rotorcraft sim is building again - not tested runtime

conf/airframes/Poine/booz2_a1.xml

@@ -209,8 +209,8 @@
     <target name="ap" board="booz_1.0">
       <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example--> 
     </target>
-    <target name="sim" board="pc">
+    <target name="sim" board="pc"/>
-    </target> 
+    <subsystem name="simulator"     type="nps"/>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
@@ -231,7 +231,7 @@
 # FIXME: make fms a module
 #include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 #include $(CFG_BOOZ)/booz2_test_progs.makefile
-#include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator_nps.makefile
   </makefile>
 -->
 

conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile

@@ -11,6 +11,8 @@ JSBSIM_LIB = $(JSBSIM_ROOT)/lib
 SRC_BOOZ=booz
 SRC_BOOZ_SIM = $(SRC_BOOZ)/arch/sim
 
+SRC_BOARD=boards/$(BOARD)
+
 NPSDIR = $(SIMDIR)/nps
 
 
@@ -25,7 +27,7 @@ sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
 sim.CFLAGS  += -I$(NPSDIR) -I/usr/local/include -I$(JSBSIM_INC)
 sim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
 
-sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
+sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
 
 sim.srcs = $(NPSDIR)/nps_main.c                      \
 	   $(NPSDIR)/nps_fdm_jsbsim.c                \
@@ -51,10 +53,10 @@ sim.srcs += math/pprz_trig_int.c             \
 
 
 
-sim.CFLAGS += -DBOARD_CONFIG=\"boards/booz2_v1_0.h\"
+sim.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 
 sim.srcs   += $(SRC_BOOZ_SIM)/booz2_unsimulated_peripherals.c
-sim.srcs   += $(SRC_BOOZ)/booz2_main.c
+sim.srcs   += firmwares/rotorcraft/main.c
 
 sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 # -DTIME_LED=1
@@ -77,15 +79,15 @@ sim.srcs += $(SRC_BOOZ)/booz2_datalink.c
 
 
 sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
-sim.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
+sim.srcs += $(SRC_BOARD)/baro_board.c
 
 sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
 sim.srcs += $(SRC_BOOZ)/booz2_battery.c
 
 sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
 
-
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-
+sim.CFLAGS += -DIMU_B2_VERSION_1_1
 
 sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
 

conf/boards/pc.makefile

@@ -6,6 +6,7 @@
 
 ARCH=sim
 ARCHI=sim
+BOARD = pc
 BOARD_CFG = \"tiny.h\"
 
 

sw/airborne/boards/lisa_l/baro_board.h

@@ -1,3 +1,9 @@
+
+/*
+ * board specific fonctions for the lisa_l board
+ *
+ */
+
 #ifndef BOARDS_LISA_L_BARO_H
 #define BOARDS_LISA_L_BARO_H
 

sw/airborne/boards/pc/baro_board.c

@@ -0,0 +1,16 @@
+
+
+#include "firmwares/rotorcraft/baro.h"
+
+struct Baro baro;
+
+bool_t baro_pc_available;
+
+void baro_init(void) {baro_pc_available=FALSE;}
+
+void baro_periodic(void) {}
+
+void baro_feed_value(double value) {
+  baro.absolute = value;
+  baro_pc_available = TRUE;
+}

sw/airborne/boards/pc/baro_board.h

@@ -0,0 +1,21 @@
+/*
+ * board specific fonction for the PC board ( simulator )
+ *
+ */
+
+#ifndef BOARDS_PC_BARO_H
+#define BOARDS_PC_BARO_H
+
+#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
+    if (baro_pc_available) {			     \
+      _b_abs_handler();				     \
+      baro_pc_available = FALSE;		     \
+    }						     \
+  }
+
+
+extern bool_t baro_pc_available;
+
+extern void baro_feed_value(double value);
+
+#endif /* BOARDS_PC_BARO_H */

sw/airborne/booz/booz_fms.h

@@ -94,6 +94,7 @@ extern void booz_fms_impl_set_enabled(bool_t enabled);
 
 #define BOOZ_FMS_TYPE_DATALINK    0
 #define BOOZ_FMS_TYPE_TEST_SIGNAL 1
+#define BOOZ_FMS_TYPE_OVERO_LINK  2
 
 #if defined BOOZ_FMS_TYPE
 #if BOOZ_FMS_TYPE == BOOZ_FMS_TYPE_DATALINK

sw/simulator/nps/nps_autopilot_booz.c

@@ -1,11 +1,11 @@
 #include "nps_autopilot_booz.h"
 
-#include "booz2_main.h"
+#include "firmwares/rotorcraft/main.h"
 #include "nps_sensors.h"
 #include "nps_radio_control.h"
 #include "booz_radio_control.h"
-#include "booz_imu.h"
+#include "booz/booz_imu.h"
-#include "booz2_analog_baro.h"
+#include "firmwares/rotorcraft/baro.h"
 
 #include "actuators/booz_supervision.h"
 
@@ -45,7 +45,7 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
  }
 
   if (nps_sensors_baro_available()) {
-    Booz2BaroISRHandler(sensors.baro.value);
+    baro_feed_value(sensors.baro.value);
     booz2_main_event();
   }