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+ + + + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + + +ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 +ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c + +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 +#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c + +ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + + + +ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 + +#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 + +ap.srcs += gps_ubx.c gps.c latlong.c + +ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360 +ap.srcs += infrared.c estimator.c + +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c + + +# ap.CFLAGS += -DGYRO -DADXRS150 +# ap.srcs += gyro.c + +ap.srcs += traffic_info.c nav_survey_rectangle.c +ap.srcs += bomb.c + +# Hack to use the same tuning file than slayer1 +ap.CFLAGS += -DUSE_GPIO +ap.srcs += $(SRC_ARCH)/gpio.c + + +# Harware In The Loop + +#ap.CFLAGS += -DHITL + + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 +sim.srcs += traffic_info.c +sim.srcs += bomb.c nav_survey_rectangle.c + + +