[autopilot] convert fixedwing firmware to new AP modules

also load baro_board with ap target as a workaround until relevant
modules are loaded from board XML modules

conf/modules/autopilot_gnc_fw.xml

@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="autopilot_gnc_fw" task="control">
+  <doc>
+    <description>
+      Autopilot GNC specific to fixedwing part
+    </description>
+  </doc>
+  <dep>
+    <depends>autopilot_gnc</depends>
+  </dep>
+  <periodic fun="navigation_task()" freq="NAVIGATION_FREQUENCY" cond="FIXEDWING_FIRMWARE && !USE_GENERATED_AUTOPILOT"/>
+  <periodic fun="attitude_loop()" freq="CONTROL_FREQUENCY" cond="FIXEDWING_FIRMWARE && !USE_GENERATED_AUTOPILOT && !AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+  <makefile target="!fbw"/>
+</module>
+

conf/modules/baro_board.xml

@@ -193,20 +193,6 @@ else ifeq ($(BOARD),$(filter $(BOARD),px4fmu))
     BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi4
     BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE4
   endif
-# apogee baro
-else ifeq ($(BOARD), apogee)
-  BARO_BOARD_CFLAGS += -DUSE_I2C1
-  BARO_BOARD_SRCS += peripherals/mpl3115.c
-  BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
-
-# Umarim
-else ifeq ($(BOARD), umarim)
-  ifeq ($(BOARD_VERSION), 1.0)
-    BARO_BOARD_CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
-    BARO_BOARD_CFLAGS += -DADS1114_I2C_DEV=i2c1
-    BARO_BOARD_SRCS += peripherals/ads1114.c
-    BARO_BOARD_SRCS += boards/umarim/baro_board.c
-  endif
 
 # Naze32
 else ifeq ($(BOARD), naze32)

conf/modules/baro_board_common.xml

@@ -20,7 +20,6 @@
     <configure name="USE_BARO_BOARD" default="TRUE"/>
     <configure name="BARO_LED" default="none"/>
     <configure name="BARO_PERIODIC_FREQUENCY" default="50"/>
-    <define name="USE_BARO_BOARD" value="$(USE_BARO_BOARD)"/>
     <define name="BARO_LED" value="$(BARO_LED)" cond="ifneq ($(BARO_LED),none)"/>
     <define name="BARO_PERIODIC_FREQUENCY" value="$(BARO_PERIODIC_FREQUENCY)"/>
     <file name="baro_board_common.c"/>

conf/modules/firmwares/fixedwing.xml

@@ -8,7 +8,7 @@
     <configure name="WIND_INFO" value="FALSE|TRUE" description="parse WIND_INFO message (default TRUE)"/>
   </doc>
   <dep>
-    <depends>system_core,autopilot_gnc,actuators_pwm</depends>
+    <depends>system_core,autopilot_gnc_fw,actuators_pwm</depends>
   </dep>
   <makefile>
     <configure name="PERIODIC_FREQUENCY" default="60"/>

conf/modules/intermcu_uart.xml

@@ -28,9 +28,11 @@
     <configure name="INTERMCU_PORT" default="UART2" case="upper|lower"/>
     <configure name="FBW_MODE_LED" default="none"/>
     <define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
+    <define name="INTER_MCU_FBW"/>
   </makefile>
   <makefile target="ap" firmware="fixedwing">
     <configure name="INTERMCU_PORT" default="UART5" case="upper|lower"/>
+    <define name="INTER_MCU_AP"/>
   </makefile>
   <makefile target="ap|fbw" firmware="fixedwing">
     <raw>

conf/modules/targets/ap.xml

@@ -5,7 +5,7 @@
     <description>AP target specific module</description>
   </doc>
   <dep>
-    <depends>system_core,electrical,settings</depends>
+    <depends>system_core,electrical,settings,baro_board</depends>
   </dep>
   <makefile target="ap">
     <define name="AP"/>

sw/airborne/arch/sim/sim_ap.c

@@ -64,36 +64,12 @@ value sim_sys_time_task(value unit)
 
 value sim_periodic_task(value unit)
 {
-  sensors_task();
-#if USE_GENERATED_AUTOPILOT
-  autopilot_periodic();
-#else
-  attitude_loop();
-#endif
-  reporting_task();
-  modules_periodic_task();
-  periodic_task_fbw();
-  electrical_periodic();
+  handle_periodic_tasks_ap();
   event_task_ap();
   event_task_fbw();
   return unit;
 }
 
-value sim_monitor_task(value unit)
-{
-  monitor_task();
-  return unit;
-}
-
-value sim_nav_task(value unit)
-{
-#if !USE_GENERATED_AUTOPILOT
-  navigation_task();
-#endif
-  return unit;
-}
-
-
 float ftimeofday(void)
 {
   struct timeval t;

sw/airborne/firmwares/fixedwing/autopilot_static.c

@@ -103,7 +103,6 @@ void autopilot_static_init(void)
 
 void autopilot_static_periodic(void)
 {
-  attitude_loop();
 }
 
 /**

sw/airborne/firmwares/fixedwing/main_ap.h

@@ -33,7 +33,6 @@ extern void init_ap(void);
 extern void handle_periodic_tasks_ap(void);
 extern void event_task_ap(void);
 
-extern void sensors_task(void);
 extern void monitor_task(void);
 extern void reporting_task(void);
 

sw/airborne/firmwares/rotorcraft/main_ap.c

@@ -250,7 +250,7 @@ void failsafe_check(void)
       radio_control.status != RC_OK &&
 #endif
 #ifdef NO_GPS_LOST_WITH_DATALINK_TIME
-      datalink_time > NO_GPS_LOST_WITH_DATALINK_TIME && 
+      datalink_time > NO_GPS_LOST_WITH_DATALINK_TIME &&
 #endif
       GpsIsLost()) {
     autopilot_set_mode(AP_MODE_FAILSAFE);

sw/airborne/modules/sensors/baro_board_common.c

@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 
 #if USE_BARO_BOARD
-PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
+//PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD) // FIXME debug message broken?
 #endif
 
 void baro_board_init(void)

sw/simulator/sitl.ml

@@ -41,8 +41,6 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
 
   let servos_period = 1./.40. (* s *)
   let periodic_period = 1./.60. (* s *)
-  let nav_period = 1./.4. (* s *)
-  let monitor_period = 1. (* s *)
   let rc_period = 1./.40. (* s *)
   let sys_time_period = 1./.120. (* s *)
 
@@ -124,8 +122,6 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
 
   external sys_time_task : unit -> unit = "sim_sys_time_task"
   external periodic_task : unit -> unit = "sim_periodic_task"
-  external nav_task : unit -> unit = "sim_nav_task"
-  external monitor_task : unit -> unit = "sim_monitor_task"
   external sim_init : unit -> unit = "sim_init"
   external update_bat : int -> unit = "update_bat"
   external update_adc1 : int -> unit = "update_adc1"
@@ -191,8 +187,6 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
   let boot = fun time_scale ->
     Simlib.timer ~scale:time_scale servos_period (update_servos bat_button);
     Simlib.timer ~scale:time_scale periodic_period periodic_task;
-    Simlib.timer ~scale:time_scale nav_period nav_task;
-    Simlib.timer ~scale:time_scale monitor_period monitor_task;
     Simlib.timer ~scale:time_scale sys_time_period sys_time_task;
 
     (* Forward or broacast messages according to "link" mode *)