- a/tests/LisaL/01_upload.t
+++ b/tests/LisaL/01_With_b2_v1.2.t
@@ -12,7 +12,7 @@ $|++;
 # Make the airframe
 my $make_compile_options = "AIRCRAFT=LisaLv11_Booz2v12_RC clean_ac ap.compile";
 my $compile_output = run_program(
-	"Attempting to build and upload the firmware.",
+	"Attempting to build the firmware.",
 	$ENV{'PAPARAZZI_SRC'},
 	"make $make_compile_options",
 	0,1);
@@ -31,25 +31,24 @@ unlike($upload_output, '/\bError\b/i', "The upload output does not contain the w
 
 # Start the server process
 my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
-my $server_options = "";
-my $server = Proc::Background->new($server_command, $server_options);
+my @server_options = qw(-n)
+my $server = Proc::Background->new($server_command, @server_options);
 sleep 2; # The service should die in this time if there's an error
-ok($server->alive(), "The server started successfully");
+ok($server->alive(), "The server process started successfully");
 
 # Start the link process
 my $link_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/link";
 my @link_options = qw(-d /dev/tty.usbserial-000013FD -s 57600 -transport xbee -xbee_addr 123);
-#my @link_options = qw(-d /dev/tty.usbserial-000013FD -s 57600);
 sleep 2; # The service should die in this time if there's an error
 my $link = Proc::Background->new($link_command, @link_options);
-ok($link->alive(), "The link started successfully");
+ok($link->alive(), "The link process started successfully");
 
 # Open the Ivy bus and read from it...
 # TODO: learn how to read and write to the Ivy bus
 
 # Shutdown the server and link processes
-ok($server->die(), "The server shutdown successfully.");
-ok($link->die(), "The link shutdown successfully.");
+ok($server->die(), "The server process shutdown successfully.");
+ok($link->die(), "The link process shutdown successfully.");
 
 ################################################################################
 # functions used by this test script.
diff --git a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
new file mode 100644
index 0000000000..32024c37e1
--- /dev/null
+++ b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
@@ -0,0 +1,94 @@
+#!/usr/bin/perl -w
+
+use Test::More tests => 7;
+use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
+use Program;
+use Proc::Background;
+use Ivy;
+
+$|++; 
+
+####################
+# Make the airframe
+my $make_compile_options = "AIRCRAFT=LisaLv11_Booz2v12_RC clean_ac ap.compile";
+my $compile_output = run_program(
+	"Attempting to build the firmware.",
+	$ENV{'PAPARAZZI_SRC'},
+	"make $make_compile_options",
+	0,1);
+unlike($compile_output, '/Aircraft \'LisaLv11_Booz2v12_RC\' not found in/', "The compile output does not contain the message \"Aircraft \'LisaLv11_Booz2v12_RC\' not found in\"");
+unlike($compile_output, '/\bError\b/i', "The compile output does not contain the word \"Error\"");
+
+####################
+# Upload the airframe
+my $make_upload_options = "AIRCRAFT=LisaLv11_Booz2v12_RC BOARD_SERIAL=LISA-L-000154 ap.upload";
+my $upload_output = run_program(
+	"Attempting to build and upload the firmware.",
+	$ENV{'PAPARAZZI_SRC'},
+	"make $make_upload_options",
+	0,1);
+unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
+
+# Start the server process
+my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
+my @server_options = qw(-n)
+my $server = Proc::Background->new($server_command, @server_options);
+sleep 2; # The service should die in this time if there's an error
+ok($server->alive(), "The server process started successfully");
+
+# Start the link process
+my $link_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/link";
+my @link_options = qw(-d /dev/tty.usbserial-000013FD -s 57600 -transport xbee -xbee_addr 123);
+sleep 2; # The service should die in this time if there's an error
+my $link = Proc::Background->new($link_command, @link_options);
+ok($link->alive(), "The link process started successfully");
+
+# Open the Ivy bus and read from it...
+# TODO: learn how to read and write to the Ivy bus
+
+# Shutdown the server and link processes
+ok($server->die(), "The server process shutdown successfully.");
+ok($link->die(), "The link process shutdown successfully.");
+
+################################################################################
+# functions used by this test script.
+sub run_program
+{
+        my $message = shift;
+        my $dir = shift;
+        my $command = shift;
+        my $verbose = shift;
+        my $dont_fail_on_error = shift;
+
+        warn "$message\n" if $verbose;
+        if (defined $dir)
+        {
+                $command = "cd $dir;" . $command;
+        }
+        my $prog = new Program("bash");
+        my $fh = $prog->open("-c \"$command\"");
+	warn "Running command: \"". $prog->last_command() ."\"\n" if $verbose;
+        $fh->autoflush(1);
+        my @output;
+        while (<$fh>)
+        {
+		warn $_ if $verbose;
+		chomp $_;
+                push @output, $_;
+        }
+        $fh->close;
+        my $exit_status = $?/256;
+        unless ($exit_status == 0)
+        {
+                if ($dont_fail_on_error)
+                {
+                        warn "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n" if $verbose;
+                }
+                else
+                {
+                        die "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n";
+                }
+        }
+        return wantarray ? @output : join "\n", @output;
+}
+
diff --git a/tests/Makefile b/tests/Makefile
index f6eb2bd4b5..e5f6198eb5 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -1,10 +1,20 @@
 Q = @
 PERL = /usr/bin/perl
 TEST_VERBOSE = 0
-ifeq ($(TARGET_BOARD),)
-	TARGET_BOARD = *
+NON_TEST_DIRS = lib|results
+HARDWARE_REGEX = Lisa|Tiny|Umarim
+HARDWARE_TEST_DIRS = $(shell find -L * -d 0 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -E "$(HARDWARE_REGEX)")
+NON_HARDWARE_TEST_DIRS = $(shell find -L * -d 0 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -Ev "$(HARDWARE_REGEX)")
+ifneq ($(TARGET_BOARD),)
+	TEST_DIRECTORIES = $(TARGET_BOARD)
+else
+ifeq ($(TEST_HARDWARE),)
+	TEST_DIRECTORIES = $(NON_HARDWARE_TEST_DIRS)
+else
+	TEST_DIRECTORIES = $(NON_HARDWARE_TEST_DIRS) $(HARDWARE_TEST_DIRS)
 endif
-TEST_FILES := $(shell ls $(TARGET_BOARD)/*.t)
+endif
+TEST_FILES := $(shell ls $(TEST_DIRECTORIES:%=%/*.t))
 
 ifneq ($(JUNIT),)
 	PERLENV=PERL_TEST_HARNESS_DUMP_TAP=$(PAPARAZZI_SRC)/tests/results
diff --git a/tests/sim/01_Microjet.t b/tests/sim/01_Microjet.t
new file mode 100644
index 0000000000..6dfae3ec49
--- /dev/null
+++ b/tests/sim/01_Microjet.t
@@ -0,0 +1,84 @@
+#!/usr/bin/perl -w
+
+use Test::More tests => 6;
+use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
+use Program;
+use Proc::Background;
+use Ivy;
+
+$|++; 
+
+####################
+# Make the airframe
+my $make_compile_options = "AIRCRAFT=Microjet clean_ac sim.compile";
+my $compile_output = run_program(
+	"Attempting to build the sim firmware.",
+	$ENV{'PAPARAZZI_SRC'},
+	"make $make_compile_options",
+	0,1);
+unlike($compile_output, '/Aircraft \'Microjet\' not found in/', "The compile output does not contain the message \"Aircraft \'Microjet\' not found in\"");
+unlike($compile_output, '/\bError\b/i', "The compile output does not contain the word \"Error\"");
+
+# Start the server process
+my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
+my @server_options = qw(-n);
+my $server = Proc::Background->new($server_command, @server_options);
+sleep 2; # The service should die in this time if there's an error
+ok($server->alive(), "The server process started successfully");
+
+# Start the sim process
+my $link_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/launchsitl";
+my @link_options = qw(-a -boot -norc);
+sleep 2; # The service should die in this time if there's an error
+my $link = Proc::Background->new($link_command, @link_options);
+ok($link->alive(), "The launchsitl process started successfully");
+
+# Open the Ivy bus and read from it...
+# TODO: learn how to read and write to the Ivy bus
+
+# Shutdown the server and link processes
+ok($server->die(), "The server process shutdown successfully.");
+ok($link->die(), "The launchsitl process shutdown successfully.");
+
+################################################################################
+# functions used by this test script.
+sub run_program
+{
+        my $message = shift;
+        my $dir = shift;
+        my $command = shift;
+        my $verbose = shift;
+        my $dont_fail_on_error = shift;
+
+        warn "$message\n" if $verbose;
+        if (defined $dir)
+        {
+                $command = "cd $dir;" . $command;
+        }
+        my $prog = new Program("bash");
+        my $fh = $prog->open("-c \"$command\"");
+	warn "Running command: \"". $prog->last_command() ."\"\n" if $verbose;
+        $fh->autoflush(1);
+        my @output;
+        while (<$fh>)
+        {
+		warn $_ if $verbose;
+		chomp $_;
+                push @output, $_;
+        }
+        $fh->close;
+        my $exit_status = $?/256;
+        unless ($exit_status == 0)
+        {
+                if ($dont_fail_on_error)
+                {
+                        warn "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n" if $verbose;
+                }
+                else
+                {
+                        die "Error: The command \"". $prog->last_command() ."\" failed to complete successfully. Exit status: $exit_status\n";
+                }
+        }
+        return wantarray ? @output : join "\n", @output;
+}
+

From a0899c76239ce8f3cc02cce8f5c0bbc603f622f2 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 14:06:29 +1100
Subject: [PATCH 03/17] trying to fix an error on Linux for the finding of test
 directories.

---
 tests/Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/Makefile b/tests/Makefile
index e5f6198eb5..4a3eba6134 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -3,8 +3,8 @@ PERL = /usr/bin/perl
 TEST_VERBOSE = 0
 NON_TEST_DIRS = lib|results
 HARDWARE_REGEX = Lisa|Tiny|Umarim
-HARDWARE_TEST_DIRS = $(shell find -L * -d 0 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -E "$(HARDWARE_REGEX)")
-NON_HARDWARE_TEST_DIRS = $(shell find -L * -d 0 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -Ev "$(HARDWARE_REGEX)")
+HARDWARE_TEST_DIRS = $(shell find -L $(PAPARAZZI_SRC)/tests -d 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -E "$(HARDWARE_REGEX)")
+NON_HARDWARE_TEST_DIRS = $(shell find -L $(PAPARAZZI_SRC)/tests -d 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -Ev "$(HARDWARE_REGEX)")
 ifneq ($(TARGET_BOARD),)
 	TEST_DIRECTORIES = $(TARGET_BOARD)
 else

From 406fe3f3cc51e1c91923c4f96aad024c196509e0 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 14:57:43 +1100
Subject: [PATCH 04/17] Cleaning up the reporting of example airframe compile
 test messages. Fixing the linux find command issue. Adding a check to see if
 the Ivy module will load and then skipping tests if it fails to load.

---
 tests/LisaL/01_With_b2_v1.2.t                 |  9 ++++---
 tests/LisaL/02_With_aspirin_v1.5_and_overo.t  |  9 ++++---
 tests/Makefile                                |  4 +--
 .../examples/01_compile_all_example_targets.t | 16 ++++++------
 tests/sim/01_Microjet.t                       | 25 +++++++++++--------
 5 files changed, 36 insertions(+), 27 deletions(-)

diff --git a/tests/LisaL/01_With_b2_v1.2.t b/tests/LisaL/01_With_b2_v1.2.t
index 23f83fdbcf..1226a524dc 100644
--- a/tests/LisaL/01_With_b2_v1.2.t
+++ b/tests/LisaL/01_With_b2_v1.2.t
@@ -1,10 +1,9 @@
 #!/usr/bin/perl -w
 
-use Test::More tests => 7;
+use Test::More tests => 8;
 use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
 use Program;
 use Proc::Background;
-use Ivy;
 
 $|++; 
 
@@ -44,7 +43,11 @@ my $link = Proc::Background->new($link_command, @link_options);
 ok($link->alive(), "The link process started successfully");
 
 # Open the Ivy bus and read from it...
-# TODO: learn how to read and write to the Ivy bus
+SKIP : {
+        skip "Skipping testing of the hardware since we can't load the Ivy module. Please install IO::Socket::Multicast", 1 unless eval("use Ivy; 1");
+        ok(1, "We can load the Ivy module.");
+        # TODO: learn how to read and write to the Ivy bus
+}
 
 # Shutdown the server and link processes
 ok($server->die(), "The server process shutdown successfully.");
diff --git a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
index 32024c37e1..fbcb7875eb 100644
--- a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
+++ b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
@@ -1,10 +1,9 @@
 #!/usr/bin/perl -w
 
-use Test::More tests => 7;
+use Test::More tests => 8;
 use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
 use Program;
 use Proc::Background;
-use Ivy;
 
 $|++; 
 
@@ -44,7 +43,11 @@ my $link = Proc::Background->new($link_command, @link_options);
 ok($link->alive(), "The link process started successfully");
 
 # Open the Ivy bus and read from it...
-# TODO: learn how to read and write to the Ivy bus
+SKIP : {
+        skip "Skipping testing of the hardware since we can't load the Ivy module. Please install IO::Socket::Multicast", 1 unless eval("use Ivy; 1");
+        ok(1, "We can load the Ivy module.");
+        # TODO: learn how to read and write to the Ivy bus
+}
 
 # Shutdown the server and link processes
 ok($server->die(), "The server process shutdown successfully.");
diff --git a/tests/Makefile b/tests/Makefile
index 4a3eba6134..ce5ba1e067 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -3,8 +3,8 @@ PERL = /usr/bin/perl
 TEST_VERBOSE = 0
 NON_TEST_DIRS = lib|results
 HARDWARE_REGEX = Lisa|Tiny|Umarim
-HARDWARE_TEST_DIRS = $(shell find -L $(PAPARAZZI_SRC)/tests -d 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -E "$(HARDWARE_REGEX)")
-NON_HARDWARE_TEST_DIRS = $(shell find -L $(PAPARAZZI_SRC)/tests -d 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -Ev "$(HARDWARE_REGEX)")
+HARDWARE_TEST_DIRS = $(shell find -L * -maxdepth 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -E "$(HARDWARE_REGEX)")
+NON_HARDWARE_TEST_DIRS = $(shell find -L * -maxdepth 1 -type d | grep -Ev "$(NON_TEST_DIRS)" | grep -Ev "$(HARDWARE_REGEX)")
 ifneq ($(TARGET_BOARD),)
 	TEST_DIRECTORIES = $(TARGET_BOARD)
 else
diff --git a/tests/examples/01_compile_all_example_targets.t b/tests/examples/01_compile_all_example_targets.t
index 275a370384..d16dc8c143 100644
--- a/tests/examples/01_compile_all_example_targets.t
+++ b/tests/examples/01_compile_all_example_targets.t
@@ -31,13 +31,13 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1#i) and ($target =~ m#sim#i) );
 
 				#warn "EXAMPLE: [$example] TARGET: [$target]\n";
-				my $make_upload_options = "AIRCRAFT=$example clean_ac $target.compile";
-				my $upload_output = run_program(
+				my $make_options = "AIRCRAFT=$example clean_ac $target.compile";
+				my $output = run_program(
 					"Attempting to build the firmware $target for the airframe $example.",
 					$ENV{'PAPARAZZI_SRC'},
-					"make $make_upload_options",
+					"make $make_options",
 					$ENV->{'TEST_VERBOSE'},1);
-				unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
+				unlike($output, '/\bError\b/i', "The make output for the $example target $target does not contain the word \"Error\"");
 			}
 		}
 		elsif ($process =~ m#target#)
@@ -51,13 +51,13 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1#i) and ($target =~ m#sim#i) );
 
 				#warn "EXAMPLET: [$example] TARGET: [$target]\n";
-				my $make_upload_options = "AIRCRAFT=$example clean_ac $target.compile";
-				my $upload_output = run_program(
+				my $make_options = "AIRCRAFT=$example clean_ac $target.compile";
+				my $output = run_program(
 					"Attempting to build the firmware $target for the airframe $example.",
 					$ENV{'PAPARAZZI_SRC'},
-					"make $make_upload_options",
+					"make $make_options",
 					$ENV->{'TEST_VERBOSE'},1);
-				unlike($upload_output, '/\bError\b/i', "The upload output does not contain the word \"Error\"");
+				unlike($output, '/\bError\b/i', "The make output for the $example target $target does not contain the word \"Error\"");
 			}
 		}
 	}
diff --git a/tests/sim/01_Microjet.t b/tests/sim/01_Microjet.t
index 6dfae3ec49..84959ebdba 100644
--- a/tests/sim/01_Microjet.t
+++ b/tests/sim/01_Microjet.t
@@ -1,16 +1,15 @@
 #!/usr/bin/perl -w
 
-use Test::More tests => 6;
+use Test::More tests => 7;
 use lib "$ENV{'PAPARAZZI_SRC'}/tests/lib";
 use Program;
 use Proc::Background;
-use Ivy;
 
 $|++; 
 
 ####################
 # Make the airframe
-my $make_compile_options = "AIRCRAFT=Microjet clean_ac sim.compile";
+my $make_compile_options = "AIRCRAFT=Microjet clean_ac sim";
 my $compile_output = run_program(
 	"Attempting to build the sim firmware.",
 	$ENV{'PAPARAZZI_SRC'},
@@ -26,19 +25,23 @@ my $server = Proc::Background->new($server_command, @server_options);
 sleep 2; # The service should die in this time if there's an error
 ok($server->alive(), "The server process started successfully");
 
-# Start the sim process
-my $link_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/launchsitl";
-my @link_options = qw(-a -boot -norc);
+# Start the launchsitl process
+my $launchsitl_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/launchsitl";
+my @launchsitl_options = qw(-a -boot -norc);
 sleep 2; # The service should die in this time if there's an error
-my $link = Proc::Background->new($link_command, @link_options);
-ok($link->alive(), "The launchsitl process started successfully");
+my $launchsitl = Proc::Background->new($launchsitl_command, @launchsitl_options);
+ok($launchsitl->alive(), "The launchsitl process started successfully");
 
 # Open the Ivy bus and read from it...
-# TODO: learn how to read and write to the Ivy bus
+SKIP : {
+	skip "Skipping testing of the simulator since we can't load the Ivy module. Please install IO::Socket::Multicast", 1 unless eval("use Ivy; 1");
+	ok(1, "We can load the Ivy module.");
+	# TODO: learn how to read and write to the Ivy bus
+}
 
-# Shutdown the server and link processes
+# Shutdown the server and launchsitl processes
 ok($server->die(), "The server process shutdown successfully.");
-ok($link->die(), "The launchsitl process shutdown successfully.");
+ok($launchsitl->die(), "The launchsitl process shutdown successfully.");
 
 ################################################################################
 # functions used by this test script.

From d7436518320d31b6ff057dbaeceebe905be17661 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 15:03:31 +1100
Subject: [PATCH 05/17] Correctly targeting the Microjet when starting the
 launchsitl process.

---
 tests/sim/01_Microjet.t | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/sim/01_Microjet.t b/tests/sim/01_Microjet.t
index 84959ebdba..13d04f89c0 100644
--- a/tests/sim/01_Microjet.t
+++ b/tests/sim/01_Microjet.t
@@ -27,7 +27,7 @@ ok($server->alive(), "The server process started successfully");
 
 # Start the launchsitl process
 my $launchsitl_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/launchsitl";
-my @launchsitl_options = qw(-a -boot -norc);
+my @launchsitl_options = qw(-a Microjet -boot -norc);
 sleep 2; # The service should die in this time if there's an error
 my $launchsitl = Proc::Background->new($launchsitl_command, @launchsitl_options);
 ok($launchsitl->alive(), "The launchsitl process started successfully");

From 763bd7234d86b33bdc1412175b14d2d0c896064b Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 15:21:42 +1100
Subject: [PATCH 06/17] Adding a clean target to the tests make file to fix a
 warning when running make clean. Corrected a typo in the LisaL tests.

---
 tests/LisaL/01_With_b2_v1.2.t                | 2 +-
 tests/LisaL/02_With_aspirin_v1.5_and_overo.t | 2 +-
 tests/Makefile                               | 3 +++
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/tests/LisaL/01_With_b2_v1.2.t b/tests/LisaL/01_With_b2_v1.2.t
index 1226a524dc..489517660c 100644
--- a/tests/LisaL/01_With_b2_v1.2.t
+++ b/tests/LisaL/01_With_b2_v1.2.t
@@ -30,7 +30,7 @@ unlike($upload_output, '/\bError\b/i', "The upload output does not contain the w
 
 # Start the server process
 my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
-my @server_options = qw(-n)
+my @server_options = qw(-n);
 my $server = Proc::Background->new($server_command, @server_options);
 sleep 2; # The service should die in this time if there's an error
 ok($server->alive(), "The server process started successfully");
diff --git a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
index fbcb7875eb..80eb977f88 100644
--- a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
+++ b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
@@ -30,7 +30,7 @@ unlike($upload_output, '/\bError\b/i', "The upload output does not contain the w
 
 # Start the server process
 my $server_command = "$ENV{'PAPARAZZI_HOME'}/sw/ground_segment/tmtc/server";
-my @server_options = qw(-n)
+my @server_options = qw(-n);
 my $server = Proc::Background->new($server_command, @server_options);
 sleep 2; # The service should die in this time if there's an error
 ok($server->alive(), "The server process started successfully");
diff --git a/tests/Makefile b/tests/Makefile
index ce5ba1e067..bdbbfa35c6 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -27,3 +27,6 @@ endif
 test:
 	$(Q)$(PERLENV) $(PERL) "-e" "$(RUNTESTS)"
 
+clean:
+	rm -rf results/*
+

From 975c8a9c1ba93a60a0b89db54a9b5a6c937f1be4 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 15:43:45 +1100
Subject: [PATCH 07/17] Cleaning up make errors when running make clean. Not
 cleaning up the test results multiple times.

---
 Makefile                                            | 1 -
 sw/in_progress/videolizer/wis-go7007-linux/Makefile | 3 ++-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 95a1d950a2..ac929bec4c 100644
--- a/Makefile
+++ b/Makefile
@@ -238,7 +238,6 @@ clean:
 	$(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
-	$(Q)rm -rf tests/results/*
 
 cleanspaces:
 	find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
diff --git a/sw/in_progress/videolizer/wis-go7007-linux/Makefile b/sw/in_progress/videolizer/wis-go7007-linux/Makefile
index abe30d3613..3f130a9785 100644
--- a/sw/in_progress/videolizer/wis-go7007-linux/Makefile
+++ b/sw/in_progress/videolizer/wis-go7007-linux/Makefile
@@ -89,6 +89,7 @@ endif
 	$(MAKE) install -C apps DESTDIR=$(DESTDIR)
 
 clean:
-	$(MAKE) clean -C $(KSRC) M=$(shell pwd)/kernel
+	$(MAKE) clean -C $(KSRC) $(shell pwd)/kernel
 	rm -f hotplug/wis-ezusb udev/wis-ezusb.rules
 	$(MAKE) clean -C apps
+

From b2ec5485e2f95cb54efc2987a21e2ac9ea05e63a Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 16:42:44 +1100
Subject: [PATCH 08/17] Building the correct target aircraft for the
 LisaL/02_With_aspirin_v1.5_and_overo.t test cases.

---
 conf/conf.xml.example                        | 10 ++++++++++
 tests/LisaL/02_With_aspirin_v1.5_and_overo.t |  6 +++---
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index 6554a44879..f604a460ef 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -89,4 +89,14 @@
     settings="settings/settings_booz2.xml"
     gui_color="white"
     />
+  <aircraft
+    name="LisaLv11_Aspirinv15_Overo_RC"
+    ac_id="9"
+    airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml"
+    radio="radios/cockpitSX.xml"
+    telemetry="telemetry/telemetry_booz2.xml"
+    flight_plan="flight_plans/dummy.xml"
+    settings="settings/settings_booz2.xml"
+    gui_color="white"
+    />
 </conf>
diff --git a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
index 80eb977f88..a1c948f670 100644
--- a/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
+++ b/tests/LisaL/02_With_aspirin_v1.5_and_overo.t
@@ -9,18 +9,18 @@ $|++;
 
 ####################
 # Make the airframe
-my $make_compile_options = "AIRCRAFT=LisaLv11_Booz2v12_RC clean_ac ap.compile";
+my $make_compile_options = "AIRCRAFT=LisaLv11_Aspirinv15_Overo_RC clean_ac ap.compile";
 my $compile_output = run_program(
 	"Attempting to build the firmware.",
 	$ENV{'PAPARAZZI_SRC'},
 	"make $make_compile_options",
 	0,1);
-unlike($compile_output, '/Aircraft \'LisaLv11_Booz2v12_RC\' not found in/', "The compile output does not contain the message \"Aircraft \'LisaLv11_Booz2v12_RC\' not found in\"");
+unlike($compile_output, '/Aircraft \'LisaLv11_Aspirinv15_Overo_RC\' not found in/', "The compile output does not contain the message \"Aircraft \'LisaLv11_Aspirinv15_Overo_RC\' not found in\"");
 unlike($compile_output, '/\bError\b/i', "The compile output does not contain the word \"Error\"");
 
 ####################
 # Upload the airframe
-my $make_upload_options = "AIRCRAFT=LisaLv11_Booz2v12_RC BOARD_SERIAL=LISA-L-000154 ap.upload";
+my $make_upload_options = "AIRCRAFT=LisaLv11_Aspirinv15_Overo_RC BOARD_SERIAL=LISA-L-000154 ap.upload";
 my $upload_output = run_program(
 	"Attempting to build and upload the firmware.",
 	$ENV{'PAPARAZZI_SRC'},

From 7b486eeb8fc860fe5b5a8f6127e9b4e3418325f5 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 17:03:34 +1100
Subject: [PATCH 09/17] Correcting the aircraft id conflict

---
 conf/conf.xml.example | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index f604a460ef..c30ffb913e 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -91,7 +91,7 @@
     />
   <aircraft
     name="LisaLv11_Aspirinv15_Overo_RC"
-    ac_id="9"
+    ac_id="10"
     airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/telemetry_booz2.xml"

From 62299b78d8caf3425957bbddf0e35bae799ce08a Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 17:20:20 +1100
Subject: [PATCH 10/17] Updated the example airframe for Lisa/L with
 Aspirin_v1.5 and Overo. Still more work to do but it's better than it was.

---
 .../LisaL_v1.1_aspirin_v1.5_overo_rc.xml      | 290 +++++++++++++++++-
 1 file changed, 276 insertions(+), 14 deletions(-)

diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
index fe79b77174..c27f0e6d59 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -4,20 +4,282 @@
  Powered via a plug 12V pack
  Lisa/L v1.1 board
  XBee connected to UART2 configured at 38400
- Aspirin v1.5
- overo
+ Booz2 v1.2
+ GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
  -->
 <airframe name="TestConfig">
-    <firmware name="rotorcraft">
-        <target name="sim" 			board="pc"/>
-        <target name="ap" 			board="lisa_l_1.1"/>
-        
-        <subsystem name="radio_control" type="ppm"/>
-        <subsystem name="telemetry" 	type="xbee_api">
-            <configure name="MODEM_BAUD" value="B38400"/>
-        </subsystem>
-        <subsystem name="control"/>
-        <subsystem name="navigation"/>
-    </firmware>
-
+	<firmware name="rotorcraft">
+		<target name="ap" board="lisa_l_1.1">
+			<!--define name="NO_RC_THRUST_LIMIT"/--> 
+			<subsystem name="radio_control" type="spektrum"/>
+			<define name="RADIO_MODE" value="RADIO_AUX1"/>
+			<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+			<define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
+			<define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
+			<subsystem name="actuators"     type="mkk"/>
+			<subsystem name="telemetry"     type="transparent"/>
+		</target>
+		
+		<target name="sim" board="pc">
+			<subsystem name="fdm"           type="nps"/>
+			<subsystem name="radio_control" type="ppm"/>
+			<subsystem name="actuators"     type="mkk"/>
+		</target>
+		
+		<subsystem name="imu"           type="aspirin_v1.5"/>
+		<subsystem name="gps"           type="ublox">
+			<configure name="GPS_BAUD"    value="B57600"/>
+		</subsystem>
+		<subsystem name="stabilization"   type="euler"/>
+		<subsystem name="ahrs"            type="int_cmpl_quat"/>
+	</firmware>
+    
+    <!--
+     <firmware name="lisa_test_progs">
+     <target name="test_led"         board="lisa_l_1.1"/>
+     <target name="test_uart"        board="lisa_l_1.1"/>
+     <target name="test_servos"      board="lisa_l_1.1"/>
+     <target name="test_telemetry"   board="lisa_l_1.1"/>
+     <target name="test_baro"        board="lisa_l_1.1"/>
+     <target name="test_imu_b2"      board="lisa_l_1.1"/>
+     <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
+     <target name="test_imu_aspirin" board="lisa_l_1.1"/>
+     <target name="test_rc_spektrum" board="lisa_l_1.1"/>
+     <target name="test_rc_ppm"      board="lisa_l_1.1"/>
+     <target name="test_adc"         board="lisa_l_1.1"/>
+     <target name="test_hmc5843"     board="lisa_l_1.1"/>
+     <target name="test_itg3200"     board="lisa_l_1.1"/>
+     <target name="test_adxl345"             board="lisa_l_1.1"/>
+     <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
+     <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
+     <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
+     <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
+     </firmware>
+     
+     <firmware name="lisa_passthrough">
+     <target name="overo_test_passthrough" board="lisa_l_1.1"  >
+     <configure name="HOST"          value="A7"/>
+     <configure name="USER"          value=""/>
+     <configure name="TARGET_DIR"    value="~"/>
+     <configure name="PERIODIC_FREQ" value="512"/>
+     </target>
+     <target name="stm_passthrough" board="lisa_l_1.1">
+     <subsystem name="radio_control" type="spektrum"/>
+     <subsystem name="imu" type="b2_v1.2"/>
+     </target>
+     </firmware>
+     -->
+	
+	<servos min="0" neutral="0" max="0xff">
+		<servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
+		<servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
+		<servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
+		<servo name="LEFT"    no="3" min="0" neutral="0" max="255"/>
+	</servos>
+	
+	<commands>
+		<axis name="PITCH"  failsafe_value="0"/>
+		<axis name="ROLL"   failsafe_value="0"/>
+		<axis name="YAW"    failsafe_value="0"/>
+		<axis name="THRUST" failsafe_value="0"/>
+	</commands>
+	
+	<!-- for the sim -->
+	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+		<define name="NB" value="4"/>
+		<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+	</section>
+	
+	
+	<section name="SUPERVISION" prefix="SUPERVISION_">
+		<define name="MIN_MOTOR" value="2"/>
+		<define name="MAX_MOTOR" value="210"/>
+		<define name="TRIM_A" value="0"/>
+		<define name="TRIM_E" value="0"/>
+		<define name="TRIM_R" value="0"/>
+		<define name="NB_MOTOR" value="4"/>
+		<define name="SCALE" value="256"/>
+		<define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
+		<define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+		<define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+		<define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+	</section>
+	
+	<section name="IMU" prefix="IMU_">
+		<define name="GYRO_P_NEUTRAL" value="32581"/>
+		<define name="GYRO_Q_NEUTRAL" value="32008"/>
+		<define name="GYRO_R_NEUTRAL" value="33207"/>
+		<define name="GYRO_P_SENS"    value=".903" integer="16"/>
+		<define name="GYRO_Q_SENS"    value=".905" integer="16"/>
+		<define name="GYRO_R_SENS"    value=".893" integer="16"/>
+		<define name="GYRO_PQ_SENS"   value="0.0" integer="16"/>
+		<define name="GYRO_PR_SENS"   value="0.0" integer="16"/>
+		<define name="GYRO_QR_SENS"   value="0.0" integer="16"/>
+		
+		<define name="ACCEL_X_NEUTRAL" value="25950"/>
+		<define name="ACCEL_Y_NEUTRAL" value="26351"/>
+		<define name="ACCEL_Z_NEUTRAL" value="25696"/>
+		<define name="ACCEL_X_SENS"    value="1.86342150011" integer="16"/>
+		<define name="ACCEL_Y_SENS"    value="1.88378993899" integer="16"/>
+		<define name="ACCEL_Z_SENS"    value="1.86557913201" integer="16"/>
+		<define name="ACCEL_XY_SENS"   value="0.0" integer="16"/>
+		<define name="ACCEL_XZ_SENS"   value="0.0" integer="16"/>
+		<define name="ACCEL_YZ_SENS"   value="0.0" integer="16"/>
+		
+		<define name="MAG_X_NEUTRAL"   value="0"/>
+		<define name="MAG_Y_NEUTRAL"   value="0"/>
+		<define name="MAG_Z_NEUTRAL"   value="0"/>
+		<define name="MAG_X_SENS"      value="1." integer="16"/>
+		<define name="MAG_Y_SENS"      value="1." integer="16"/>
+		<define name="MAG_Z_SENS"      value="1." integer="16"/>
+		<define name="MAG_XY_SENS"     value="0.0" integer="16"/>
+		<define name="MAG_XZ_SENS"     value="0.0" integer="16"/>
+		<define name="MAG_YZ_SENS"     value="0.0" integer="16"/>
+		
+		<define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+		<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+		<define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+		
+	</section>
+	
+	<section name="AUTOPILOT">
+		<define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+		<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+		<define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
+	</section>
+	
+	<section name="BAT">
+		<define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
+		<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+		<define name="CRITIC_BAT_LEVEL" value="13.0" unit="V" />
+		<define name="LOW_BAT_LEVEL" value="14.0" unit="V" />
+	</section>
+	
+	<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+		
+		<define name="SP_MAX_P" value="10000"/>
+		<define name="SP_MAX_Q" value="10000"/>
+		<define name="SP_MAX_R" value="10000"/>
+		
+		<define name="GAIN_P" value="-400"/>
+		<define name="GAIN_Q" value="-400"/>
+		<define name="GAIN_R" value="-350"/>
+		
+	</section>
+	
+	<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+		
+		<!-- setpoints -->
+		<define name="SP_MAX_PHI"     value="45." unit="deg"/>
+		<define name="SP_MAX_THETA"   value="45." unit="deg"/>
+		<define name="SP_MAX_R"       value="90." unit="deg/s"/>
+		<define name="DEADBAND_R"     value="250"/>
+		
+		<!-- reference -->
+		<define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
+		<define name="REF_ZETA_P"   value="0.9"/>
+		<define name="REF_MAX_P"    value="300." unit="deg/s"/>
+		<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+		
+		<define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
+		<define name="REF_ZETA_Q"   value="0.9"/>
+		<define name="REF_MAX_Q"    value="300." unit="deg/s"/>
+		<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+		
+		<define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
+		<define name="REF_ZETA_R"   value="0.9"/>
+		<define name="REF_MAX_R"    value="180." unit="deg/s"/>
+		<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+		
+		<!-- 
+		 <define name="PHI_PGAIN"  value="-2000"/>
+		 <define name="PHI_DGAIN"  value="-400"/>
+		 <define name="PHI_IGAIN"  value="-200"/>
+		 
+		 <define name="THETA_PGAIN"  value="-2000"/>
+		 <define name="THETA_DGAIN"  value="-400"/>
+		 <define name="THETA_IGAIN"  value="-200"/>
+		 
+		 <define name="PSI_PGAIN"  value="-2000"/>
+		 <define name="PSI_DGAIN"  value="-400"/>
+		 <define name="PSI_IGAIN"  value="-10"/>
+		 
+		 
+		 <define name="PHI_DDGAIN"   value=" 300"/>
+		 <define name="THETA_DDGAIN" value=" 300"/>
+		 <define name="PSI_DDGAIN"   value=" 300"/>   
+		 -->
+		
+		<!-- feedback -->
+		<define name="PHI_PGAIN"  value="-900"/>
+		<define name="PHI_DGAIN"  value="-200"/>
+		<define name="PHI_IGAIN"  value="-200"/>
+		
+		<define name="THETA_PGAIN"  value="-900"/>
+		<define name="THETA_DGAIN"  value="-200"/>
+		<define name="THETA_IGAIN"  value="-200"/>
+		
+		<define name="PSI_PGAIN"  value="-900"/>
+		<define name="PSI_DGAIN"  value="-200"/>
+		<define name="PSI_IGAIN"  value="-10"/>
+		
+		<!-- feedforward -->
+		<define name="PHI_DDGAIN"   value=" 200"/>
+		<define name="THETA_DDGAIN" value=" 200"/>
+		<define name="PSI_DDGAIN"   value=" 200"/>
+		
+	</section>
+	
+	<section name="AHRS" prefix="AHRS_">
+		<define name="PROPAGATE_FREQUENCY" value="512"/>
+		<define name="H_X" value=" 0.3723657"/>
+		<define name="H_Y" value=" 0.1515225"/>
+		<define name="H_Z" value="-0.9156335"/>
+	</section>
+	
+	<section name="INS" prefix="INS_">
+		<define name="BARO_SENS" value="10." integer="16"/>
+	</section>
+	
+	<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+		<define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+		<define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+		<define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+		<define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+		<define name="MAX_SUM_ERR" value="2000000"/>
+		<define name="HOVER_KP"    value="-150"/>
+		<define name="HOVER_KD"    value="-80"/>
+		<define name="HOVER_KI"    value="0"/>
+		
+		<!--  
+		 <define name="HOVER_KP"     value="-150"/>
+		 <define name="HOVER_KD"     value="-80"/>
+		 <define name="HOVER_KI"     value="0"/>
+		 -->
+		
+		<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+		<define name="RC_CLIMB_COEF" value ="163"/>
+		<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+		<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+		<!-- <define name="INV_M" value ="0.2"/> -->
+	</section>
+	
+	
+	<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+		<define name="PGAIN" value="-100"/>
+		<define name="DGAIN" value="-100"/>
+		<define name="IGAIN" value="-0"/>
+		<define name="NGAIN" value="-0"/>
+	</section>
+	
+	<section name="MISC">
+		<define name="FACE_REINJ_1"  value="1024"/>
+	</section>
+	
+	<section name="SIMULATOR" prefix="NPS_">
+		<define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+		<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+		<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+	</section>
+    
 </airframe>

From 4f2fbbca79cdac480562eccf9b1034db42b77e53 Mon Sep 17 00:00:00 2001
From: Bernard Davison <bernard@gondwana.com.au>
Date: Wed, 21 Mar 2012 17:31:49 +1100
Subject: [PATCH 11/17] Excluding the sim target for the new example config on
 mac since it fails due to a JSBSim error

---
 tests/examples/01_compile_all_example_targets.t | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/examples/01_compile_all_example_targets.t b/tests/examples/01_compile_all_example_targets.t
index d16dc8c143..71f4484928 100644
--- a/tests/examples/01_compile_all_example_targets.t
+++ b/tests/examples/01_compile_all_example_targets.t
@@ -28,7 +28,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 				next unless scalar $airframe_config->{'firmware'}->{$process}->{'target'}->{$target}->{'board'};
 
 				# Exclude some builds on Mac as they are currently broken.
-				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1#i) and ($target =~ m#sim#i) );
+				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1|LisaLv11_Aspirinv15_Overo_RC#i) and ($target =~ m#sim#i) );
 
 				#warn "EXAMPLE: [$example] TARGET: [$target]\n";
 				my $make_options = "AIRCRAFT=$example clean_ac $target.compile";
@@ -48,7 +48,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}})
 				next unless scalar $airframe_config->{'firmware'}->{$process}->{$target}->{'board'};
 
 				# Exclude some builds on Mac as they are currently broken.
-				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1#i) and ($target =~ m#sim#i) );
+				next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1|LisaLv11_Aspirinv15_Overo_RC#i) and ($target =~ m#sim#i) );
 
 				#warn "EXAMPLET: [$example] TARGET: [$target]\n";
 				my $make_options = "AIRCRAFT=$example clean_ac $target.compile";

From 1bbaeef8dcc5e63e05b41cfa5adeba880135d50c Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Thu, 22 Mar 2012 14:10:40 +0100
Subject: [PATCH 12/17] actuators_pwm_supervision: removed old/unused
 booz2_commands

---
 .../firmwares/rotorcraft/actuators/actuators_pwm_supervision.c   | 1 -
 1 file changed, 1 deletion(-)

diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
index 4647b682f6..30b4d21075 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
@@ -48,7 +48,6 @@ void actuators_init(void)
 void actuators_set(bool_t motors_on) {
   int32_t pwm_commands[COMMANDS_NB];
   int32_t pwm_commands_pprz[COMMANDS_NB];
-  int32_t booz2_commands[COMMANDS_NB];
 
   pwm_commands[COMMAND_ROLL] = commands[COMMAND_ROLL] * PWM_GAIN_SCALE;
   pwm_commands[COMMAND_PITCH] = commands[COMMAND_PITCH] * PWM_GAIN_SCALE;

From 030732d37e1657cb5315cee0a400c093ad133919 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Thu, 22 Mar 2012 18:00:48 +0100
Subject: [PATCH 13/17] rotorcraft actuators: headers and doxygen

---
 sw/airborne/firmwares/rotorcraft/actuators.h  | 27 ++++++++++++-
 .../rotorcraft/actuators/actuators_asctec.c   | 25 ++++++++++++
 .../rotorcraft/actuators/actuators_asctec.h   | 40 ++++++++++---------
 .../rotorcraft/actuators/actuators_mkk.c      |  6 ++-
 .../rotorcraft/actuators/actuators_mkk.h      |  6 ++-
 .../actuators/actuators_pwm_supervision.c     |  8 ++--
 .../actuators/actuators_pwm_supervision.h     |  9 +++--
 .../rotorcraft/actuators/actuators_skiron.c   |  4 ++
 .../rotorcraft/actuators/actuators_skiron.h   |  4 +-
 .../actuators/arch/stm32/actuators_pwm_arch.c |  7 ++--
 .../actuators/arch/stm32/actuators_pwm_arch.h |  7 +---
 .../rotorcraft/actuators/supervision.c        | 11 +++--
 .../rotorcraft/actuators/supervision.h        | 27 +++++++++++++
 13 files changed, 136 insertions(+), 45 deletions(-)

diff --git a/sw/airborne/firmwares/rotorcraft/actuators.h b/sw/airborne/firmwares/rotorcraft/actuators.h
index 23d7988fa4..e8d0c056d1 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators.h
@@ -1,9 +1,32 @@
+/*
+ * Copyright (C) 2010-2012 The Paparazzi Team
+ *
+ * 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.
+ */
+
+/** @file actuators.h
+ *  Generic Actuators API.
+ */
+
 #ifndef ACTUATORS_H
 #define ACTUATORS_H
 
 //#include ACTUATORS
-//#include "booz2_servos_direct_hw.h"
-//#include "booz2_control_surfaces.h"
 
 #include "std.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index fc55a64aa2..3a2e203e2e 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -1,3 +1,28 @@
+/*
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * 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.
+ */
+
+/** @file actuators_asctec.c
+ *  Actuators driver for Asctec motor controllers.
+ */
+
 #include "firmwares/rotorcraft/actuators.h"
 #include "firmwares/rotorcraft/actuators/actuators_asctec.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
index 9b9dc58916..8a7ddddeef 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,26 +19,30 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file actuators_asctec.h
+ *  Actuators driver for Asctec motor controllers.
+ */
+
 #ifndef ACTUATORS_ASCTEC_H
 #define ACTUATORS_ASCTEC_H
 
 #include "mcu_periph/i2c.h"
 
 enum actuators_astec_cmd { NONE,
-               TEST,
-               REVERSE,
-               SET_ADDR };
+                           TEST,
+                           REVERSE,
+                           SET_ADDR };
 
 enum actuators_astec_addr { FRONT,
-                BACK,
-                LEFT,
-                RIGHT };
+                            BACK,
+                            LEFT,
+                            RIGHT };
 
 /* this is for the v1 protocol which does its own mixing */
 enum actuators_astec_cmds { PITCH,
-                ROLL,
-                YAW,
-                THRUST,
+                            ROLL,
+                            YAW,
+                            THRUST,
                             CMD_NB };
 
 struct ActuatorsAsctec {
@@ -56,16 +58,16 @@ struct ActuatorsAsctec {
 extern struct ActuatorsAsctec actuators_asctec;
 
 #define actuators_asctec_SetCommand(_v) {  \
-    actuators_asctec.cmd = _v;			\
-}
+    actuators_asctec.cmd = _v;             \
+  }
 
-#define actuators_asctec_SetNewAddr(_v) {	\
-    actuators_asctec.new_addr = _v;		\
-}
+#define actuators_asctec_SetNewAddr(_v) {  \
+    actuators_asctec.new_addr = _v;        \
+  }
 
-#define actuators_asctec_SetCurAddr(_v) {	\
-    actuators_asctec.cur_addr = _v;		\
-}
+#define actuators_asctec_SetCurAddr(_v) {  \
+    actuators_asctec.cur_addr = _v;        \
+  }
 
 
 #endif /* ACTUATORS_ASCTEC_H */
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index 57289b61dc..3a037eba0d 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file actuators_mkk.c
+ *  Actuators driver for Mikrokopter motor controllers.
+ */
+
 #include "firmwares/rotorcraft/actuators.h"
 #include "firmwares/rotorcraft/actuators/actuators_mkk.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
index 77b36eb980..a4e5e41f76 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
@@ -1,6 +1,4 @@
 /*
- * $Id: actuators_mkk.h 3847 2009-08-02 21:47:31Z poine $
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file actuators_mkk.h
+ *  Actuators driver for Mikrokopter motor controllers.
+ */
+
 #ifndef ACTUATORS_MKK_H
 #define ACTUATORS_MKK_H
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
index 30b4d21075..424f832ed9 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
@@ -1,7 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2010 The Paparazzi Team
+ * Copyright (C) 2010-2012 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -21,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file actuators_pwm_supervision.h
+ *  PWM actuators with supervision.
+ */
+
 #include "firmwares/rotorcraft/actuators.h"
 #include "firmwares/rotorcraft/commands.h"
 #include "actuators_pwm_supervision.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h
index cf10740cc2..eead17f8c9 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h
@@ -1,7 +1,5 @@
 /*
- * $Id: actuators_pwm_supervision$
- *
- * Copyright (C) 2010 The Paparazzi Team
+ * Copyright (C) 2010-2012 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -19,7 +17,10 @@
  * 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.
- *
+ */
+
+/** @file actuators_pwm_supervision.h
+ *  PWM actuators with supervision.
  */
 
 #ifndef ACTUATORS_PWM_SUPERVISION_H
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
index 7948a7b5db..b7a3aec3fa 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
@@ -19,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file actuators_skiron.c
+ *  Skiron motor speed controller by Michel.
+ */
+
 #include "firmwares/rotorcraft/actuators.h"
 #include "firmwares/rotorcraft/actuators/actuators_skiron.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.h
index 3fc746e967..04c559b6c7 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.h
@@ -19,7 +19,9 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/* Skiron motor speed controller by Michel */
+/** @file actuators_skiron.h
+ *  Skiron motor speed controller by Michel.
+ */
 
 #ifndef ACTUATORS_SKIRON_H
 #define ACTUATORS_SKIRON_H
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
index 6007067d4b..e0335a0a11 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of Paparazzi.
@@ -19,7 +17,10 @@
  * 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.
- *
+ */
+
+/** @file arch/stm32/actuators_pwm_arch.c
+ *  STM32 PWM servos handling
  */
 
 #include "firmwares/rotorcraft/actuators/actuators_pwm.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
index 867cb006e8..480dd466c6 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of Paparazzi.
@@ -19,11 +17,10 @@
  * 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.
- *
  */
 
-/*
- * STM32 PWM servos handling
+/** @file arch/stm32/actuators_pwm_arch.h
+ *  STM32 PWM servos handling
  */
 
 #ifndef ACTUATORS_PWM_ARCH_H
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
index 30ce41af55..a08ad59512 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
@@ -1,7 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2008-2010 The Paparazzi Team
+ * Copyright (C) 2008-2012 The Paparazzi Team
  *
  * This file is part of Paparazzi.
  *
@@ -19,7 +17,12 @@
  * 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.
- *
+ */
+
+/** @file supervision.c
+ *  Supervision.
+ *  Handles the mapping of roll/pitch/yaw commands
+ *  to actual motor commands.
  */
 
 #include "firmwares/rotorcraft/actuators/supervision.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.h b/sw/airborne/firmwares/rotorcraft/actuators/supervision.h
index e8aa343c0b..66621af8eb 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.h
@@ -1,3 +1,30 @@
+/*
+ * Copyright (C) 2008-2012 The Paparazzi Team
+ *
+ * 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.
+ */
+
+/** @file supervision.h
+ *  Supervision.
+ *  Handles the mapping of roll/pitch/yaw commands
+ *  to actual motor commands.
+ */
+
 #ifndef SUPERVISION_H
 #define SUPERVISION_H
 

From fe7c72c741a6287510a42ac8dec53795f1482a0b Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Fri, 23 Mar 2012 14:47:17 +0100
Subject: [PATCH 14/17] rotorcraft guidance and stabilization: only
 documentation and cosmetics

---
 .../rotorcraft/guidance/guidance_h.c          |  7 +++++--
 .../rotorcraft/guidance/guidance_h.h          | 16 +++++++++-----
 .../rotorcraft/guidance/guidance_h_ref.h      |  7 +++++--
 .../rotorcraft/guidance/guidance_v.c          | 21 ++++++++++++-------
 .../rotorcraft/guidance/guidance_v.h          | 12 ++++++++++-
 .../rotorcraft/guidance/guidance_v_ref.h      |  5 +++++
 .../firmwares/rotorcraft/stabilization.c      |  6 ++++--
 .../firmwares/rotorcraft/stabilization.h      | 11 ++++++++--
 .../stabilization/stabilization_none.c        | 19 +++++++----------
 .../stabilization/stabilization_none.h        | 11 +++++++---
 .../stabilization/stabilization_rate.c        |  8 +++++--
 .../stabilization/stabilization_rate.h        |  8 +++++--
 12 files changed, 91 insertions(+), 40 deletions(-)

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 21287d7801..b7e43fc78f 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmware/rotorcraft/guidance/guidance_h.c
+ *  Horizontal guidance for rotorcrafts.
+ *
+ */
+
 #define GUIDANCE_H_C
 //#define GUIDANCE_H_USE_REF 1
 #include "firmwares/rotorcraft/guidance/guidance_h.h"
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index 20a761d987..fdc49cb05d 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmware/rotorcraft/guidance/guidance_h.h
+ *  Horizontal guidance for rotorcrafts.
+ *
+ */
+
 #ifndef GUIDANCE_H_H
 #define GUIDANCE_H_H
 
@@ -39,9 +42,12 @@
 
 extern uint8_t guidance_h_mode;
 
-/* horizontal setpoint in NED */
-/* Q_int32_xx_8        */
+/** horizontal position setpoint in NED.
+ *  fixed point representation: Q23.8
+ *  accuracy 0.0039, range 8388km
+ */
 extern struct Int32Vect2 guidance_h_pos_sp;
+
 extern int32_t           guidance_h_psi_sp;
 extern struct Int32Vect2 guidance_h_pos_ref;
 extern struct Int32Vect2 guidance_h_speed_ref;
@@ -53,7 +59,7 @@ extern struct Int32Vect2 guidance_h_pos_err_sum;
 extern struct Int32Vect2 guidance_h_nav_err;
 
 extern struct Int32Eulers guidance_h_rc_sp;
-extern struct Int32Vect2 guidance_h_command_earth;
+extern struct Int32Vect2  guidance_h_command_earth;
 extern struct Int32Eulers guidance_h_command_body;
 
 extern int32_t guidance_h_pgain;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
index 1536d9c76b..93d944cf99 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
@@ -1,6 +1,4 @@
 /*
- * $Id: guidance_v_ref.h 4173 2009-09-18 11:57:21Z flixr $
- *
  * Copyright (C) 2008-2009 ENAC <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmware/rotorcraft/guidance/guidance_h_ref.h
+ *  Reference generation for horizontal guidance.
+ *
+ */
+
 #ifndef GUIDANCE_H_REF_H
 #define GUIDANCE_H_REF_H
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 71cf416a4a..b8664b05fd 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmwares/rotorcraft/guidance/guidance_v.c
+ *  Vertical guidance for rotorcrafts.
+ *
+ */
+
 #define GUIDANCE_V_C
 #define GUIDANCE_V_USE_REF 1
 #include "firmwares/rotorcraft/guidance/guidance_v.h"
@@ -44,7 +47,7 @@ int32_t guidance_v_delta_t;
 
 
 /** Direct throttle from radio control.
- *  range 0:200
+ *  range 0:#MAX_PPRZ
  */
 int32_t guidance_v_rc_delta_t;
 
@@ -127,8 +130,9 @@ void guidance_v_mode_changed(uint8_t new_mode) {
 }
 
 void guidance_v_notify_in_flight( bool_t in_flight) {
-  if (in_flight)
+  if (in_flight) {
     gv_adapt_init();
+  }
 }
 
 
@@ -157,8 +161,9 @@ void guidance_v_run(bool_t in_flight) {
 
   case GUIDANCE_V_MODE_CLIMB:
 #if USE_FMS
-    if (fms.enabled && fms.input.v_mode == GUIDANCE_V_MODE_CLIMB)
+    if (fms.enabled && fms.input.v_mode == GUIDANCE_V_MODE_CLIMB) {
       guidance_v_zd_sp = fms.input.v_sp.climb;
+    }
 #endif
     gv_update_ref_from_zd_sp(guidance_v_zd_sp);
     run_hover_loop(in_flight);
@@ -166,7 +171,7 @@ void guidance_v_run(bool_t in_flight) {
     stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
 #else
     // saturate max authority with RC stick
-    stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
+    stabilization_cmd[COMMAND_THRUST] = Min(guidance_v_rc_delta_t, guidance_v_delta_t);
 #endif
     break;
 
@@ -181,7 +186,7 @@ void guidance_v_run(bool_t in_flight) {
     stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
 #else
     // saturate max authority with RC stick
-    stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
+    stabilization_cmd[COMMAND_THRUST] = Min(guidance_v_rc_delta_t, guidance_v_delta_t);
 #endif
     break;
 
@@ -207,7 +212,7 @@ void guidance_v_run(bool_t in_flight) {
 #else
       /* use rc limitation if available */
       if (radio_control.status == RC_OK)
-        stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
+        stabilization_cmd[COMMAND_THRUST] = Min(guidance_v_rc_delta_t, guidance_v_delta_t);
       else
         stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
 #endif
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
index ca39608b06..ded9bd3500 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
@@ -19,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmwares/rotorcraft/guidance/guidance_v.h
+ *  Vertical guidance for rotorcrafts.
+ *
+ */
+
 #ifndef GUIDANCE_V
 #define GUIDANCE_V
 
@@ -82,7 +87,12 @@ extern int32_t guidance_v_zdd_ref;
 extern int32_t guidance_v_z_sum_err; ///< accumulator for I-gain
 extern int32_t guidance_v_ff_cmd;    ///< feed-forward command
 extern int32_t guidance_v_fb_cmd;    ///< feed-back command
-extern int32_t guidance_v_delta_t;   ///< command output (ff+fb)
+
+/** thrust command.
+ *  summation of feed-forward and feed-back commands,
+ *  valid range 0 : #MAX_PPRZ
+ */
+extern int32_t guidance_v_delta_t;
 
 extern int32_t guidance_v_kp; ///< vertical control P-gain
 extern int32_t guidance_v_kd; ///< vertical control D-gain
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
index 171acc679d..695d6f1a23 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
@@ -19,6 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firwmares/rotorcraft/guidance/guidance_v_ref.h
+ *  Reference generation for vertical guidance.
+ *
+ */
+
 #ifndef GUIDANCE_V_REF_H
 #define GUIDANCE_V_REF_H
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization.c b/sw/airborne/firmwares/rotorcraft/stabilization.c
index 449d30eff3..e2cbfc39ef 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmwares/rotorcraft/stabilization.c
+ *  General stabilization interface for rotorcrafts.
+ */
+
 #include "firmwares/rotorcraft/stabilization.h"
 
 int32_t stabilization_cmd[COMMANDS_NB];
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization.h b/sw/airborne/firmwares/rotorcraft/stabilization.h
index fae6fa0b06..d693e6a1f0 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file firmwares/rotorcraft/stabilization.h
+ *  General stabilization interface for rotorcrafts.
+ */
+
 #ifndef STABILIZATION_H
 #define STABILIZATION_H
 
@@ -35,6 +37,11 @@
 
 extern void stabilization_init(void);
 
+/** Stabilization commands.
+ *  Contains the resulting stabilization commands,
+ *  regardless of whether rate or attitude is currently used.
+ *  Range -MAX_PPRZ:MAX_PPRZ
+ */
 extern int32_t stabilization_cmd[COMMANDS_NB];
 
 #endif /* STABILIZATION_H */
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
index 687449636a..cd78cdb9b8 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
@@ -1,8 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
- * Copyright (C) 2010 Felix Ruess <felix.ruess@gmail.com>
+ * Copyright (C) 2011-2012 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -22,6 +19,13 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file stabilization_none.c
+ *  Dummy stabilization for rotorcrafts.
+ *
+ *  Doesn't actually do any stabilization,
+ *  just directly passes the RC commands along.
+ */
+
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_none.h"
 
@@ -42,19 +46,12 @@
 struct Int32Rates stabilization_none_rc_cmd;
 
 void stabilization_none_init(void) {
-
   INT_RATES_ZERO(stabilization_none_rc_cmd);
-
 }
 
-
 void stabilization_none_read_rc( void ) {
-
-
     stabilization_none_rc_cmd.p = (int32_t)-radio_control.values[RADIO_ROLL];
-
     stabilization_none_rc_cmd.q = (int32_t)radio_control.values[RADIO_PITCH];
-
     stabilization_none_rc_cmd.r = (int32_t)-radio_control.values[RADIO_YAW];
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h
index 515d4e844a..07ddd22aca 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h
@@ -1,7 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ * Copyright (C) 2011-2012 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -21,6 +19,13 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file stabilization_none.h
+ *  Dummy stabilization for rotorcrafts.
+ *
+ *  Doesn't actually do any stabilization,
+ *  just directly passes the RC commands along.
+ */
+
 #ifndef STABILIZATION_NONE
 #define STABILIZATION_NONE
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
index 44ff7ac984..2a43e9ee7c 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  * Copyright (C) 2010 Felix Ruess <felix.ruess@gmail.com>
  *
@@ -22,6 +20,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file stabilization_rate.c
+ *  Rate stabilization for rotorcrafts.
+ *
+ *  Control loops for angular velocity.
+ */
+
 #include "firmwares/rotorcraft/stabilization.h"
 
 #include "subsystems/ahrs.h"
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
index 741b3c4fb0..41a6eaf99b 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -21,6 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/** @file stabilization_rate.h
+ *  Rate stabilization for rotorcrafts.
+ *
+ *  Control loops for angular velocity.
+ */
+
 #ifndef STABILIZATION_RATE
 #define STABILIZATION_RATE
 

From fa39419a03a84f9335d73fa6b5a9dce6b81f277d Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Fri, 23 Mar 2012 16:51:42 +0100
Subject: [PATCH 15/17] board makefiles: allow to configure other ACTUATORS in
 airframe file and no more including of other makefiles

---
 conf/boards/lisa_l_1.0.makefile |   8 +++
 conf/boards/lisa_l_1.1.makefile | 105 +++++++++++++++++++++++++++++++-
 conf/boards/lisa_m_1.0.makefile |  14 +----
 conf/boards/lisa_m_2.0.makefile |  89 ++++++++++++++++++++++++++-
 conf/boards/navgo_1.0.makefile  |   4 +-
 conf/boards/tiny_0.99.makefile  |  76 +++++++++++++++++++++--
 conf/boards/tiny_1.1.makefile   |  71 +++++++++++++++++++--
 conf/boards/tiny_2.1.makefile   |  73 +++++++++++++++++++++-
 conf/boards/tiny_2.11.makefile  |  17 +++++-
 conf/boards/twog_1.0.makefile   |  73 +++++++++++++++++++++-
 conf/boards/twog_1.makefile     |   2 -
 conf/boards/umarim_1.0.makefile |  18 +++++-
 12 files changed, 511 insertions(+), 39 deletions(-)
 delete mode 100644 conf/boards/twog_1.makefile

diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile
index d5ebd0ba1f..2e427d0207 100644
--- a/conf/boards/lisa_l_1.0.makefile
+++ b/conf/boards/lisa_l_1.0.makefile
@@ -59,8 +59,16 @@ ifndef SYS_TIME_LED
 SYS_TIME_LED = 1
 endif
 
+
+#
+# default uart configuration
+#
+ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   = UART3
+endif
+ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
 RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
+endif
 
 ifndef MODEM_PORT
 MODEM_PORT=UART2
diff --git a/conf/boards/lisa_l_1.1.makefile b/conf/boards/lisa_l_1.1.makefile
index 6f15ce905f..2bab50dddf 100644
--- a/conf/boards/lisa_l_1.1.makefile
+++ b/conf/boards/lisa_l_1.1.makefile
@@ -1,11 +1,112 @@
 # Hey Emacs, this is a -*- makefile -*-
+#
+# lisa_l_1.1.makefile
+#
+# http://paparazzi.enac.fr/wiki/User/LisaL
+#
 
-include $(PAPARAZZI_SRC)/conf/boards/lisa_l_1.0.makefile
+BOARD=lisa_l
+BOARD_VERSION=1.1
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+# -----------------------------------------------------------------------
+ifeq ($(BOARD_PROCESSOR),'omap')
+
+	ARCH  = omap
+	$(TARGET).LDFLAGS += -levent -lm
+
+# -----------------------------------------------------------------------
+else
+
+	ARCH=stm32
+
+	$(TARGET).ARCHDIR = $(ARCH)
+# not needed?
+
+endif
+# -----------------------------------------------------------------------
+
+ifndef FLASH_MODE
+FLASH_MODE = JTAG
+endif
+
+#
+#
+# some default values shared between different firmwares
+#
+#
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = 5
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = 7
+endif
+
+ifndef GPS_LED
+GPS_LED = 3
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = 1
+endif
+
+
+#
+# default uart configuration
+#
+ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   = UART3
+endif
+ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT=UART2
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD=B57600
+endif
+
+ifndef GPS_PORT
+GPS_PORT=UART1
+endif
+ifndef GPS_BAUD
+GPS_BAUD=B38400
+endif
 
 #
 # this is the DRDY pin of a max1168 on a booz IMU
 #
-# v1.1
+# v 1.1
 #
 MAX_1168_DRDY_PORT = _GPIOB
 MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOB
+# v1.1
+#MAX_1168_DRDY_PORT = GPIOB
+
+
+ifndef ADC_IR1
+ADC_IR1      = 1
+ADC_IR1_CHAN = 0
+endif
+ifndef ADC_IR2
+ADC_IR2      = 2
+ADC_IR2_CHAN = 1
+endif
+ifndef ADC_IR3
+ADC_IR_TOP      = 4
+ADC_IR_TOP_CHAN = 3
+endif
+ifndef ADC_IR_NB_SAMPLES
+ADC_IR_NB_SAMPLES = 16
+endif
diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile
index ce53ca3c06..b2e64f84cb 100644
--- a/conf/boards/lisa_m_1.0.makefile
+++ b/conf/boards/lisa_m_1.0.makefile
@@ -52,6 +52,9 @@ ifndef SYS_TIME_LED
 SYS_TIME_LED = 1
 endif
 
+#
+# default uart configuration
+#
 ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   = UART3
 endif
@@ -76,17 +79,6 @@ GPS_BAUD=B38400
 endif
 
 
-#
-# this is the DRDY pin of a max1168 on a booz IMU
-#
-# v 1.0
-#
-MAX_1168_DRDY_PORT = _GPIOD
-MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOD
-# v1.1
-#MAX_1168_DRDY_PORT = GPIOB
-
-
 
 ifndef ADC_IR1
 ADC_IR1      = 1
diff --git a/conf/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile
index 2e9f366483..8040376e97 100644
--- a/conf/boards/lisa_m_2.0.makefile
+++ b/conf/boards/lisa_m_2.0.makefile
@@ -1,12 +1,97 @@
 # Hey Emacs, this is a -*- makefile -*-
+#
+# lisa_m_2.0.makefile
+#
+# http://paparazzi.enac.fr/wiki/Lisa/M
+#
+
+BOARD=lisa_m
+BOARD_VERSION=1.0
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+ARCH=stm32
+$(TARGET).ARCHDIR = $(ARCH)
+# not needed?
+$(TARGET).OOCD_INTERFACE=flossjtag
+#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
+
+# -----------------------------------------------------------------------
+
+ifndef FLASH_MODE
+FLASH_MODE = JTAG
+#FLASH_MODE = SERIAL
+endif
 
 #
-# Swap GPS UART with spektrum UART
 #
+# some default values shared between different firmwares
+#
+#
+
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = none
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = none
+endif
+
+ifndef GPS_LED
+GPS_LED = none
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = 1
+endif
+
+#
+# default uart configuration
+#
+ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   = UART1
+endif
+
+ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT=UART2
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD=B57600
+endif
+
 
 ifndef GPS_PORT
 GPS_PORT=UART3
 endif
+ifndef GPS_BAUD
+GPS_BAUD=B38400
+endif
 
-include $(PAPARAZZI_SRC)/conf/boards/lisa_m_1.0.makefile
+
+
+ifndef ADC_IR1
+ADC_IR1      = 1
+ADC_IR1_CHAN = 0
+endif
+ifndef ADC_IR2
+ADC_IR2      = 2
+ADC_IR2_CHAN = 1
+endif
+ifndef ADC_IR3
+ADC_IR_TOP      = 4
+ADC_IR_TOP_CHAN = 3
+endif
+ifndef ADC_IR_NB_SAMPLES
+ADC_IR_NB_SAMPLES = 16
+endif
diff --git a/conf/boards/navgo_1.0.makefile b/conf/boards/navgo_1.0.makefile
index 75b42e53f4..2fad0c60a2 100644
--- a/conf/boards/navgo_1.0.makefile
+++ b/conf/boards/navgo_1.0.makefile
@@ -44,7 +44,9 @@ SYS_TIME_LED = none
 endif
 
 
-### default settings
+#
+# default uart settings
+#
 ifndef GPS_PORT
 GPS_PORT	= UART0
 endif
diff --git a/conf/boards/tiny_0.99.makefile b/conf/boards/tiny_0.99.makefile
index f3879c0b70..64650b82a1 100644
--- a/conf/boards/tiny_0.99.makefile
+++ b/conf/boards/tiny_0.99.makefile
@@ -4,17 +4,81 @@
 # http://paparazzi.enac.fr/wiki/Tiny_v0.99
 #
 
-
-include $(PAPARAZZI_SRC)/conf/boards/tiny_2.11.makefile
-
+ARCH=lpc21
 
 BOARD=tiny
 BOARD_VERSION=0.99
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-GPS_PORT = UART1
-GPS_LED = none
-MODEM_PORT = UART0
 
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = none
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = none
+endif
+
+ifndef GPS_LED
+GPS_LED = none
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = none
+endif
+
+
+#
+# default uart settings
+#
+ifndef GPS_PORT
+GPS_PORT	= UART1
+endif
+ifndef GPS_BAUD
+GPS_BAUD	= B38400
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT	= UART0
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD 	= B57600
+endif
+
+
+
+ADC_IR_TOP = ADC_0
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_NB_SAMPLES = 16
+
+ADC_GENERIC_NB_SAMPLES = 16
+
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
 ACTUATORS = actuators_4015
+endif
+
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCH)
diff --git a/conf/boards/tiny_1.1.makefile b/conf/boards/tiny_1.1.makefile
index 04cb4feaff..c175297b70 100644
--- a/conf/boards/tiny_1.1.makefile
+++ b/conf/boards/tiny_1.1.makefile
@@ -3,9 +3,7 @@
 #
 # http://paparazzi.enac.fr/wiki/Tiny_v1.1
 #
-
-
-include $(PAPARAZZI_SRC)/conf/boards/tiny_2.11.makefile
+ARCH=lpc21
 
 
 BOARD=tiny
@@ -13,8 +11,69 @@ BOARD_VERSION=1.1
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
-GPS_PORT = UART1
-GPS_LED = none
-MODEM_PORT = UART0
 
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = none
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = none
+endif
+
+ifndef GPS_LED
+GPS_LED = none
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = none
+endif
+
+ifndef GPS_PORT
+GPS_PORT	= UART1
+endif
+ifndef GPS_BAUD
+GPS_BAUD	= B38400
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT	= UART0
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD 	= B57600
+endif
+
+
+ADC_IR_TOP = ADC_0
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_NB_SAMPLES = 16
+
+ADC_GENERIC_NB_SAMPLES = 16
+
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
 ACTUATORS = actuators_4015
+endif
+
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCH)
diff --git a/conf/boards/tiny_2.1.makefile b/conf/boards/tiny_2.1.makefile
index ad7b27d9cb..004def60c0 100644
--- a/conf/boards/tiny_2.1.makefile
+++ b/conf/boards/tiny_2.1.makefile
@@ -4,11 +4,80 @@
 # http://paparazzi.enac.fr/wiki/Tiny_v2
 #
 
-include $(PAPARAZZI_SRC)/conf/boards/tiny_2.11.makefile
-
+ARCH=lpc21
 
 BOARD=tiny
 BOARD_VERSION=2.1
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = none
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = none
+endif
+
+ifndef GPS_LED
+GPS_LED = 2
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = none
+endif
+
+
+#
+# default uart settings
+#
+ifndef GPS_PORT
+GPS_PORT	= UART0
+endif
+ifndef GPS_BAUD
+GPS_BAUD	= B38400
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT	= UART1
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD 	= B57600
+endif
+
+
+ADC_IR_TOP = ADC_0
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_NB_SAMPLES = 16
+
+ADC_GENERIC_NB_SAMPLES = 16
+
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
+ACTUATORS = actuators_4017
+endif
+
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCH)
diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile
index 53a6d4f355..afcfd6d918 100644
--- a/conf/boards/tiny_2.11.makefile
+++ b/conf/boards/tiny_2.11.makefile
@@ -11,6 +11,7 @@ BOARD_VERSION=2.11
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
+
 ifndef FLASH_MODE
 FLASH_MODE = IAP
 endif
@@ -42,7 +43,10 @@ ifndef SYS_TIME_LED
 SYS_TIME_LED = none
 endif
 
-### default settings for tiny_2 and twog
+
+#
+# default uart settings
+#
 ifndef GPS_PORT
 GPS_PORT	= UART0
 endif
@@ -66,7 +70,14 @@ ADC_GYRO_NB_SAMPLES = 16
 
 ADC_GENERIC_NB_SAMPLES = 16
 
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
+ACTUATORS = actuators_4017
+endif
+
+
 # All targets on the TINY board run on the same processor achitecture
 $(TARGET).ARCHDIR = $(ARCH)
-
-ACTUATORS = actuators_4017
diff --git a/conf/boards/twog_1.0.makefile b/conf/boards/twog_1.0.makefile
index d02994618d..50d76458e9 100644
--- a/conf/boards/twog_1.0.makefile
+++ b/conf/boards/twog_1.0.makefile
@@ -4,9 +4,80 @@
 # http://paparazzi.enac.fr/wiki/Twog_v1
 #
 
-include $(PAPARAZZI_SRC)/conf/boards/tiny_2.11.makefile
+ARCH=lpc21
 
 BOARD=twog
 BOARD_VERSION=1.0
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+#
+# default LED configuration
+#
+ifndef RADIO_CONTROL_LED
+RADIO_CONTROL_LED  = none
+endif
+
+ifndef BARO_LED
+BARO_LED = none
+endif
+
+ifndef AHRS_ALIGNER_LED
+AHRS_ALIGNER_LED = none
+endif
+
+ifndef GPS_LED
+GPS_LED = 2
+endif
+
+ifndef SYS_TIME_LED
+SYS_TIME_LED = none
+endif
+
+
+#
+# default uart settings
+#
+ifndef GPS_PORT
+GPS_PORT	= UART0
+endif
+ifndef GPS_BAUD
+GPS_BAUD	= B38400
+endif
+
+ifndef MODEM_PORT
+MODEM_PORT	= UART1
+endif
+ifndef MODEM_BAUD
+MODEM_BAUD 	= B57600
+endif
+
+
+ADC_IR_TOP = ADC_0
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_NB_SAMPLES = 16
+
+ADC_GENERIC_NB_SAMPLES = 16
+
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
+ACTUATORS = actuators_4017
+endif
+
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCH)
diff --git a/conf/boards/twog_1.makefile b/conf/boards/twog_1.makefile
deleted file mode 100644
index 7bb4f0a433..0000000000
--- a/conf/boards/twog_1.makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-# print error because of rename
- $(error Please rename the board from "twog_1" to twog_1.0", e.g. <target name="ap" board="twog_1.0"/> in your airframe config!)
diff --git a/conf/boards/umarim_1.0.makefile b/conf/boards/umarim_1.0.makefile
index c1eb9b600e..7a6a7554d8 100644
--- a/conf/boards/umarim_1.0.makefile
+++ b/conf/boards/umarim_1.0.makefile
@@ -11,6 +11,7 @@ BOARD_VERSION=1.0
 
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
+
 ifndef FLASH_MODE
 FLASH_MODE = IAP
 endif
@@ -44,7 +45,9 @@ SYS_TIME_LED = none
 endif
 
 
-### default settings
+#
+# default uart settings
+#
 ifndef GPS_PORT
 GPS_PORT	= UART0
 endif
@@ -59,9 +62,18 @@ ifndef MODEM_BAUD
 MODEM_BAUD 	= B57600
 endif
 
+
+
 ADC_GENERIC_NB_SAMPLES = 16
 
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+#
+ifndef ACTUATORS
+ACTUATORS = actuators_4017
+endif
+
+
 # All targets on the Umarim board run on the same processor achitecture
 $(TARGET).ARCHDIR = $(ARCH)
-
-ACTUATORS = actuators_4017

From fb7ce732e095a00ca795765fb8148c4fa2d26ed7 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Fri, 23 Mar 2012 19:16:07 +0100
Subject: [PATCH 16/17] fix makefile for lisa/l 1.1: using the header file for
 lisa 1.0

---
 conf/boards/lisa_l_1.1.makefile | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/conf/boards/lisa_l_1.1.makefile b/conf/boards/lisa_l_1.1.makefile
index 2bab50dddf..0fdbf428ea 100644
--- a/conf/boards/lisa_l_1.1.makefile
+++ b/conf/boards/lisa_l_1.1.makefile
@@ -5,8 +5,11 @@
 # http://paparazzi.enac.fr/wiki/User/LisaL
 #
 
+
+# we are actually still using the Lisa/L 1.0 header file
+
 BOARD=lisa_l
-BOARD_VERSION=1.1
+BOARD_VERSION=1.0
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
 # -----------------------------------------------------------------------

From 8a95ddd256ffbbc0877e8fcfc1824e485966d0c6 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 25 Mar 2012 17:23:51 +0200
Subject: [PATCH 17/17] rotorcraft guidance: if quaternion stabilization is
 used, compute quat setpoint from eulers in hover and attitude nav as well

---
 sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index b7e43fc78f..b2d7018f77 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -204,6 +204,9 @@ void guidance_h_run(bool_t  in_flight) {
 #ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
         stab_att_sp_euler.phi = nav_roll << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
         stab_att_sp_euler.theta = nav_pitch << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
+#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
+        INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
+#endif
 #endif
       }
       else {
@@ -289,6 +292,9 @@ __attribute__ ((always_inline)) static inline void  guidance_h_hover_run(void) {
 #endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
 
   EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
+#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
+  INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
+#endif
 
 }