diff --git a/conf/airframes/CDW/LisaAspirin2.xml b/conf/airframes/CDW/LisaAspirin2.xml index 828ada8b4e..bc508b65ab 100644 --- a/conf/airframes/CDW/LisaAspirin2.xml +++ b/conf/airframes/CDW/LisaAspirin2.xml @@ -223,7 +223,7 @@ --> - + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml index 558226830c..624613693b 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml @@ -213,7 +213,7 @@ on CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -262,7 +262,7 @@ ap.srcs += subsystems/navigation/bomb.c ap.srcs += subsystems/navigation/snav.c # Config for SITL simulation -# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml index 8d1e2ca662..53e3a0e3e9 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml @@ -217,7 +217,7 @@ CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 # Config for SITL simulation -#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml index daddc4fc3a..57bc526541 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml @@ -204,7 +204,7 @@ # Config for SITL simulation with JSBSim -include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim sim.LDFLAGS += -L/home/cocoleon/usr/lib/ diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml index 454e24bb65..6e0f247347 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml @@ -187,7 +187,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -259,7 +259,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A # Config for SITL simulation # Config for SITL simulation -#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml index cf30dd8658..2b8fd204f6 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml @@ -202,7 +202,7 @@ CONFIG = \"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -251,7 +251,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 ap.CFLAGS += -DUSE_MODULES # Config for SITL simulation -#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml index a36cb2fa2f..243e881365 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml @@ -208,7 +208,7 @@ CONFIG = \"tiny_2_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -251,7 +251,7 @@ ap.srcs += gyro.c ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3 # Config for SITL simulation -#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c @@ -261,7 +261,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c # Config for JSBSim simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/ diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml index 9766aaf447..973bfe6de4 100644 --- a/conf/airframes/ENAC/fixed-wing/soarzi.xml +++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml @@ -175,7 +175,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -218,7 +218,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6 # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index ff1c6cb903..6d1d1211eb 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -314,7 +314,7 @@ overo_sfb.srcs += $(SRC_BETH)/overo_sfb_controller.c # # # -include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/obsolete/lisa_test_progs.makefile diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml index 6c489be107..7816695120 100644 --- a/conf/airframes/Poine/easy_glider1.xml +++ b/conf/airframes/Poine/easy_glider1.xml @@ -155,7 +155,7 @@ CONFIG=\"tiny_0_99.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -202,7 +202,7 @@ ap.srcs += adc_generic.c # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml index c6c3678804..db0e872238 100644 --- a/conf/airframes/Poine/h_hex.xml +++ b/conf/airframes/Poine/h_hex.xml @@ -1,15 +1,6 @@ - - - - - - - - - @@ -153,7 +144,6 @@ - diff --git a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml b/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml index 2a48cb459d..36c12fcb11 100644 --- a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml +++ b/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml @@ -200,7 +200,7 @@ - + diff --git a/conf/airframes/examples/airframe.dtd b/conf/airframes/examples/airframe.dtd new file mode 120000 index 0000000000..29639095e4 --- /dev/null +++ b/conf/airframes/examples/airframe.dtd @@ -0,0 +1 @@ +../airframe.dtd \ No newline at end of file diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml new file mode 100644 index 0000000000..4fed1a2abe --- /dev/null +++ b/conf/airframes/examples/booz2.xml @@ -0,0 +1,213 @@ + + + + + + + + + + + + + + + + + +
+ + +
+ + +
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+ +
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+ + + + + + + + + + + + + + + + + + + diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/examples/delta_wing_minimal.xml similarity index 100% rename from conf/airframes/delta_wing_minimal_example.xml rename to conf/airframes/examples/delta_wing_minimal.xml diff --git a/conf/airframes/demo.xml b/conf/airframes/examples/demo.xml similarity index 100% rename from conf/airframes/demo.xml rename to conf/airframes/examples/demo.xml diff --git a/conf/airframes/demo_module.xml b/conf/airframes/examples/demo_module.xml similarity index 98% rename from conf/airframes/demo_module.xml rename to conf/airframes/examples/demo_module.xml index a4ee7bea79..ed517e8c1a 100644 --- a/conf/airframes/demo_module.xml +++ b/conf/airframes/examples/demo_module.xml @@ -160,7 +160,7 @@ CONFIG = \"tiny_2_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -203,7 +203,7 @@ ap.srcs += subsystems/navigation/nav_line.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/examples/easy_glider.xml similarity index 99% rename from conf/airframes/easy_glider_example.xml rename to conf/airframes/examples/easy_glider.xml index ceba4c1e4c..22b7a59680 100644 --- a/conf/airframes/easy_glider_example.xml +++ b/conf/airframes/examples/easy_glider.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/examples/easystar.xml similarity index 100% rename from conf/airframes/easystar_example.xml rename to conf/airframes/examples/easystar.xml diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/examples/easystar_ets.xml similarity index 100% rename from conf/airframes/easystar_ets_example.xml rename to conf/airframes/examples/easystar_ets.xml diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/examples/funjet.xml similarity index 100% rename from conf/airframes/funjet_example.xml rename to conf/airframes/examples/funjet.xml diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/examples/funjet_cam.xml similarity index 100% rename from conf/airframes/funjet_cam_example.xml rename to conf/airframes/examples/funjet_cam.xml diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml new file mode 100644 index 0000000000..c6c3678804 --- /dev/null +++ b/conf/airframes/examples/h_hex.xml @@ -0,0 +1,206 @@ + + + + + + + + + + + + + + + + + + + +
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+ + diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/examples/twinjet.xml similarity index 100% rename from conf/airframes/twinjet_example.xml rename to conf/airframes/examples/twinjet.xml diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/examples/twinstar.xml similarity index 100% rename from conf/airframes/twinstar_example.xml rename to conf/airframes/examples/twinstar.xml diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/examples/twog_analogimu.xml similarity index 100% rename from conf/airframes/example_twog_analogimu.xml rename to conf/airframes/examples/twog_analogimu.xml diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml index 0761492743..d799f3dfc6 100644 --- a/conf/airframes/fraser_lisa_m_rotorcraft.xml +++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml @@ -4,24 +4,17 @@ - - - - - - - - + + + + + + @@ -59,9 +52,6 @@ - - - @@ -73,20 +63,20 @@
- - + +
- + - + @@ -97,12 +87,12 @@ - - - - - - + + + + + + @@ -125,8 +115,8 @@ - - + + @@ -150,12 +140,9 @@ - - - - - + + diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml index c995eadd47..817515c109 100644 --- a/conf/airframes/mm/extra/logger_sd_adc.xml +++ b/conf/airframes/mm/extra/logger_sd_adc.xml @@ -56,7 +56,7 @@ CONFIG = \"tiny_2_1_1_usb.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml index fbc2bf3f31..7b68974f30 100644 --- a/conf/airframes/mm/extra/press_t.xml +++ b/conf/airframes/mm/extra/press_t.xml @@ -218,7 +218,7 @@ CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -284,7 +284,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH ap.srcs += adc_generic.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml index 0d3754173d..c1465c0da0 100644 --- a/conf/airframes/mm/extra/quiet.xml +++ b/conf/airframes/mm/extra/quiet.xml @@ -10,7 +10,7 @@ CONFIG = \"tiny_2_1_1_usb.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml index 768e25e0ea..29adc0da51 100644 --- a/conf/airframes/mm/extra/rctx.xml +++ b/conf/airframes/mm/extra/rctx.xml @@ -22,7 +22,7 @@ CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index fcd566968e..24577db1a7 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -234,7 +234,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/bomb.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 sim.srcs += subsystems/navigation/bomb.c diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml index 8bb328e7b8..0693d95bb4 100644 --- a/conf/airframes/mm/hangar/red_one.xml +++ b/conf/airframes/mm/hangar/red_one.xml @@ -222,7 +222,7 @@
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_CURRENT # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml index 1a9fd10b02..26aa0861b3 100644 --- a/conf/airframes/obsolete/ENAC/g1_vision.xml +++ b/conf/airframes/obsolete/ENAC/g1_vision.xml @@ -208,7 +208,7 @@ FLASH_MODE=IAP # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml index 653ae0fafe..fdf6ba7762 100644 --- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml +++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml @@ -241,7 +241,7 @@ FLASH_MODE=IAP # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml similarity index 99% rename from conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml rename to conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml index 039210f933..0eb5cc0ca9 100644 --- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml +++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml @@ -200,7 +200,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # Setting this flag prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml similarity index 99% rename from conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml rename to conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml index 9dcfcbfb62..1dd2032774 100644 --- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml +++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml @@ -218,7 +218,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # Setting this flag prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml index aab64eeeab..2c33369b80 100644 --- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml +++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml @@ -325,7 +325,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600 #throttle killswitch ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1 -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml index 5bc4f2fbc9..69b49feff9 100644 --- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml +++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml @@ -272,7 +272,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile ap.CFLAGS += -DFAILSAFE_GROUND_DETECT diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml index 062a08ed32..a41cbbde0d 100644 --- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml +++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml @@ -226,7 +226,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile ap.CFLAGS += -DFAILSAFE_GROUND_DETECT diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml old mode 100755 new mode 100644 index b42cb89a90..7be1990714 --- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml +++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml @@ -284,7 +284,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600 #throttle killswitch ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1 -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml index 50be06bc31..3559a2d5f8 100644 --- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml +++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml @@ -176,7 +176,7 @@ ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektru ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1 -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile @@ -186,7 +186,7 @@ include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/lisa_test_progs.makefile diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml index ae76c8e4f6..669b4373ef 100644 --- a/conf/airframes/obsolete/autoplato.xml +++ b/conf/airframes/obsolete/autoplato.xml @@ -8,7 +8,7 @@ ARCH=lpc21 BOARD_CFG = \"boards/olimex_lpc_h2148.h\" FLASH_MODE = IAP -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile test_usb.ARCHDIR = $(ARCH) diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml index 8512e7990a..2fb26ce1b2 100644 --- a/conf/airframes/obsolete/booz2_Aron.xml +++ b/conf/airframes/obsolete/booz2_Aron.xml @@ -185,7 +185,7 @@ BOARD_CFG = \"twog_booz.h\" # prevents motors from ever starting ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml index 472114d6a7..9fd40c6414 100644 --- a/conf/airframes/obsolete/booz2_NoVa.xml +++ b/conf/airframes/obsolete/booz2_NoVa.xml @@ -228,7 +228,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml index c6e20076fd..f3f53d4cfc 100644 --- a/conf/airframes/obsolete/booz2_NoVa_001.xml +++ b/conf/airframes/obsolete/booz2_NoVa_001.xml @@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile ap.CFLAGS += -DFAILSAFE_GROUND_DETECT diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml index c243de3ae4..765e4edfc7 100644 --- a/conf/airframes/obsolete/booz2_NoVa_002.xml +++ b/conf/airframes/obsolete/booz2_NoVa_002.xml @@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/obsolete/booz2_a1p.xml similarity index 99% rename from conf/airframes/Poine/booz2_a1p.xml rename to conf/airframes/obsolete/booz2_a1p.xml index b400829f6e..05b8e004b4 100644 --- a/conf/airframes/Poine/booz2_a1p.xml +++ b/conf/airframes/obsolete/booz2_a1p.xml @@ -208,7 +208,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" #ap.CFLAGS += -DKILL_MOTORS ap.CFLAGS += -DMODEM_BAUD=B57600 -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml index c6dc404e3c..9667db16e1 100644 --- a/conf/airframes/obsolete/booz2_a2.xml +++ b/conf/airframes/obsolete/booz2_a2.xml @@ -186,7 +186,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml index 7e7755e84e..c76407c73e 100644 --- a/conf/airframes/obsolete/booz2_a3.xml +++ b/conf/airframes/obsolete/booz2_a3.xml @@ -170,7 +170,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml index 337c76d244..3abab57aa1 100644 --- a/conf/airframes/obsolete/booz2_a4.xml +++ b/conf/airframes/obsolete/booz2_a4.xml @@ -148,17 +148,17 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_autopilot.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_test_progs.makefile sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_simulator.makefile ap.CFLAGS += -DMODEM_BAUD=B57600 -include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/radio_control_spektrum.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_actuators_asctec.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_imu_b2v1_1.makefile include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml index bcdd61a563..77d54a35fb 100644 --- a/conf/airframes/obsolete/booz2_a5.xml +++ b/conf/airframes/obsolete/booz2_a5.xml @@ -182,7 +182,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile ARCH=lpc21 BOARD_CFG = \"boards/booz2_v1_0.h\" @@ -191,7 +191,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600 # prevents motors from ever starting #ap.CFLAGS += -DKILL_MOTORS -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml index 9711a48c3f..f01770f163 100644 --- a/conf/airframes/obsolete/booz2_s1.xml +++ b/conf/airframes/obsolete/booz2_s1.xml @@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" ap.CFLAGS += -DUSE_LED -DCANON_CHDK ap.srcs += $(PAPARAZZI_SRC)/sw/airborne/chdk.c -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml index 7ce46bd0d3..61650494e7 100644 --- a/conf/airframes/obsolete/booz2_x1.xml +++ b/conf/airframes/obsolete/booz2_x1.xml @@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" #ap.CFLAGS += -DKILL_MOTORS ap.CFLAGS += -DMODEM_BAUD=B57600 -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml index cbda2b48f6..7ac5f08966 100644 --- a/conf/airframes/obsolete/easystar2.xml +++ b/conf/airframes/obsolete/easystar2.xml @@ -174,7 +174,7 @@ CONFIG = \"tiny_2_1_1.h\" # Target configuration -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -226,7 +226,7 @@ ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_C ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB diff --git a/conf/airframes/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml similarity index 100% rename from conf/airframes/example_heli_lisam.xml rename to conf/airframes/obsolete/example_heli_lisam.xml diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml index b2d5a21c1b..36b5328171 100644 --- a/conf/airframes/obsolete/hitl_usb.xml +++ b/conf/airframes/obsolete/hitl_usb.xml @@ -107,7 +107,7 @@ CONFIG=\"tiny_2_1_1_usb.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml index 8fc7177256..7644b68d5c 100644 --- a/conf/airframes/obsolete/kalscott_easystar.xml +++ b/conf/airframes/obsolete/kalscott_easystar.xml @@ -154,7 +154,7 @@ CONFIG = \"tiny_2_1_1.h\" # Target configuration -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -198,7 +198,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml index 9bde735206..24197c1ef7 100644 --- a/conf/airframes/obsolete/malolo_sim.xml +++ b/conf/airframes/obsolete/malolo_sim.xml @@ -217,7 +217,7 @@ CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile # Config for SITL simulation with JSBSim diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index e6390f07fd..6586d49178 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -171,7 +171,7 @@ CONFIG = \"tiny_2_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -209,7 +209,7 @@ ap.srcs += gyro.c ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index 959828e6a7..dee7553a6c 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -173,7 +173,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -225,7 +225,7 @@ ap.srcs += gyro.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c sim.CFLAGS += -DUSE_GYRO -DADXRS150 diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml index cbce102e34..1c3524dad2 100644 --- a/conf/airframes/obsolete/microjet6.xml +++ b/conf/airframes/obsolete/microjet6.xml @@ -193,7 +193,7 @@ --> -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -249,7 +249,7 @@ ap.srcs += subsystems/navigation/nav_line.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A sim.srcs += subsystems/navigation/nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c subsystems/navigation/bomb.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index 1e816a3d29..9de402cfd7 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -180,7 +180,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -234,7 +234,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH ap.srcs += adc_generic.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index f522378c6c..c08208dc85 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -180,7 +180,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -230,7 +230,7 @@ ap.srcs += light.c ap.CFLAGS += -DUSE_LIGHT # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c sim.srcs += subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index 89c5e2b519..d0c2639437 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -169,7 +169,7 @@ CONFIG=\"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -222,7 +222,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH ap.srcs += adc_generic.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN # -DESTIMATOR_COMP_FILTER sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml index 4de83c91ff..e7511ae510 100644 --- a/conf/airframes/obsolete/microjet_raw_makefile.xml +++ b/conf/airframes/obsolete/microjet_raw_makefile.xml @@ -179,7 +179,7 @@ CONFIG=\"tiny_2_11.h\" - include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -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 @@ -207,7 +207,7 @@ sim.CFLAGS += -DTRAFFIC_INFO - include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile + include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml index e047ab17d6..991e8b9c4f 100644 --- a/conf/airframes/obsolete/minimag1.xml +++ b/conf/airframes/obsolete/minimag1.xml @@ -172,7 +172,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -206,7 +206,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml index 5fe2a47676..3331f46fdd 100644 --- a/conf/airframes/obsolete/minimag_fs.xml +++ b/conf/airframes/obsolete/minimag_fs.xml @@ -178,7 +178,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -218,7 +218,7 @@ ap.CFLAGS += -DDIGITAL_CAM ap.srcs += dc.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c sim.srcs += dc.c diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml index be58d5e523..d28b25b419 100644 --- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml +++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml @@ -195,7 +195,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -255,7 +255,7 @@ ap.srcs +=nav_survey_losange_carto.c ################################################################################################# # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml index a097cfc2da..9664509156 100644 --- a/conf/airframes/obsolete/slayer1.xml +++ b/conf/airframes/obsolete/slayer1.xml @@ -188,7 +188,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -242,7 +242,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml index 62c18d9fe3..4c6acab04b 100644 --- a/conf/airframes/obsolete/slayer3.xml +++ b/conf/airframes/obsolete/slayer3.xml @@ -190,7 +190,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -243,7 +243,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 sim.srcs += subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index e1a8f7255b..ef8c65d72e 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -171,7 +171,7 @@ --> -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -226,7 +226,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/snav.c diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index 163152da50..26b413faea 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -182,7 +182,7 @@ CONFIG=\"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -230,7 +230,7 @@ ap.srcs += cam.c point.c # subsystems/navigation/traffic_info.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index c8798feae4..5b0cdf2d61 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -164,7 +164,7 @@ CONFIG=\"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -207,7 +207,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index d3804aaf2a..0d536fb830 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -178,7 +178,7 @@ #CONFIG=\"tiny_0_99.h\" CONFIG=\"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -226,7 +226,7 @@ ap.srcs += adc_generic.c # Configuration for Hardware In The Loop* # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml index 9ae2acdc93..b94e476fd7 100644 --- a/conf/airframes/obsolete/spirit_proto.xml +++ b/conf/airframes/obsolete/spirit_proto.xml @@ -166,7 +166,7 @@ CONFIG=\"tiny_0_99.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -213,7 +213,7 @@ ap.srcs += adc_generic.c # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml index 3ada34c50a..3cfa23158f 100644 --- a/conf/airframes/obsolete/storm1.xml +++ b/conf/airframes/obsolete/storm1.xml @@ -221,7 +221,7 @@ --> -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -285,7 +285,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 sim.srcs += subsystems/navigation/traffic_info.c sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/test_hb.xml b/conf/airframes/obsolete/test_hb.xml similarity index 100% rename from conf/airframes/test_hb.xml rename to conf/airframes/obsolete/test_hb.xml diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml index 8003be219f..a3249c009b 100644 --- a/conf/airframes/obsolete/tiny2.xml +++ b/conf/airframes/obsolete/tiny2.xml @@ -195,7 +195,7 @@ CONFIG = \"tiny_2_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -239,7 +239,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml index c3f70f7f3b..25be373f7b 100644 --- a/conf/airframes/obsolete/tiny_hitl.xml +++ b/conf/airframes/obsolete/tiny_hitl.xml @@ -158,7 +158,7 @@ CONFIG=\"tiny_0_99.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -201,7 +201,7 @@ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rec ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index b9d9f5b702..e69d24d66a 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -167,7 +167,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile # FLASH_MODE=ISP FLASH_MODE=IAP @@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM #sim.srcs += subsystems/navigation/traffic_info.c #sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml index 725d44586c..77501a39bf 100644 --- a/conf/airframes/obsolete/twinstar1.xml +++ b/conf/airframes/obsolete/twinstar1.xml @@ -174,8 +174,8 @@ # Virtual AC # Config for HITL simulation on a V1_2_1 bi-AVR board -include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile -include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/v1_2_1.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/twin_mcu_avr.makefile # Harware In The Loop ap.CFLAGS += -DHITL @@ -189,7 +189,7 @@ ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.srcs += subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml index 515270a9d7..347f357bd1 100644 --- a/conf/airframes/obsolete/twinstar6.xml +++ b/conf/airframes/obsolete/twinstar6.xml @@ -175,7 +175,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile # FLASH_MODE=ISP FLASH_MODE=IAP @@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM #sim.srcs += subsystems/navigation/traffic_info.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml index d5c3433c06..1a643f9c23 100644 --- a/conf/airframes/obsolete/twisted.xml +++ b/conf/airframes/obsolete/twisted.xml @@ -42,7 +42,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index 9f77189137..07511b3fca 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -198,7 +198,7 @@ CONFIG=\"tiny_1_1.h\" -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -244,7 +244,7 @@ ap.srcs += gyro.c subsystems/navigation/nav_line.c ap.srcs += subsystems/navigation/nav_survey_rectangle.c # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/obsolete/whirly.xml b/conf/airframes/obsolete/whirly.xml index cd81a31856..e813809770 100644 --- a/conf/airframes/obsolete/whirly.xml +++ b/conf/airframes/obsolete/whirly.xml @@ -79,7 +79,7 @@ TARGET_DIR = ~ ap.CFLAGS += -DTELEMETRY_MODE_DEFAULT=TELEMETRY_MODE_Main_default -include $(PAPARAZZI_SRC)/conf/autopilot/whirly_ap.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/whirly_ap.makefile diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml index 29c376bf5b..eae611bf2e 100644 --- a/conf/airframes/obsolete/xxx1.xml +++ b/conf/airframes/obsolete/xxx1.xml @@ -205,7 +205,7 @@ -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile FLASH_MODE=IAP @@ -267,7 +267,7 @@ ap.CFLAGS += -DMOBILE_CAM # Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM # -DMOBILE_CAM sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile index 9453edb104..8a13ce8079 100644 --- a/conf/boards/lisa_m_1.0.makefile +++ b/conf/boards/lisa_m_1.0.makefile @@ -91,8 +91,8 @@ ADC_IR2 = 2 ADC_IR2_CHAN = 1 endif ifndef ADC_IR3 -ADC_IR_TOP = 4 -ADC_IR_TOP_CHAN = 3 +ADC_IR_TOP = 3 +ADC_IR_TOP_CHAN = 2 endif ifndef ADC_IR_NB_SAMPLES ADC_IR_NB_SAMPLES = 16 diff --git a/conf/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile index 152aaa3307..6b80c45b31 100644 --- a/conf/boards/lisa_m_2.0.makefile +++ b/conf/boards/lisa_m_2.0.makefile @@ -95,8 +95,8 @@ ADC_IR2 = 2 ADC_IR2_CHAN = 1 endif ifndef ADC_IR3 -ADC_IR_TOP = 4 -ADC_IR_TOP_CHAN = 3 +ADC_IR_TOP = 3 +ADC_IR_TOP_CHAN = 2 endif ifndef ADC_IR_NB_SAMPLES ADC_IR_NB_SAMPLES = 16 diff --git a/conf/conf.xml.example b/conf/conf.xml.example index f9b653c039..03ccc9430c 100644 --- a/conf/conf.xml.example +++ b/conf/conf.xml.example @@ -4,13 +4,13 @@ @@ -18,21 +18,21 @@ @@ -40,41 +40,41 @@ @@ -86,7 +86,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/dummy.xml" - settings="settings/settings_booz2.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml" gui_color="white" /> diff --git a/conf/autopilot/booz2_common.makefile b/conf/firmwares/booz2_common.makefile similarity index 79% rename from conf/autopilot/booz2_common.makefile rename to conf/firmwares/booz2_common.makefile index 08dc458d6f..a0c8c0e0d5 100644 --- a/conf/autopilot/booz2_common.makefile +++ b/conf/firmwares/booz2_common.makefile @@ -7,6 +7,6 @@ SRC_BOOZ_TEST=$(SRC_BOOZ)/test SRC_BOOZ_PRIV=booz_priv -CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/ +CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/ BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/firmwares/booz2_test_progs.makefile similarity index 99% rename from conf/autopilot/booz2_test_progs.makefile rename to conf/firmwares/booz2_test_progs.makefile index d9c334b6a8..d53290b930 100644 --- a/conf/autopilot/booz2_test_progs.makefile +++ b/conf/firmwares/booz2_test_progs.makefile @@ -22,7 +22,7 @@ # # -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile # # test_led : blinks all leds diff --git a/conf/autopilot/fixedwing.makefile b/conf/firmwares/fixedwing.makefile similarity index 87% rename from conf/autopilot/fixedwing.makefile rename to conf/firmwares/fixedwing.makefile index f8c69de3ee..337a2def80 100644 --- a/conf/autopilot/fixedwing.makefile +++ b/conf/firmwares/fixedwing.makefile @@ -5,8 +5,8 @@ # -CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared -CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing +CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared +CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/fixedwing SRC_FIXEDWING=. diff --git a/conf/autopilot/fixedwing.xml b/conf/firmwares/fixedwing.xml similarity index 100% rename from conf/autopilot/fixedwing.xml rename to conf/firmwares/fixedwing.xml diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/firmwares/lisa_passthrough.makefile similarity index 98% rename from conf/autopilot/lisa_passthrough.makefile rename to conf/firmwares/lisa_passthrough.makefile index ed0cac6920..84d7c3d876 100644 --- a/conf/autopilot/lisa_passthrough.makefile +++ b/conf/firmwares/lisa_passthrough.makefile @@ -16,7 +16,7 @@ SRC_SUBSYSTEMS=subsystems SRC_ROTOR_ARCH=$(SRC_FIRMWARE)/actuators/arch/$(ARCH) SRC_IMU_ARCH=$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH) -CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough +CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/firmwares/subsystems/lisa_passthrough stm_passthrough.ARCHDIR = stm32 diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile similarity index 100% rename from conf/autopilot/lisa_test_progs.makefile rename to conf/firmwares/lisa_test_progs.makefile diff --git a/conf/autopilot/lisa_test_progs.xml b/conf/firmwares/lisa_test_progs.xml similarity index 100% rename from conf/autopilot/lisa_test_progs.xml rename to conf/firmwares/lisa_test_progs.xml diff --git a/conf/autopilot/logger.makefile b/conf/firmwares/logger.makefile similarity index 97% rename from conf/autopilot/logger.makefile rename to conf/firmwares/logger.makefile index 586203e79f..b9d9df514b 100644 --- a/conf/autopilot/logger.makefile +++ b/conf/firmwares/logger.makefile @@ -4,7 +4,7 @@ # -CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared +CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared SRC_ARCH=arch/$(ARCH) SRC_FIRMWARE=firmwares/logger diff --git a/conf/autopilot/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile similarity index 96% rename from conf/autopilot/rotorcraft.makefile rename to conf/firmwares/rotorcraft.makefile index 6db166a9df..ac7a3bc4e3 100644 --- a/conf/autopilot/rotorcraft.makefile +++ b/conf/firmwares/rotorcraft.makefile @@ -21,8 +21,8 @@ # # -CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared -CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft +CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared +CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft SRC_BOOZ_TEST=$(SRC_BOOZ)/test SRC_BOOZ_PRIV=booz_priv @@ -33,7 +33,7 @@ SRC_SUBSYSTEMS=subsystems SRC_ARCH=arch/$(ARCH) -CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/ +CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/ ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD) diff --git a/conf/autopilot/rotorcraft.xml b/conf/firmwares/rotorcraft.xml similarity index 100% rename from conf/autopilot/rotorcraft.xml rename to conf/firmwares/rotorcraft.xml diff --git a/conf/autopilot/setup.makefile b/conf/firmwares/setup.makefile similarity index 97% rename from conf/autopilot/setup.makefile rename to conf/firmwares/setup.makefile index b394a26b90..cf9184515f 100644 --- a/conf/autopilot/setup.makefile +++ b/conf/firmwares/setup.makefile @@ -4,8 +4,8 @@ # -CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared -#CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup +CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared +#CFG_SETUP=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/setup SRC_ARCH=arch/$(ARCH) SRC_FIRMWARE=firmwares/setup diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_ic.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_ic.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_infrared.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_infrared.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile rename to conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile diff --git a/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile b/conf/firmwares/subsystems/fixedwing/attitude_dcm.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile rename to conf/firmwares/subsystems/fixedwing/attitude_dcm.makefile diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile rename to conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile rename to conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/autopilot.makefile rename to conf/firmwares/subsystems/fixedwing/autopilot.makefile diff --git a/conf/autopilot/subsystems/fixedwing/control.makefile b/conf/firmwares/subsystems/fixedwing/control.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/control.makefile rename to conf/firmwares/subsystems/fixedwing/control.makefile diff --git a/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile b/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/control_adaptive.makefile rename to conf/firmwares/subsystems/fixedwing/control_adaptive.makefile diff --git a/conf/autopilot/subsystems/fixedwing/control_new.makefile b/conf/firmwares/subsystems/fixedwing/control_new.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/control_new.makefile rename to conf/firmwares/subsystems/fixedwing/control_new.makefile diff --git a/conf/autopilot/subsystems/fixedwing/current_sensor.makefile b/conf/firmwares/subsystems/fixedwing/current_sensor.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/current_sensor.makefile rename to conf/firmwares/subsystems/fixedwing/current_sensor.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_mediatek_diy.makefile b/conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_mediatek_diy.makefile rename to conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_nmea.makefile b/conf/firmwares/subsystems/fixedwing/gps_nmea.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_nmea.makefile rename to conf/firmwares/subsystems/fixedwing/gps_nmea.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile b/conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile rename to conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_ublox.makefile rename to conf/firmwares/subsystems/fixedwing/gps_ublox.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_hitl.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile rename to conf/firmwares/subsystems/fixedwing/gps_ublox_hitl.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile rename to conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile rename to conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile rename to conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile b/conf/firmwares/subsystems/fixedwing/gyro_pitch.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile rename to conf/firmwares/subsystems/fixedwing/gyro_pitch.makefile diff --git a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile b/conf/firmwares/subsystems/fixedwing/gyro_roll.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/gyro_roll.makefile rename to conf/firmwares/subsystems/fixedwing/gyro_roll.makefile diff --git a/conf/autopilot/subsystems/fixedwing/i2c.makefile b/conf/firmwares/subsystems/fixedwing/i2c.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/i2c.makefile rename to conf/firmwares/subsystems/fixedwing/i2c.makefile diff --git a/conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile b/conf/firmwares/subsystems/fixedwing/imu_aspirin2_i2c.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile rename to conf/firmwares/subsystems/fixedwing/imu_aspirin2_i2c.makefile diff --git a/conf/autopilot/subsystems/fixedwing/imu_aspirin_i2c.makefile b/conf/firmwares/subsystems/fixedwing/imu_aspirin_i2c.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/imu_aspirin_i2c.makefile rename to conf/firmwares/subsystems/fixedwing/imu_aspirin_i2c.makefile diff --git a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile b/conf/firmwares/subsystems/fixedwing/imu_booz.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/imu_booz.makefile rename to conf/firmwares/subsystems/fixedwing/imu_booz.makefile diff --git a/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile b/conf/firmwares/subsystems/fixedwing/imu_ppzuav.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile rename to conf/firmwares/subsystems/fixedwing/imu_ppzuav.makefile diff --git a/conf/autopilot/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/ins_xsens.makefile rename to conf/firmwares/subsystems/fixedwing/ins_xsens.makefile diff --git a/conf/autopilot/subsystems/fixedwing/joystick.makefile b/conf/firmwares/subsystems/fixedwing/joystick.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/joystick.makefile rename to conf/firmwares/subsystems/fixedwing/joystick.makefile diff --git a/conf/autopilot/subsystems/fixedwing/navigation.makefile b/conf/firmwares/subsystems/fixedwing/navigation.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/navigation.makefile rename to conf/firmwares/subsystems/fixedwing/navigation.makefile diff --git a/conf/autopilot/subsystems/fixedwing/navigation_bomb.makefile b/conf/firmwares/subsystems/fixedwing/navigation_bomb.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/navigation_bomb.makefile rename to conf/firmwares/subsystems/fixedwing/navigation_bomb.makefile diff --git a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/navigation_extra.makefile rename to conf/firmwares/subsystems/fixedwing/navigation_extra.makefile diff --git a/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile b/conf/firmwares/subsystems/fixedwing/radio_control_datalink.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile rename to conf/firmwares/subsystems/fixedwing/radio_control_datalink.makefile diff --git a/conf/autopilot/subsystems/fixedwing/settings_rc.makefile b/conf/firmwares/subsystems/fixedwing/settings_rc.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/settings_rc.makefile rename to conf/firmwares/subsystems/fixedwing/settings_rc.makefile diff --git a/conf/autopilot/subsystems/fixedwing/spi.makefile b/conf/firmwares/subsystems/fixedwing/spi.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/spi.makefile rename to conf/firmwares/subsystems/fixedwing/spi.makefile diff --git a/conf/autopilot/subsystems/fixedwing/spi_slave_hs.makefile b/conf/firmwares/subsystems/fixedwing/spi_slave_hs.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/spi_slave_hs.makefile rename to conf/firmwares/subsystems/fixedwing/spi_slave_hs.makefile diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile rename to conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile rename to conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile rename to conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile b/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile rename to conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile b/conf/firmwares/subsystems/lisa_passthrough/booz_stabilization_int.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile rename to conf/firmwares/subsystems/lisa_passthrough/booz_stabilization_int.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile rename to conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile rename to conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile b/conf/firmwares/subsystems/lisa_passthrough/radio_control_joby.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile rename to conf/firmwares/subsystems/lisa_passthrough/radio_control_joby.makefile diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile b/conf/firmwares/subsystems/lisa_passthrough/radio_control_spektrum.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile rename to conf/firmwares/subsystems/lisa_passthrough/radio_control_spektrum.makefile diff --git a/conf/autopilot/subsystems/lisa_spi_link.makefile b/conf/firmwares/subsystems/lisa_spi_link.makefile similarity index 100% rename from conf/autopilot/subsystems/lisa_spi_link.makefile rename to conf/firmwares/subsystems/lisa_spi_link.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_dummy.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_dummy.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_skiron.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/actuators_skiron.makefile rename to conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_lkf.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_lkf.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_mlkf.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_mlkf.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ahrs_mlkf.makefile rename to conf/firmwares/subsystems/rotorcraft/ahrs_mlkf.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile rename to conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/gps_nmea.makefile b/conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/gps_nmea.makefile rename to conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile b/conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile rename to conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile b/conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile rename to conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/gps_ublox_utm.makefile b/conf/firmwares/subsystems/rotorcraft/gps_ublox_utm.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/gps_ublox_utm.makefile rename to conf/firmwares/subsystems/rotorcraft/gps_ublox_utm.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/imu_crista.makefile rename to conf/firmwares/subsystems/rotorcraft/imu_crista.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista_hmc5843.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/imu_crista_hmc5843.makefile rename to conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/ins_hff.makefile b/conf/firmwares/subsystems/rotorcraft/ins_hff.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/ins_hff.makefile rename to conf/firmwares/subsystems/rotorcraft/ins_hff.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_euler.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_euler.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/stabilization_euler.makefile rename to conf/firmwares/subsystems/rotorcraft/stabilization_euler.makefile diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile new file mode 100644 index 0000000000..a483b061ad --- /dev/null +++ b/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile @@ -0,0 +1,5 @@ +ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT +ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\" +ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\" +ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c +ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/stabilization_int_quat.makefile rename to conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile rename to conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile rename to conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile rename to conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile rename to conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile similarity index 100% rename from conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile rename to conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile diff --git a/conf/autopilot/subsystems/shared/actuators_4015.makefile b/conf/firmwares/subsystems/shared/actuators_4015.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/actuators_4015.makefile rename to conf/firmwares/subsystems/shared/actuators_4015.makefile diff --git a/conf/autopilot/subsystems/shared/actuators_4017.makefile b/conf/firmwares/subsystems/shared/actuators_4017.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/actuators_4017.makefile rename to conf/firmwares/subsystems/shared/actuators_4017.makefile diff --git a/conf/autopilot/subsystems/shared/actuators_direct.makefile b/conf/firmwares/subsystems/shared/actuators_direct.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/actuators_direct.makefile rename to conf/firmwares/subsystems/shared/actuators_direct.makefile diff --git a/conf/autopilot/subsystems/shared/actuators_ppm.makefile b/conf/firmwares/subsystems/shared/actuators_ppm.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/actuators_ppm.makefile rename to conf/firmwares/subsystems/shared/actuators_ppm.makefile diff --git a/conf/autopilot/subsystems/shared/i2c_select.makefile b/conf/firmwares/subsystems/shared/i2c_select.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/i2c_select.makefile rename to conf/firmwares/subsystems/shared/i2c_select.makefile diff --git a/conf/autopilot/subsystems/shared/imu_analog.makefile b/conf/firmwares/subsystems/shared/imu_analog.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_analog.makefile rename to conf/firmwares/subsystems/shared/imu_analog.makefile diff --git a/conf/autopilot/subsystems/shared/imu_aspirin.makefile b/conf/firmwares/subsystems/shared/imu_aspirin.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_aspirin.makefile rename to conf/firmwares/subsystems/shared/imu_aspirin.makefile diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_aspirin_common.makefile rename to conf/firmwares/subsystems/shared/imu_aspirin_common.makefile diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile rename to conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v1.5.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_aspirin_v1.5.makefile rename to conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile new file mode 100644 index 0000000000..d94ba9c2b8 --- /dev/null +++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile @@ -0,0 +1,3 @@ +include $(CFG_SHARED)/imu_aspirin_v2.1.makefile + +$(warning The imu_aspirin_v2.0 subsystem has been renamed, please replace with in your airframe file.) diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile similarity index 93% rename from conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile rename to conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile index 103c70d277..742a8f817b 100644 --- a/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile +++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile @@ -48,12 +48,13 @@ IMU_ASPIRIN_CFLAGS += -DUSE_SPI ifeq ($(ARCH), lpc21) #TODO +$(error Not implemented for the LCP21x yet. Not hard, just needs to be done. Patches welcome!) else ifeq ($(ARCH), stm32) # IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14 IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA endif -IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_0 +IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example diff --git a/conf/autopilot/subsystems/shared/imu_b2_common.makefile b/conf/firmwares/subsystems/shared/imu_b2_common.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_b2_common.makefile rename to conf/firmwares/subsystems/shared/imu_b2_common.makefile diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile rename to conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile rename to conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile rename to conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile diff --git a/conf/autopilot/subsystems/shared/imu_navgo.makefile b/conf/firmwares/subsystems/shared/imu_navgo.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_navgo.makefile rename to conf/firmwares/subsystems/shared/imu_navgo.makefile diff --git a/conf/autopilot/subsystems/shared/imu_umarim.makefile b/conf/firmwares/subsystems/shared/imu_umarim.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_umarim.makefile rename to conf/firmwares/subsystems/shared/imu_umarim.makefile diff --git a/conf/autopilot/subsystems/shared/imu_yai.makefile b/conf/firmwares/subsystems/shared/imu_yai.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/imu_yai.makefile rename to conf/firmwares/subsystems/shared/imu_yai.makefile diff --git a/conf/autopilot/subsystems/shared/radio_control_ppm.makefile b/conf/firmwares/subsystems/shared/radio_control_ppm.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/radio_control_ppm.makefile rename to conf/firmwares/subsystems/shared/radio_control_ppm.makefile diff --git a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile similarity index 100% rename from conf/autopilot/subsystems/shared/radio_control_spektrum.makefile rename to conf/firmwares/subsystems/shared/radio_control_spektrum.makefile diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml old mode 100755 new mode 100644 diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/grosslobke_kreise.xml old mode 100755 new mode 100644 diff --git a/conf/gps/Tiny_LEA-4P-v6_POSLLH.txt b/conf/gps/Tiny_LEA-4P-v6_POSLLH.txt new file mode 100644 index 0000000000..676dacb083 --- /dev/null +++ b/conf/gps/Tiny_LEA-4P-v6_POSLLH.txt @@ -0,0 +1,68 @@ +MON-VER - 0A 04 46 00 35 2E 30 30 20 20 20 20 4A 61 6E 20 30 39 20 32 30 30 36 20 31 32 3A 30 30 3A 30 30 00 01 30 30 30 34 30 30 30 31 00 00 4D 34 50 31 2E 31 20 20 4A 61 6E 20 30 39 20 32 30 30 36 20 31 35 3A 34 31 3A 31 30 00 00 +CFG-ANT - 06 13 04 00 0B 00 0F 38 +CFG-DAT - 06 06 02 00 00 00 +CFG-FXN - 06 0E 24 00 12 00 00 00 C0 D4 01 00 C0 D4 01 00 C0 27 09 00 C0 27 09 00 A0 8C 00 00 40 77 1B 00 00 00 00 00 00 00 00 00 +CFG-INF - 06 02 08 00 00 00 00 00 00 00 87 00 +CFG-INF - 06 02 08 00 01 00 00 00 00 87 00 87 +CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 +CFG-MSG - 06 01 06 00 01 01 00 00 00 00 +CFG-MSG - 06 01 06 00 01 02 00 01 01 00 +CFG-MSG - 06 01 06 00 01 03 00 01 01 00 +CFG-MSG - 06 01 06 00 01 04 00 00 00 00 +CFG-MSG - 06 01 06 00 01 06 00 01 04 00 +CFG-MSG - 06 01 06 00 01 08 00 00 00 00 +CFG-MSG - 06 01 06 00 01 11 00 00 00 00 +CFG-MSG - 06 01 06 00 01 12 00 01 00 00 +CFG-MSG - 06 01 06 00 01 20 00 00 00 00 +CFG-MSG - 06 01 06 00 01 21 00 00 00 00 +CFG-MSG - 06 01 06 00 01 22 00 00 00 00 +CFG-MSG - 06 01 06 00 01 30 00 01 01 00 +CFG-MSG - 06 01 06 00 01 31 00 00 00 00 +CFG-MSG - 06 01 06 00 01 32 00 00 00 00 +CFG-MSG - 06 01 06 00 02 10 00 00 00 00 +CFG-MSG - 06 01 06 00 02 11 00 00 00 00 +CFG-MSG - 06 01 06 00 02 20 00 00 00 00 +CFG-MSG - 06 01 06 00 02 30 00 00 00 00 +CFG-MSG - 06 01 06 00 02 31 00 00 00 00 +CFG-MSG - 06 01 06 00 0A 01 00 00 01 00 +CFG-MSG - 06 01 06 00 0A 02 00 00 01 00 +CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 +CFG-MSG - 06 01 06 00 0A 05 00 00 01 00 +CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 +CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 +CFG-MSG - 06 01 06 00 0A 08 00 00 01 00 +CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 +CFG-MSG - 06 01 06 00 0A 0A 00 00 00 00 +CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 +CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 +CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 +CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 +CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 +CFG-MSG - 06 01 06 00 F0 00 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 +CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 +CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 +CFG-MSG - 06 01 06 00 F0 09 00 00 00 00 +CFG-MSG - 06 01 06 00 F0 0A 00 00 00 00 +CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 +CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 +CFG-MSG - 06 01 06 00 F1 03 00 00 00 00 +CFG-MSG - 06 01 06 00 F1 04 01 00 00 00 +CFG-NAV2 - 06 1A 28 00 07 00 00 00 03 03 10 02 50 C3 00 00 18 14 05 3C 00 01 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 +CFG-NMEA - 06 17 04 00 00 23 00 02 +CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 96 00 00 07 00 03 00 00 00 00 00 +CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 07 00 00 00 00 00 00 00 +CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 +CFG-RATE - 06 08 06 00 FA 00 01 00 00 00 +CFG-RXM - 06 11 02 00 03 00 +CFG-SBAS - 06 16 08 00 00 00 02 00 04 C0 04 00 +CFG-TM2 - 06 19 0C 00 00 00 00 00 E8 03 00 00 14 01 00 00 +CFG-TM2 - 06 19 0C 00 01 00 00 00 E8 03 00 00 14 01 00 00 +CFG-TMODE - 06 1D 1C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 80 51 01 00 10 27 00 00 +CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00 +CFG-USB - 06 1B 6C 00 46 15 A4 01 00 00 01 00 64 00 02 00 75 2D 62 6C 6F 78 20 41 47 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 4E 54 41 52 49 53 28 72 29 20 34 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 diff --git a/conf/modules/AOA_adc.xml b/conf/modules/AOA_adc.xml index 553ace5c0f..73c4cc19f3 100644 --- a/conf/modules/AOA_adc.xml +++ b/conf/modules/AOA_adc.xml @@ -5,6 +5,10 @@ --> + + Angle of Attack using internal ADC + +
diff --git a/conf/modules/MPPT.xml b/conf/modules/MPPT.xml index d949284a11..912c5e6d2d 100644 --- a/conf/modules/MPPT.xml +++ b/conf/modules/MPPT.xml @@ -1,6 +1,12 @@ + + + Maximum Power Point Tracker + Solar Cells control board by Michel + +
diff --git a/conf/modules/adc_generic.xml b/conf/modules/adc_generic.xml index 8f2917cf2b..689400e0b5 100644 --- a/conf/modules/adc_generic.xml +++ b/conf/modules/adc_generic.xml @@ -7,6 +7,11 @@ --> + + Generic ADC + + +
diff --git a/conf/modules/airborne_ant_track.xml b/conf/modules/airborne_ant_track.xml index c8cc079709..ac402e5a49 100644 --- a/conf/modules/airborne_ant_track.xml +++ b/conf/modules/airborne_ant_track.xml @@ -1,6 +1,9 @@ + + Airborne Antenna tracker +
diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml index 5d2e68c51e..0617cc95aa 100644 --- a/conf/modules/airspeed_adc.xml +++ b/conf/modules/airspeed_adc.xml @@ -8,6 +8,13 @@ --> + + Airspeed sensor using internal ADC + + + + +
diff --git a/conf/modules/airspeed_ads1114.xml b/conf/modules/airspeed_ads1114.xml index b75f51a072..fe92240c2d 100644 --- a/conf/modules/airspeed_ads1114.xml +++ b/conf/modules/airspeed_ads1114.xml @@ -2,6 +2,9 @@ + + Module to extend the baro_board module with an airspeed sensor using ads1114 adc +
diff --git a/conf/modules/airspeed_amsys.xml b/conf/modules/airspeed_amsys.xml old mode 100755 new mode 100644 index 87e6d92d61..e2e5038f3f --- a/conf/modules/airspeed_amsys.xml +++ b/conf/modules/airspeed_amsys.xml @@ -10,6 +10,14 @@ Airspeed AMSYS module (I2C) --> + + Airspeed AMSYS module (I2C) + + + + + +
diff --git a/conf/modules/airspeed_ets.xml b/conf/modules/airspeed_ets.xml index e322cffc49..b1edf15380 100644 --- a/conf/modules/airspeed_ets.xml +++ b/conf/modules/airspeed_ets.xml @@ -10,6 +10,14 @@ --> + + Airspeed ETS module (I2C) + + + + + +
diff --git a/conf/modules/alt_filter.xml b/conf/modules/alt_filter.xml index 40eba53bd7..cca5684296 100644 --- a/conf/modules/alt_filter.xml +++ b/conf/modules/alt_filter.xml @@ -1,6 +1,9 @@ + + Altitude filter (not used for A/C estimation and control, only debug) +
diff --git a/conf/modules/alt_srf08.xml b/conf/modules/alt_srf08.xml index b2dfc48fb7..be1c12a246 100644 --- a/conf/modules/alt_srf08.xml +++ b/conf/modules/alt_srf08.xml @@ -1,6 +1,9 @@ + + Range meter based on srf08 ultrasonic sensor +
diff --git a/conf/modules/baro_MS5534A.xml b/conf/modules/baro_MS5534A.xml index 2149d604bf..f37a81f169 100644 --- a/conf/modules/baro_MS5534A.xml +++ b/conf/modules/baro_MS5534A.xml @@ -1,6 +1,9 @@ + + MS5611 barometer (SPI) +
diff --git a/conf/modules/baro_amsys.xml b/conf/modules/baro_amsys.xml old mode 100755 new mode 100644 index e7364b4a16..5f26304dae --- a/conf/modules/baro_amsys.xml +++ b/conf/modules/baro_amsys.xml @@ -6,6 +6,10 @@ --> + + Baro ETS module (I2C) + +
diff --git a/conf/modules/baro_bmp.xml b/conf/modules/baro_bmp.xml index 7a14118844..cb132fffb5 100644 --- a/conf/modules/baro_bmp.xml +++ b/conf/modules/baro_bmp.xml @@ -7,6 +7,11 @@ --> + + Bosch BMP085 pressure sensor + + +
diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml index f512810b89..e378dea4ce 100644 --- a/conf/modules/baro_board.xml +++ b/conf/modules/baro_board.xml @@ -1,6 +1,9 @@ + + Temporary hack to use baro interface on fixedwing +
diff --git a/conf/modules/baro_ets.xml b/conf/modules/baro_ets.xml index 50f6a800d3..b283978cb2 100644 --- a/conf/modules/baro_ets.xml +++ b/conf/modules/baro_ets.xml @@ -6,6 +6,10 @@ --> + + Baro ETS module (I2C) + +
diff --git a/conf/modules/baro_ms5611_i2c.xml b/conf/modules/baro_ms5611_i2c.xml index d3bbf48f7e..c11f003bd8 100644 --- a/conf/modules/baro_ms5611_i2c.xml +++ b/conf/modules/baro_ms5611_i2c.xml @@ -6,6 +6,10 @@ --> + + Measurement Specialties MS5611-01BA pressure sensor (I2C) + +
diff --git a/conf/modules/baro_scp.xml b/conf/modules/baro_scp.xml index dc5390aad0..f23643a70c 100644 --- a/conf/modules/baro_scp.xml +++ b/conf/modules/baro_scp.xml @@ -6,6 +6,10 @@ --> + + VTI SCP1000 pressure sensor (SPI) + +
diff --git a/conf/modules/baro_scp_i2c.xml b/conf/modules/baro_scp_i2c.xml index 5520670042..7d22068590 100644 --- a/conf/modules/baro_scp_i2c.xml +++ b/conf/modules/baro_scp_i2c.xml @@ -7,6 +7,11 @@ --> + + VTI SCP1000 pressure sensor (I2C) + + +
diff --git a/conf/modules/bat_checker.xml b/conf/modules/bat_checker.xml index e5c5f49cfe..2a06086e6b 100644 --- a/conf/modules/bat_checker.xml +++ b/conf/modules/bat_checker.xml @@ -8,6 +8,11 @@ @define BAT_CHECKER_LED The LED to use for the warning signal. --> + + Battery checker module + + +
diff --git a/conf/modules/booz_cam.xml b/conf/modules/booz_cam.xml index 36fc1b8d35..48d9baaa98 100644 --- a/conf/modules/booz_cam.xml +++ b/conf/modules/booz_cam.xml @@ -1,6 +1,9 @@ + + Camera control for BOOZ board +
diff --git a/conf/modules/booz_drop.xml b/conf/modules/booz_drop.xml index fc1f370e2a..2b3355bb72 100644 --- a/conf/modules/booz_drop.xml +++ b/conf/modules/booz_drop.xml @@ -5,6 +5,11 @@ --> + + Drop control for BOOZ board + + +
diff --git a/conf/modules/booz_extra_dl.xml b/conf/modules/booz_extra_dl.xml index 7d2b1eb519..b30315d555 100644 --- a/conf/modules/booz_extra_dl.xml +++ b/conf/modules/booz_extra_dl.xml @@ -1,6 +1,9 @@ + + Extra datalink channel (PPRZ transport) +
diff --git a/conf/modules/booz_pwm.xml b/conf/modules/booz_pwm.xml index 2c5481c50c..422c7f0301 100644 --- a/conf/modules/booz_pwm.xml +++ b/conf/modules/booz_pwm.xml @@ -7,6 +7,10 @@ --> + + Allow to use PWM output on booz boards, PWM0 is activated by default (PWM5 on lpc21 output) + +
diff --git a/conf/modules/cam_point.xml b/conf/modules/cam_point.xml index 811d3135a2..0d6775465b 100644 --- a/conf/modules/cam_point.xml +++ b/conf/modules/cam_point.xml @@ -1,6 +1,9 @@ + + Camera control for fixedwing +
diff --git a/conf/modules/cam_roll.xml b/conf/modules/cam_roll.xml index 9037cc76f5..0980825489 100644 --- a/conf/modules/cam_roll.xml +++ b/conf/modules/cam_roll.xml @@ -1,6 +1,9 @@ + + Camera control on roll axis only +
diff --git a/conf/modules/cam_segment.xml b/conf/modules/cam_segment.xml index 0bbb23e0a1..5be7d9ad86 100644 --- a/conf/modules/cam_segment.xml +++ b/conf/modules/cam_segment.xml @@ -1,6 +1,9 @@ + + Camera control to point a segment +
diff --git a/conf/modules/cartography.xml b/conf/modules/cartography.xml index 99e941a0f0..8e7f22bea8 100644 --- a/conf/modules/cartography.xml +++ b/conf/modules/cartography.xml @@ -1,6 +1,9 @@ + + Cartography sweeping pattern for navigation +
diff --git a/conf/modules/charge_sens.xml b/conf/modules/charge_sens.xml index 561b0132db..110f7af505 100644 --- a/conf/modules/charge_sens.xml +++ b/conf/modules/charge_sens.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/demo_module.xml b/conf/modules/demo_module.xml index cb03682051..db62bce7ca 100644 --- a/conf/modules/demo_module.xml +++ b/conf/modules/demo_module.xml @@ -1,6 +1,9 @@ + + Demo module +
diff --git a/conf/modules/deploy_sonar_buoy.xml b/conf/modules/deploy_sonar_buoy.xml index 66552744a3..379e179721 100644 --- a/conf/modules/deploy_sonar_buoy.xml +++ b/conf/modules/deploy_sonar_buoy.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/digital_cam.xml b/conf/modules/digital_cam.xml index 627061410c..c601070e3d 100644 --- a/conf/modules/digital_cam.xml +++ b/conf/modules/digital_cam.xml @@ -20,6 +20,10 @@ --> + + Digital camera control (trigger using led) + +
diff --git a/conf/modules/digital_cam_i2c.xml b/conf/modules/digital_cam_i2c.xml index 6315d791c6..9b54bde8f9 100644 --- a/conf/modules/digital_cam_i2c.xml +++ b/conf/modules/digital_cam_i2c.xml @@ -1,6 +1,10 @@ + + + +
diff --git a/conf/modules/digital_cam_servo.xml b/conf/modules/digital_cam_servo.xml index c9ae4882c0..76aff07ab3 100644 --- a/conf/modules/digital_cam_servo.xml +++ b/conf/modules/digital_cam_servo.xml @@ -20,6 +20,9 @@ --> + + Digital camera control (trigger using servo) +
diff --git a/conf/modules/dust_gp2y.xml b/conf/modules/dust_gp2y.xml index 1d443d4ea2..929f21b673 100644 --- a/conf/modules/dust_gp2y.xml +++ b/conf/modules/dust_gp2y.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/enose.xml b/conf/modules/enose.xml index 2d6c1d34ff..b7cee734ee 100644 --- a/conf/modules/enose.xml +++ b/conf/modules/enose.xml @@ -1,6 +1,9 @@ + + Chemical Enose sensor +
diff --git a/conf/modules/extra_dl.xml b/conf/modules/extra_dl.xml index fa8f94054e..22607b6285 100644 --- a/conf/modules/extra_dl.xml +++ b/conf/modules/extra_dl.xml @@ -1,6 +1,9 @@ + + Extra datalink (PPRZ transport) +
diff --git a/conf/modules/flight_benchmark.xml b/conf/modules/flight_benchmark.xml index bbd59403bb..939a955961 100644 --- a/conf/modules/flight_benchmark.xml +++ b/conf/modules/flight_benchmark.xml @@ -1,6 +1,9 @@ + + Flight benchmark +
diff --git a/conf/modules/formation_flight.xml b/conf/modules/formation_flight.xml index 0a5bc2f588..fec891ccf2 100644 --- a/conf/modules/formation_flight.xml +++ b/conf/modules/formation_flight.xml @@ -1,6 +1,9 @@ + + Formation flight control +
diff --git a/conf/modules/geiger_counter.xml b/conf/modules/geiger_counter.xml index a09ec1c90a..5b33ae1983 100644 --- a/conf/modules/geiger_counter.xml +++ b/conf/modules/geiger_counter.xml @@ -1,6 +1,9 @@ + + Geifer counter sensor +
diff --git a/conf/modules/generic_com.xml b/conf/modules/generic_com.xml index ddd60e44e8..3f1f6ee8a4 100644 --- a/conf/modules/generic_com.xml +++ b/conf/modules/generic_com.xml @@ -6,6 +6,11 @@ --> + + Generic com (can be used for Satcom/GSM) + + +
diff --git a/conf/modules/gps_i2c.xml b/conf/modules/gps_i2c.xml index 2b012777c9..cf87e5cfb4 100644 --- a/conf/modules/gps_i2c.xml +++ b/conf/modules/gps_i2c.xml @@ -6,6 +6,9 @@ ap.CFLAGS += -DGPS_CONFIGURE -DGPS_PORT_ID=GPS_PORT_DDC --> + + U-blox gps using i2c (broken) +
diff --git a/conf/modules/gps_ubx_uart.xml b/conf/modules/gps_ubx_uart.xml index 55ea724d27..6804219f37 100644 --- a/conf/modules/gps_ubx_uart.xml +++ b/conf/modules/gps_ubx_uart.xml @@ -1,6 +1,9 @@ + + Ublox gps (uart) +
diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml index 883ecbd0d8..2b3fb90a88 100644 --- a/conf/modules/gps_ubx_ucenter.xml +++ b/conf/modules/gps_ubx_ucenter.xml @@ -16,6 +16,19 @@ --> + + + Automatically configure any Ublox GPS for paparazzi + + -configures all the messages, and the rates + -automatic baudrate detection + + Warning: you still need to tell the driver + a) which paparazzi uart you use + b) inside the ublox gps there are also many ports. the tiny/ppzgps use ublox_internal_port1 but if for instance you use a LS-SAM or I2C device you need to configure: + + +
diff --git a/conf/modules/gsm.xml b/conf/modules/gsm.xml index 1c1e399df2..6a54c37822 100644 --- a/conf/modules/gsm.xml +++ b/conf/modules/gsm.xml @@ -1,6 +1,9 @@ + + GSM module +
diff --git a/conf/modules/humid_dpicco.xml b/conf/modules/humid_dpicco.xml index 58da27f7eb..e0e44768a3 100644 --- a/conf/modules/humid_dpicco.xml +++ b/conf/modules/humid_dpicco.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/humid_hih.xml b/conf/modules/humid_hih.xml index e25558fea0..ed71946bdc 100644 --- a/conf/modules/humid_hih.xml +++ b/conf/modules/humid_hih.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/humid_htm_b71.xml b/conf/modules/humid_htm_b71.xml index a3e520d880..4df7434c56 100644 --- a/conf/modules/humid_htm_b71.xml +++ b/conf/modules/humid_htm_b71.xml @@ -6,6 +6,10 @@ --> + + TronSens HTM-B71 humidity sensor (I2C) + +
diff --git a/conf/modules/humid_pcap01.xml b/conf/modules/humid_pcap01.xml index 2e792e2c2c..2fd1b1a782 100644 --- a/conf/modules/humid_pcap01.xml +++ b/conf/modules/humid_pcap01.xml @@ -1,6 +1,9 @@ + + +
@@ -10,4 +13,4 @@ - \ No newline at end of file + diff --git a/conf/modules/humid_sht.xml b/conf/modules/humid_sht.xml index 5a274a2ade..76dc1a607c 100644 --- a/conf/modules/humid_sht.xml +++ b/conf/modules/humid_sht.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/humid_sht_i2c.xml b/conf/modules/humid_sht_i2c.xml index 82eb88d942..056ad43832 100644 --- a/conf/modules/humid_sht_i2c.xml +++ b/conf/modules/humid_sht_i2c.xml @@ -6,6 +6,10 @@ --> + + Sensirion SHT25 humidity sensor (I2C) + +
diff --git a/conf/modules/i2c_abuse_test.xml b/conf/modules/i2c_abuse_test.xml index 50ddbd84c5..7c0a772d53 100644 --- a/conf/modules/i2c_abuse_test.xml +++ b/conf/modules/i2c_abuse_test.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/imu_aspirin_i2c.xml b/conf/modules/imu_aspirin_i2c.xml index 140fdf5fb7..9da2c24e9f 100644 --- a/conf/modules/imu_aspirin_i2c.xml +++ b/conf/modules/imu_aspirin_i2c.xml @@ -1,6 +1,9 @@ + + Aspirin IMU (all I2C version) +
diff --git a/conf/modules/imu_ppzuav.xml b/conf/modules/imu_ppzuav.xml index 5b32512991..269a122bff 100644 --- a/conf/modules/imu_ppzuav.xml +++ b/conf/modules/imu_ppzuav.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/infrared_adc.xml b/conf/modules/infrared_adc.xml index 6dc8b46eb7..86d1ca78c0 100644 --- a/conf/modules/infrared_adc.xml +++ b/conf/modules/infrared_adc.xml @@ -1,6 +1,13 @@ + + Infrared sensor using ADC + + + + +
diff --git a/conf/modules/infrared_i2c.xml b/conf/modules/infrared_i2c.xml index 6928de4a13..85a83d10b0 100644 --- a/conf/modules/infrared_i2c.xml +++ b/conf/modules/infrared_i2c.xml @@ -2,6 +2,9 @@ + + I2C Infrared sensor +
diff --git a/conf/modules/ins_arduimu.xml b/conf/modules/ins_arduimu.xml index 37d4fee9bc..64b95fc02c 100644 --- a/conf/modules/ins_arduimu.xml +++ b/conf/modules/ins_arduimu.xml @@ -1,6 +1,9 @@ + + ArduIMU v2 +
diff --git a/conf/modules/ins_arduimu_basic.xml b/conf/modules/ins_arduimu_basic.xml index 6f937d627d..14c57534cb 100644 --- a/conf/modules/ins_arduimu_basic.xml +++ b/conf/modules/ins_arduimu_basic.xml @@ -4,6 +4,11 @@ - ARDUIMU_SYNC_SEND: downlink imu gyro and accels --> + + ArduIMU v2 + + +
diff --git a/conf/modules/ins_aspirin_via_i2c.xml b/conf/modules/ins_aspirin_via_i2c.xml index 4a73004f2c..ff5821a4ed 100644 --- a/conf/modules/ins_aspirin_via_i2c.xml +++ b/conf/modules/ins_aspirin_via_i2c.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/ins_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml index 227cfba746..a73d42dfe1 100644 --- a/conf/modules/ins_chimu_spi.xml +++ b/conf/modules/ins_chimu_spi.xml @@ -1,6 +1,9 @@ + + CHimu (SPI) +
diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml index f6c69cecbc..6aa7f422e4 100644 --- a/conf/modules/ins_chimu_uart.xml +++ b/conf/modules/ins_chimu_uart.xml @@ -7,6 +7,9 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN --> + + CHimu (UART) +
diff --git a/conf/modules/ins_osam_ugear.xml b/conf/modules/ins_osam_ugear.xml index 82f0bdfa78..1fdf59b995 100644 --- a/conf/modules/ins_osam_ugear.xml +++ b/conf/modules/ins_osam_ugear.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/ins_ppzuavimu.xml b/conf/modules/ins_ppzuavimu.xml index ddc1962102..06b6da5095 100644 --- a/conf/modules/ins_ppzuavimu.xml +++ b/conf/modules/ins_ppzuavimu.xml @@ -1,6 +1,10 @@ + + + +
diff --git a/conf/modules/ins_vn100.xml b/conf/modules/ins_vn100.xml index 8ceda17cb8..7a2be909ac 100644 --- a/conf/modules/ins_vn100.xml +++ b/conf/modules/ins_vn100.xml @@ -1,6 +1,9 @@ + + VectorNav VN100 (SPI) +
diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml index 967a12bfd8..087dc6d02d 100644 --- a/conf/modules/ins_xsens.xml +++ b/conf/modules/ins_xsens.xml @@ -1,6 +1,9 @@ + + XSens +
diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml index aaa1261dd2..76940d652a 100644 --- a/conf/modules/ins_xsens_MTiG_Uart0.xml +++ b/conf/modules/ins_xsens_MTiG_Uart0.xml @@ -1,6 +1,9 @@ + + XSens MTiG +
diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml index c8911e24e2..37d88bfba5 100644 --- a/conf/modules/ins_xsens_MTi_Uart0.xml +++ b/conf/modules/ins_xsens_MTi_Uart0.xml @@ -1,6 +1,9 @@ + + XSens MTi +
diff --git a/conf/modules/ir_mlx.xml b/conf/modules/ir_mlx.xml index 7dec6d1485..15549819ac 100644 --- a/conf/modules/ir_mlx.xml +++ b/conf/modules/ir_mlx.xml @@ -1,6 +1,9 @@ + + Infrared MLX sensor +
diff --git a/conf/modules/lcd_dogm.xml b/conf/modules/lcd_dogm.xml index c2092f89e5..850863e172 100644 --- a/conf/modules/lcd_dogm.xml +++ b/conf/modules/lcd_dogm.xml @@ -3,6 +3,9 @@ + + Driver for the EA DOG-M163 LCD (SPI) +
diff --git a/conf/modules/light.xml b/conf/modules/light.xml index de67709e60..33cfd74154 100644 --- a/conf/modules/light.xml +++ b/conf/modules/light.xml @@ -1,6 +1,15 @@ + + Navigation leds +
+ + + + +
+
diff --git a/conf/modules/light_solar.xml b/conf/modules/light_solar.xml index 7cf08e80b9..338c133f61 100644 --- a/conf/modules/light_solar.xml +++ b/conf/modules/light_solar.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/light_temt.xml b/conf/modules/light_temt.xml index ddf62982e4..f82bb239e8 100644 --- a/conf/modules/light_temt.xml +++ b/conf/modules/light_temt.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/mag_hmc5843.xml b/conf/modules/mag_hmc5843.xml index c8439d8e3e..88e5cfd222 100644 --- a/conf/modules/mag_hmc5843.xml +++ b/conf/modules/mag_hmc5843.xml @@ -1,6 +1,9 @@ + + standalone hmc5843 magnetometer +
diff --git a/conf/modules/mag_micromag_fw.xml b/conf/modules/mag_micromag_fw.xml index 65126faa0d..9d469f3be3 100644 --- a/conf/modules/mag_micromag_fw.xml +++ b/conf/modules/mag_micromag_fw.xml @@ -1,6 +1,9 @@ + + Micromag magnetometer for fixedwing +
diff --git a/conf/modules/max11040.xml b/conf/modules/max11040.xml index 626fda2b5f..424f821548 100644 --- a/conf/modules/max11040.xml +++ b/conf/modules/max11040.xml @@ -1,6 +1,9 @@ + + Max11040 ADC +
diff --git a/conf/modules/max3100.xml b/conf/modules/max3100.xml index e22739faee..a290435c91 100644 --- a/conf/modules/max3100.xml +++ b/conf/modules/max3100.xml @@ -3,6 +3,9 @@ + + Driver for the MAXIM SPI/Uart MAX3100 converter +
diff --git a/conf/modules/mcp355x.xml b/conf/modules/mcp355x.xml index f68b84c6fa..0d54d35e75 100644 --- a/conf/modules/mcp355x.xml +++ b/conf/modules/mcp355x.xml @@ -1,6 +1,9 @@ + + MCP355X ADC driver (SPI) +
diff --git a/conf/modules/module.dtd b/conf/modules/module.dtd index 33122841b8..98e4cfca5d 100644 --- a/conf/modules/module.dtd +++ b/conf/modules/module.dtd @@ -1,6 +1,7 @@ - + + @@ -9,6 +10,8 @@ + + @@ -50,14 +53,20 @@ fun CDATA #REQUIRED> + + +value CDATA #REQUIRED +description CDATA #IMPLIED> +type CDATA #IMPLIED +description CDATA #IMPLIED> + + Catapult +
diff --git a/conf/modules/openlog.xml b/conf/modules/openlog.xml old mode 100755 new mode 100644 index 5f23717266..194d9a48c1 --- a/conf/modules/openlog.xml +++ b/conf/modules/openlog.xml @@ -1,6 +1,9 @@ + + Openlog on-board data logger +
diff --git a/conf/modules/pbn.xml b/conf/modules/pbn.xml index e8eebb3973..e11eba13f4 100644 --- a/conf/modules/pbn.xml +++ b/conf/modules/pbn.xml @@ -13,6 +13,17 @@ --> + + + Pressure Board Navarro (2010) + + by Matthieu Navarro + + combine differential and absolute pressure sensor (ETS raw sensors) + controlled by a dspic + return scaled values over I2C + +
diff --git a/conf/modules/photogrammetry_calculator.xml b/conf/modules/photogrammetry_calculator.xml index 27ff06be2a..7e539c0e18 100644 --- a/conf/modules/photogrammetry_calculator.xml +++ b/conf/modules/photogrammetry_calculator.xml @@ -1,6 +1,9 @@ + + Photogrammetry navigation functions +
diff --git a/conf/modules/poles.xml b/conf/modules/poles.xml index 042c3dacbc..3babb8e161 100644 --- a/conf/modules/poles.xml +++ b/conf/modules/poles.xml @@ -1,6 +1,9 @@ + + Navigate around two poles +
diff --git a/conf/modules/potential.xml b/conf/modules/potential.xml index 93134f263b..ff213c7c0e 100644 --- a/conf/modules/potential.xml +++ b/conf/modules/potential.xml @@ -1,6 +1,9 @@ + + Collision avoidance using potential fields +
diff --git a/conf/modules/pwm_meas.xml b/conf/modules/pwm_meas.xml index 9c20ee420a..10f71fd77d 100644 --- a/conf/modules/pwm_meas.xml +++ b/conf/modules/pwm_meas.xml @@ -6,6 +6,15 @@ 2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider) --> + + + pwm input measurement mcu periph access and init wrapper for other modules + For LPC21xx on the TWOG: + 1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider) + 2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider) + Currently only available on LPC21xx arch + +
diff --git a/conf/modules/servo_switch.xml b/conf/modules/servo_switch.xml index c6747802ca..175747143c 100644 --- a/conf/modules/servo_switch.xml +++ b/conf/modules/servo_switch.xml @@ -1,6 +1,12 @@ + + Servo switch + + + +
diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml index 41607ccd1a..52013c3aa7 100644 --- a/conf/modules/sonar_maxbotix_booz.xml +++ b/conf/modules/sonar_maxbotix_booz.xml @@ -8,6 +8,13 @@ --> + + + Maxbotix Sonar driver + On Booz board, ADC_0 should be use by default (payload connector) + + +
diff --git a/conf/modules/sys_mon.xml b/conf/modules/sys_mon.xml index 80caabc718..22eccb4511 100644 --- a/conf/modules/sys_mon.xml +++ b/conf/modules/sys_mon.xml @@ -1,6 +1,9 @@ + + System monitor +
diff --git a/conf/modules/tcas.xml b/conf/modules/tcas.xml index 951ed06396..e41c414710 100644 --- a/conf/modules/tcas.xml +++ b/conf/modules/tcas.xml @@ -1,6 +1,9 @@ + + Collision avoidance system based on TCAS logic +
diff --git a/conf/modules/temp_lm75.xml b/conf/modules/temp_lm75.xml index e1d4bd5a61..ad8d010bb2 100644 --- a/conf/modules/temp_lm75.xml +++ b/conf/modules/temp_lm75.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/temp_tcouple_adc.xml b/conf/modules/temp_tcouple_adc.xml index 0b44301318..d1a24f6686 100644 --- a/conf/modules/temp_tcouple_adc.xml +++ b/conf/modules/temp_tcouple_adc.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/temp_temod.xml b/conf/modules/temp_temod.xml index fbac1fb159..d9dca0d7c3 100644 --- a/conf/modules/temp_temod.xml +++ b/conf/modules/temp_temod.xml @@ -7,6 +7,11 @@ --> + + Hygrosens TEMOD-I2C-Rx temperature sensor + + +
diff --git a/conf/modules/temp_tmp102.xml b/conf/modules/temp_tmp102.xml index a21a3b02a7..cdc587bd03 100644 --- a/conf/modules/temp_tmp102.xml +++ b/conf/modules/temp_tmp102.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/trig_test.xml b/conf/modules/trig_test.xml index 0365fecb23..3d0b7b0c61 100644 --- a/conf/modules/trig_test.xml +++ b/conf/modules/trig_test.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/trigger_ext.xml b/conf/modules/trigger_ext.xml index 4db3c1663a..f2f196dc1f 100644 --- a/conf/modules/trigger_ext.xml +++ b/conf/modules/trigger_ext.xml @@ -1,6 +1,9 @@ + + External trigger (lpc only) +
diff --git a/conf/modules/vehicle_interface_datalink.xml b/conf/modules/vehicle_interface_datalink.xml index 9351d5a0d9..9f43c2de34 100644 --- a/conf/modules/vehicle_interface_datalink.xml +++ b/conf/modules/vehicle_interface_datalink.xml @@ -1,6 +1,9 @@ + + Vehicule Interface over Datalink +
diff --git a/conf/modules/vehicle_interface_overo_link.xml b/conf/modules/vehicle_interface_overo_link.xml index 5535ff4ebb..3e8ecbdff5 100644 --- a/conf/modules/vehicle_interface_overo_link.xml +++ b/conf/modules/vehicle_interface_overo_link.xml @@ -1,6 +1,9 @@ + + Vehicule Interface linked to Overo board +
diff --git a/conf/modules/wind_gfi.xml b/conf/modules/wind_gfi.xml index 5db44c9348..0769bb9f70 100644 --- a/conf/modules/wind_gfi.xml +++ b/conf/modules/wind_gfi.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/windturbine.xml b/conf/modules/windturbine.xml index 5d01713af6..ef01ed5bf3 100644 --- a/conf/modules/windturbine.xml +++ b/conf/modules/windturbine.xml @@ -1,6 +1,9 @@ + + +
diff --git a/conf/modules/xtend_rssi.xml b/conf/modules/xtend_rssi.xml index a7ac87a74f..0b0d829770 100644 --- a/conf/modules/xtend_rssi.xml +++ b/conf/modules/xtend_rssi.xml @@ -7,6 +7,16 @@ 2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider) --> + + + Digi Xtend RSSI PWM Module + For LPC21xx on the TWOG: + 1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider) + 2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider) + Currently only available on LPC21xx arch + + +
diff --git a/conf/settings/basic_infrared.xml b/conf/settings/basic_infrared.xml deleted file mode 100644 index 7de7a7c5df..0000000000 --- a/conf/settings/basic_infrared.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/basic_ins.xml b/conf/settings/basic_ins.xml deleted file mode 100644 index 70ee43a5f8..0000000000 --- a/conf/settings/basic_ins.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/settings_beth.xml b/conf/settings/beth/beth.xml similarity index 84% rename from conf/settings/settings_beth.xml rename to conf/settings/beth/beth.xml index 135a0d60d8..39b60a30d2 100644 --- a/conf/settings/settings_beth.xml +++ b/conf/settings/beth/beth.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_full.xml b/conf/settings/beth/beth_full.xml similarity index 97% rename from conf/settings/settings_beth_full.xml rename to conf/settings/beth/beth_full.xml index dea2c22efd..7d648b4f46 100644 --- a/conf/settings/settings_beth_full.xml +++ b/conf/settings/beth/beth_full.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_pid.xml b/conf/settings/beth/beth_pid.xml similarity index 97% rename from conf/settings/settings_beth_pid.xml rename to conf/settings/beth/beth_pid.xml index f59904e713..14e9dfafcc 100644 --- a/conf/settings/settings_beth_pid.xml +++ b/conf/settings/beth/beth_pid.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_reduced.xml b/conf/settings/beth/beth_reduced.xml similarity index 84% rename from conf/settings/settings_beth_reduced.xml rename to conf/settings/beth/beth_reduced.xml index a89f7cacf0..95a62fef38 100644 --- a/conf/settings/settings_beth_reduced.xml +++ b/conf/settings/beth/beth_reduced.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_sfb.xml b/conf/settings/beth/beth_sfb.xml similarity index 96% rename from conf/settings/settings_beth_sfb.xml rename to conf/settings/beth/beth_sfb.xml index 1837ea1cba..2ff996e63f 100644 --- a/conf/settings/settings_beth_sfb.xml +++ b/conf/settings/beth/beth_sfb.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_twist.xml b/conf/settings/beth/beth_twist.xml similarity index 98% rename from conf/settings/settings_beth_twist.xml rename to conf/settings/beth/beth_twist.xml index cf4ad3d4dd..7bccb41d55 100644 --- a/conf/settings/settings_beth_twist.xml +++ b/conf/settings/beth/beth_twist.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_beth_twist_old.xml b/conf/settings/beth/beth_twist_old.xml similarity index 98% rename from conf/settings/settings_beth_twist_old.xml rename to conf/settings/beth/beth_twist_old.xml index aac38d9353..b74cc6c8cf 100644 --- a/conf/settings/settings_beth_twist_old.xml +++ b/conf/settings/beth/beth_twist_old.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/control/ctl_adaptive.xml similarity index 99% rename from conf/settings/tuning_ctl_adaptive.xml rename to conf/settings/control/ctl_adaptive.xml index ff57cd5608..bf7de6aabc 100644 --- a/conf/settings/tuning_ctl_adaptive.xml +++ b/conf/settings/control/ctl_adaptive.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/control/ctl_adaptive_h_ff.xml similarity index 95% rename from conf/settings/fw_h_ctl_a_settings.xml rename to conf/settings/control/ctl_adaptive_h_ff.xml index 22631d80a9..3f57a5a4be 100644 --- a/conf/settings/fw_h_ctl_a_settings.xml +++ b/conf/settings/control/ctl_adaptive_h_ff.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/control/ctl_new.xml similarity index 99% rename from conf/settings/tuning_ctl_new.xml rename to conf/settings/control/ctl_new.xml index b290ac9997..c2ad7035df 100644 --- a/conf/settings/tuning_ctl_new.xml +++ b/conf/settings/control/ctl_new.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/tuning_ctl_new_airspeed.xml b/conf/settings/control/ctl_new_airspeed.xml similarity index 99% rename from conf/settings/tuning_ctl_new_airspeed.xml rename to conf/settings/control/ctl_new_airspeed.xml index 2d0a4177ca..79eaeb6507 100644 --- a/conf/settings/tuning_ctl_new_airspeed.xml +++ b/conf/settings/control/ctl_new_airspeed.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/gyro.xml b/conf/settings/control/ctl_rate.xml similarity index 95% rename from conf/settings/gyro.xml rename to conf/settings/control/ctl_rate.xml index 4d35dfe38c..96eba3ef66 100644 --- a/conf/settings/gyro.xml +++ b/conf/settings/control/ctl_rate.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/nav_cube.xml b/conf/settings/control/nav_cube.xml similarity index 96% rename from conf/settings/nav_cube.xml rename to conf/settings/control/nav_cube.xml index a7f525bdc1..1836d9073c 100644 --- a/conf/settings/nav_cube.xml +++ b/conf/settings/control/nav_cube.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml new file mode 100644 index 0000000000..f0da714698 --- /dev/null +++ b/conf/settings/control/rotorcraft_guidance.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/settings/snav.xml b/conf/settings/control/snav.xml similarity index 82% rename from conf/settings/snav.xml rename to conf/settings/control/snav.xml index 0f1cd60355..6e0a545916 100644 --- a/conf/settings/snav.xml +++ b/conf/settings/control/snav.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/control/stabilization_att_int.xml b/conf/settings/control/stabilization_att_int.xml new file mode 100644 index 0000000000..3a79a16d48 --- /dev/null +++ b/conf/settings/control/stabilization_att_int.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/settings/control/stabilization_rate.xml b/conf/settings/control/stabilization_rate.xml new file mode 100644 index 0000000000..35642975de --- /dev/null +++ b/conf/settings/control/stabilization_rate.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/settings/tune_agr_climb.xml b/conf/settings/control/tune_agr_climb.xml similarity index 96% rename from conf/settings/tune_agr_climb.xml rename to conf/settings/control/tune_agr_climb.xml index dd3ff65e06..ce05298e70 100644 --- a/conf/settings/tune_agr_climb.xml +++ b/conf/settings/control/tune_agr_climb.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/estimation/ahrs_float_dcm.xml b/conf/settings/estimation/ahrs_float_dcm.xml new file mode 100644 index 0000000000..8dcdc48727 --- /dev/null +++ b/conf/settings/estimation/ahrs_float_dcm.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/conf/settings/settings_booz2_ahrs_cmpl.xml b/conf/settings/estimation/ahrs_int_cmpl_euler.xml similarity index 84% rename from conf/settings/settings_booz2_ahrs_cmpl.xml rename to conf/settings/estimation/ahrs_int_cmpl_euler.xml index 1d28b08d80..9c6bebad52 100644 --- a/conf/settings/settings_booz2_ahrs_cmpl.xml +++ b/conf/settings/estimation/ahrs_int_cmpl_euler.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_booz2_ahrs_lkf.xml b/conf/settings/estimation/booz2_ahrs_lkf.xml similarity index 93% rename from conf/settings/settings_booz2_ahrs_lkf.xml rename to conf/settings/estimation/booz2_ahrs_lkf.xml index d4e5c65604..a49a4f318b 100644 --- a/conf/settings/settings_booz2_ahrs_lkf.xml +++ b/conf/settings/estimation/booz2_ahrs_lkf.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_rotorcraft_booz_baro.xml b/conf/settings/estimation/booz_baro.xml similarity index 85% rename from conf/settings/settings_rotorcraft_booz_baro.xml rename to conf/settings/estimation/booz_baro.xml index e84cae01bb..5883968890 100644 --- a/conf/settings/settings_rotorcraft_booz_baro.xml +++ b/conf/settings/estimation/booz_baro.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/baro.xml b/conf/settings/estimation/fw_baro_MS5534.xml similarity index 92% rename from conf/settings/baro.xml rename to conf/settings/estimation/fw_baro_MS5534.xml index af8526d76e..bc7b223e68 100644 --- a/conf/settings/baro.xml +++ b/conf/settings/estimation/fw_baro_MS5534.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/estimation/fw_baro_kalman.xml b/conf/settings/estimation/fw_baro_kalman.xml new file mode 100644 index 0000000000..34f11f32de --- /dev/null +++ b/conf/settings/estimation/fw_baro_kalman.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/conf/settings/infrared.xml b/conf/settings/estimation/infrared.xml similarity index 96% rename from conf/settings/infrared.xml rename to conf/settings/estimation/infrared.xml index 4a63671869..9ebd483cd4 100644 --- a/conf/settings/infrared.xml +++ b/conf/settings/estimation/infrared.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/ins_neutrals.xml b/conf/settings/estimation/ins_neutrals.xml similarity index 90% rename from conf/settings/ins_neutrals.xml rename to conf/settings/estimation/ins_neutrals.xml index bce83b2ed8..2623234091 100644 --- a/conf/settings/ins_neutrals.xml +++ b/conf/settings/estimation/ins_neutrals.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/estimation/wind.xml b/conf/settings/estimation/wind.xml new file mode 100644 index 0000000000..2e5b75e14a --- /dev/null +++ b/conf/settings/estimation/wind.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/conf/settings/external.xml b/conf/settings/external.xml deleted file mode 100644 index 0c2fe3debb..0000000000 --- a/conf/settings/external.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/basic.xml b/conf/settings/fixedwing_basic.xml similarity index 90% rename from conf/settings/basic.xml rename to conf/settings/fixedwing_basic.xml index 2ecedc22b3..abdfe89a29 100644 --- a/conf/settings/basic.xml +++ b/conf/settings/fixedwing_basic.xml @@ -8,10 +8,10 @@ - + - - + + diff --git a/conf/settings/tuning.xml b/conf/settings/fixedwing_tuning.xml similarity index 94% rename from conf/settings/tuning.xml rename to conf/settings/fixedwing_tuning.xml index cd01556f46..f827cd4010 100644 --- a/conf/settings/tuning.xml +++ b/conf/settings/fixedwing_tuning.xml @@ -59,9 +59,8 @@ - - - + + diff --git a/conf/settings/flight_params.xml b/conf/settings/flight_params.xml deleted file mode 100644 index f30232fea1..0000000000 --- a/conf/settings/flight_params.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/ihm.xml b/conf/settings/ihm.xml deleted file mode 100644 index a5ef3da93c..0000000000 --- a/conf/settings/ihm.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/conf/settings/joystick.xml b/conf/settings/joystick.xml deleted file mode 100644 index 75fb4a15ad..0000000000 --- a/conf/settings/joystick.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/conf/settings/lisa.xml b/conf/settings/lisa.xml deleted file mode 100644 index 8fd1c470a0..0000000000 --- a/conf/settings/lisa.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/AOA_adc.xml b/conf/settings/modules/AOA_adc.xml similarity index 91% rename from conf/settings/AOA_adc.xml rename to conf/settings/modules/AOA_adc.xml index 72fa08af3a..dd0b643777 100644 --- a/conf/settings/AOA_adc.xml +++ b/conf/settings/modules/AOA_adc.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/MPPT_settings.xml b/conf/settings/modules/MPPT_settings.xml similarity index 80% rename from conf/settings/MPPT_settings.xml rename to conf/settings/modules/MPPT_settings.xml index fff45fd87e..9fe2ec66f8 100644 --- a/conf/settings/MPPT_settings.xml +++ b/conf/settings/modules/MPPT_settings.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/airspeed_amsys.xml b/conf/settings/modules/airspeed_amsys.xml old mode 100755 new mode 100644 similarity index 91% rename from conf/settings/airspeed_amsys.xml rename to conf/settings/modules/airspeed_amsys.xml index 875cc5a9b7..0d4f1a66e1 --- a/conf/settings/airspeed_amsys.xml +++ b/conf/settings/modules/airspeed_amsys.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/antenna_settings.xml b/conf/settings/modules/antenna_settings.xml similarity index 92% rename from conf/settings/antenna_settings.xml rename to conf/settings/modules/antenna_settings.xml index 7b2643bf24..930f78e2f3 100644 --- a/conf/settings/antenna_settings.xml +++ b/conf/settings/modules/antenna_settings.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/baro_amsys.xml b/conf/settings/modules/baro_amsys.xml old mode 100755 new mode 100644 similarity index 86% rename from conf/settings/baro_amsys.xml rename to conf/settings/modules/baro_amsys.xml index 162b81c06b..9c738a05d4 --- a/conf/settings/baro_amsys.xml +++ b/conf/settings/modules/baro_amsys.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/benchmark.xml b/conf/settings/modules/benchmark.xml old mode 100755 new mode 100644 similarity index 94% rename from conf/settings/benchmark.xml rename to conf/settings/modules/benchmark.xml index 31d3b08c1e..97f8a93ea1 --- a/conf/settings/benchmark.xml +++ b/conf/settings/modules/benchmark.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/booz_cam.xml b/conf/settings/modules/booz_cam.xml similarity index 100% rename from conf/settings/booz_cam.xml rename to conf/settings/modules/booz_cam.xml diff --git a/conf/settings/booz_dc.xml b/conf/settings/modules/booz_dc.xml similarity index 90% rename from conf/settings/booz_dc.xml rename to conf/settings/modules/booz_dc.xml index 76c4f8a494..7f2df7b4d7 100644 --- a/conf/settings/booz_dc.xml +++ b/conf/settings/modules/booz_dc.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_booz_drop.xml b/conf/settings/modules/booz_drop.xml similarity index 88% rename from conf/settings/settings_booz_drop.xml rename to conf/settings/modules/booz_drop.xml index 6d6d07fdce..3cbedf95ab 100644 --- a/conf/settings/settings_booz_drop.xml +++ b/conf/settings/modules/booz_drop.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/cam.xml b/conf/settings/modules/cam.xml similarity index 95% rename from conf/settings/cam.xml rename to conf/settings/modules/cam.xml index 85060444bb..3dcb0ac2b5 100644 --- a/conf/settings/cam.xml +++ b/conf/settings/modules/cam.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/cam_pitch.xml b/conf/settings/modules/cam_pitch.xml similarity index 95% rename from conf/settings/cam_pitch.xml rename to conf/settings/modules/cam_pitch.xml index 80cace7e60..a57c2bbe37 100644 --- a/conf/settings/cam_pitch.xml +++ b/conf/settings/modules/cam_pitch.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/cam_roll.xml b/conf/settings/modules/cam_roll.xml similarity index 92% rename from conf/settings/cam_roll.xml rename to conf/settings/modules/cam_roll.xml index 3e09e9884f..bb09155488 100644 --- a/conf/settings/cam_roll.xml +++ b/conf/settings/modules/cam_roll.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/dc.xml b/conf/settings/modules/dc.xml similarity index 97% rename from conf/settings/dc.xml rename to conf/settings/modules/dc.xml index c859849583..7763e2392f 100644 --- a/conf/settings/dc.xml +++ b/conf/settings/modules/dc.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_deploy_sonar_buoy.xml b/conf/settings/modules/deploy_sonar_buoy.xml similarity index 93% rename from conf/settings/settings_deploy_sonar_buoy.xml rename to conf/settings/modules/deploy_sonar_buoy.xml index 002ef32e16..76c307b640 100644 --- a/conf/settings/settings_deploy_sonar_buoy.xml +++ b/conf/settings/modules/deploy_sonar_buoy.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/enose.xml b/conf/settings/modules/enose.xml similarity index 91% rename from conf/settings/enose.xml rename to conf/settings/modules/enose.xml index fa90cd2d4f..9da88c26de 100644 --- a/conf/settings/enose.xml +++ b/conf/settings/modules/enose.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/formation.xml b/conf/settings/modules/formation.xml similarity index 94% rename from conf/settings/formation.xml rename to conf/settings/modules/formation.xml index 79810c8aa6..7c2a4847f6 100644 --- a/conf/settings/formation.xml +++ b/conf/settings/modules/formation.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/gps_ubx_ucenter.xml b/conf/settings/modules/gps_ubx_ucenter.xml similarity index 95% rename from conf/settings/gps_ubx_ucenter.xml rename to conf/settings/modules/gps_ubx_ucenter.xml index 24811abbf7..fccb43bab0 100644 --- a/conf/settings/gps_ubx_ucenter.xml +++ b/conf/settings/modules/gps_ubx_ucenter.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/ins_arduimu_basic.xml b/conf/settings/modules/ins_arduimu_basic.xml similarity index 92% rename from conf/settings/ins_arduimu_basic.xml rename to conf/settings/modules/ins_arduimu_basic.xml index 73abc529c7..6389e0c1b1 100644 --- a/conf/settings/ins_arduimu_basic.xml +++ b/conf/settings/modules/ins_arduimu_basic.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/ir_i2c.xml b/conf/settings/modules/ir_i2c.xml similarity index 97% rename from conf/settings/ir_i2c.xml rename to conf/settings/modules/ir_i2c.xml index c67299ac4f..a099750c7f 100644 --- a/conf/settings/ir_i2c.xml +++ b/conf/settings/modules/ir_i2c.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/light.xml b/conf/settings/modules/light.xml similarity index 92% rename from conf/settings/light.xml rename to conf/settings/modules/light.xml index 9a1691c98e..1a480d8122 100644 --- a/conf/settings/light.xml +++ b/conf/settings/modules/light.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/pbn.xml b/conf/settings/modules/pbn.xml similarity index 82% rename from conf/settings/pbn.xml rename to conf/settings/modules/pbn.xml index 97f53f5f32..4feb83118d 100644 --- a/conf/settings/pbn.xml +++ b/conf/settings/modules/pbn.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/photogrammetry_calculator.xml b/conf/settings/modules/photogrammetry_calculator.xml similarity index 97% rename from conf/settings/photogrammetry_calculator.xml rename to conf/settings/modules/photogrammetry_calculator.xml index 9a44f87b94..f5622bbaa5 100644 --- a/conf/settings/photogrammetry_calculator.xml +++ b/conf/settings/modules/photogrammetry_calculator.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/poles.xml b/conf/settings/modules/poles.xml similarity index 88% rename from conf/settings/poles.xml rename to conf/settings/modules/poles.xml index c5e934896e..e164da3f07 100644 --- a/conf/settings/poles.xml +++ b/conf/settings/modules/poles.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/pt_ant_settings.xml b/conf/settings/modules/pt_ant_settings.xml similarity index 90% rename from conf/settings/pt_ant_settings.xml rename to conf/settings/modules/pt_ant_settings.xml index c19fcdad8f..62e4663c32 100644 --- a/conf/settings/pt_ant_settings.xml +++ b/conf/settings/modules/pt_ant_settings.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_servo_switch.xml b/conf/settings/modules/servo_switch.xml similarity index 88% rename from conf/settings/settings_servo_switch.xml rename to conf/settings/modules/servo_switch.xml index 7bede7e51a..fe29a120c9 100644 --- a/conf/settings/settings_servo_switch.xml +++ b/conf/settings/modules/servo_switch.xml @@ -1,4 +1,4 @@ - + diff --git a/conf/settings/settings_rotorcraft_vi.xml b/conf/settings/modules/vehicle_interface.xml similarity index 89% rename from conf/settings/settings_rotorcraft_vi.xml rename to conf/settings/modules/vehicle_interface.xml index 0371531591..606d83c72b 100644 --- a/conf/settings/settings_rotorcraft_vi.xml +++ b/conf/settings/modules/vehicle_interface.xml @@ -1,3 +1,5 @@ + + diff --git a/conf/settings/motor_bench_settings.xml b/conf/settings/motor_bench.xml similarity index 100% rename from conf/settings/motor_bench_settings.xml rename to conf/settings/motor_bench.xml diff --git a/conf/settings/nova_settings.xml b/conf/settings/nova_settings.xml deleted file mode 100644 index aacfa026b2..0000000000 --- a/conf/settings/nova_settings.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/conf/settings/settings_booz2_sim.xml b/conf/settings/nps.xml similarity index 100% rename from conf/settings/settings_booz2_sim.xml rename to conf/settings/nps.xml diff --git a/conf/settings/switch.xml b/conf/settings/power_switch.xml similarity index 100% rename from conf/settings/switch.xml rename to conf/settings/power_switch.xml diff --git a/conf/settings/tuning_rc.xml b/conf/settings/rc_settings_infrared.xml similarity index 100% rename from conf/settings/tuning_rc.xml rename to conf/settings/rc_settings_infrared.xml diff --git a/conf/settings/tuning_ins_rc.xml b/conf/settings/rc_settings_ins.xml similarity index 100% rename from conf/settings/tuning_ins_rc.xml rename to conf/settings/rc_settings_ins.xml diff --git a/conf/settings/rotorcraft_basic.xml b/conf/settings/rotorcraft_basic.xml new file mode 100644 index 0000000000..a053af6a4c --- /dev/null +++ b/conf/settings/rotorcraft_basic.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml deleted file mode 100644 index 321a47247f..0000000000 --- a/conf/settings/settings_booz2.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/settings_booz2_fms_ts.xml b/conf/settings/settings_booz2_fms_ts.xml deleted file mode 100644 index 57d1042cad..0000000000 --- a/conf/settings/settings_booz2_fms_ts.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/conf/settings/settings_whirly.xml b/conf/settings/settings_whirly.xml deleted file mode 100644 index f793ca8827..0000000000 --- a/conf/settings/settings_whirly.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/settings_wt.xml b/conf/settings/settings_wt.xml deleted file mode 100644 index f4e66e8041..0000000000 --- a/conf/settings/settings_wt.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/conf/settings/settings_booz2_asctec.xml b/conf/settings/test_actuators_asctec.xml similarity index 100% rename from conf/settings/settings_booz2_asctec.xml rename to conf/settings/test_actuators_asctec.xml diff --git a/conf/settings/settings_booz2_test_motors_hexa.xml b/conf/settings/test_booz2_motors_hexa.xml similarity index 100% rename from conf/settings/settings_booz2_test_motors_hexa.xml rename to conf/settings/test_booz2_motors_hexa.xml diff --git a/conf/settings/actuators.xml b/conf/settings/test_fixedwing_actuators.xml similarity index 100% rename from conf/settings/actuators.xml rename to conf/settings/test_fixedwing_actuators.xml diff --git a/conf/settings/settings_lisa_test_boards.xml b/conf/settings/test_lisa_board.xml similarity index 100% rename from conf/settings/settings_lisa_test_boards.xml rename to conf/settings/test_lisa_board.xml diff --git a/conf/settings/settings_test_passthrough.xml b/conf/settings/test_passthrough.xml similarity index 100% rename from conf/settings/settings_test_passthrough.xml rename to conf/settings/test_passthrough.xml diff --git a/conf/settings/settings_test.xml b/conf/settings/test_settings.xml similarity index 100% rename from conf/settings/settings_test.xml rename to conf/settings/test_settings.xml diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml deleted file mode 100644 index a5c19d6133..0000000000 --- a/conf/settings/tuningJH.xml +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml deleted file mode 100644 index 982584f6c5..0000000000 --- a/conf/settings/tuning_infrared.xml +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml deleted file mode 100644 index 596fc50ac9..0000000000 --- a/conf/settings/tuning_ins.xml +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_ins_chimu.xml b/conf/settings/tuning_ins_chimu.xml deleted file mode 100644 index 2606b28f18..0000000000 --- a/conf/settings/tuning_ins_chimu.xml +++ /dev/null @@ -1,105 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml deleted file mode 100644 index 17d61c9bf4..0000000000 --- a/conf/settings/tuning_ins_dcm.xml +++ /dev/null @@ -1,105 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml deleted file mode 100644 index ec1a77d63f..0000000000 --- a/conf/settings/tuning_loiter.xml +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml deleted file mode 100644 index b5092cefdb..0000000000 --- a/conf/settings/tuning_pers.xml +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml deleted file mode 100644 index 2bf9f895b1..0000000000 --- a/conf/settings/tuning_tp_auto.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/settings/twisted.xml b/conf/settings/twisted.xml deleted file mode 100644 index a1e088f5b4..0000000000 --- a/conf/settings/twisted.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/conf/settings/ugv.xml b/conf/settings/ugv.xml deleted file mode 100644 index 623d46e027..0000000000 --- a/conf/settings/ugv.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/system/udev/rules/50-paparazzi.rules b/conf/system/udev/rules/50-paparazzi.rules index 29ddee15a0..1d3383c6b3 100644 --- a/conf/system/udev/rules/50-paparazzi.rules +++ b/conf/system/udev/rules/50-paparazzi.rules @@ -14,6 +14,8 @@ LABEL="tty_FTDI232_end" SUBSYSTEM!="usb", GOTO="paparazzi_rules_end" ENV{DEVTYPE}!="usb_device", GOTO="paparazzi_rules_end" +ATTR{manufacturer}=="Transition Robotics Inc.", ATTR{product}=="Lisa/M (Upgrade)*", GROUP="plugdev" + #SUBSYSTEMS=="usb", ATTRS{serial}=="*_fbw", NAME="test_fbw", SYMLINK+="paparazzi/%s{serial}", MODE="0666" # FTDI 2232 parallel converter / Amontec JTAG-Tiny (access through libftdi) diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml index 60b05eea78..04e87930dd 100644 --- a/conf/telemetry/default_rotorcraft.xml +++ b/conf/telemetry/default_rotorcraft.xml @@ -64,6 +64,14 @@ + + + + + + + + diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c index eb990fdebe..2dd107dc1f 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c @@ -342,6 +342,7 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) { } void i2c_event(void) { } + void i2c_setbitrate(struct i2c_periph* p, int bitrate) { int period = 15000000 / 2 / bitrate; @@ -352,9 +353,6 @@ void i2c_setbitrate(struct i2c_periph* p, int bitrate) if (period > 1500) period = 1500; -/* default clock speed 37.5KHz with our 15MHz PCLK - I2C1_CLOCK = PCLK / (I2C1_SCLL + I2C1_SCLH) */ - #if (PCLK == 30000000) period *= 2; #endif @@ -363,22 +361,13 @@ void i2c_setbitrate(struct i2c_periph* p, int bitrate) period *= 4; #endif -#ifdef USE_I2C0 - if (p == &i2c0) - { - /* set bitrate */ - I2C0SCLL = period; - I2C0SCLH = period; - } -#endif -#ifdef USE_I2C1 - if (p == &i2c1) - { - /* set bitrate */ - I2C1SCLL = period; - I2C1SCLH = period; - } -#endif + /* default clock speed 37.5KHz with our 15MHz PCLK + * I2C_CLOCK = PCLK / (I2C_SCLL + I2C_SCLH) + */ + + /* set bitrate */ + ((i2cRegs_t *)(p->reg_addr))->scll = period; + ((i2cRegs_t *)(p->reg_addr))->sclh = period; } diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c index eb49429c3d..63f85722e9 100644 --- a/sw/airborne/boards/lisa_l/baro_board.c +++ b/sw/airborne/boards/lisa_l/baro_board.c @@ -24,8 +24,8 @@ void baro_init(void) { void baro_periodic(void) { -#warning BARO_BOARD_CODE_DISABLED - return; + // check i2c_done + if (!i2c_idle(&i2c2)) return; switch (baro_board.status) { case LBS_UNINITIALIZED: diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h index 44adc18c16..76985b69fa 100644 --- a/sw/airborne/boards/lisa_m_2.0.h +++ b/sw/airborne/boards/lisa_m_2.0.h @@ -7,38 +7,81 @@ #define EXT_CLK 12000000 #define AHB_CLK 72000000 -/* Onboard LEDs */ +/* + * Onboard LEDs + */ + +/* red, on PA8 */ #define LED_1_BANK -#define LED_1_GPIO GPIOB -#define LED_1_GPIO_CLK RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN -#define LED_1_GPIO_PIN GPIO4 -#define LED_1_AFIO_REMAP AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST +#define LED_1_GPIO GPIOA +#define LED_1_GPIO_CLK RCC_APB2ENR_IOPAEN +#define LED_1_GPIO_PIN GPIO8 +#define LED_1_AFIO_REMAP ((void)0) -/* shared with ADC15 */ +/* green, shared with JTAG_TRST */ #define LED_2_BANK -#define LED_2_GPIO GPIOC -#define LED_2_GPIO_CLK RCC_APB2ENR_IOPCEN -#define LED_2_GPIO_PIN GPIO5 -#define LED_2_AFIO_REMAP ((void)0) +#define LED_2_GPIO GPIOB +#define LED_2_GPIO_CLK RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN +#define LED_2_GPIO_PIN GPIO4 +#define LED_2_AFIO_REMAP AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST +/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */ #define LED_3_BANK #define LED_3_GPIO GPIOC #define LED_3_GPIO_CLK RCC_APB2ENR_IOPCEN #define LED_3_GPIO_PIN GPIO2 #define LED_3_AFIO_REMAP ((void)0) +/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */ #define LED_4_BANK #define LED_4_GPIO GPIOC #define LED_4_GPIO_CLK RCC_APB2ENR_IOPCEN -#define LED_4_GPIO_PIN GPIO12 +#define LED_4_GPIO_PIN GPIO5 #define LED_4_AFIO_REMAP ((void)0) +/* green, on PC15 */ #define LED_5_BANK #define LED_5_GPIO GPIOC #define LED_5_GPIO_CLK RCC_APB2ENR_IOPCEN -#define LED_5_GPIO_PIN GPIO10 +#define LED_5_GPIO_PIN GPIO15 #define LED_5_AFIO_REMAP ((void)0) +/* + * LEDs not populated by default + */ +/* PC3, ADC13 on ADC_1 */ +#define LED_6_BANK +#define LED_6_GPIO GPIOC +#define LED_6_GPIO_CLK RCC_APB2ENR_IOPCEN +#define LED_6_GPIO_PIN GPIO3 +#define LED_6_AFIO_REMAP ((void)0) + +/* PC0, ADC10 on ADC_2 */ +#define LED_7_BANK +#define LED_7_GPIO GPIOC +#define LED_7_GPIO_CLK RCC_APB2ENR_IOPCEN +#define LED_7_GPIO_PIN GPIO0 +#define LED_7_AFIO_REMAP ((void)0) + +/* PC1, ADC11 on ADC_3 */ +#define LED_8_BANK +#define LED_8_GPIO GPIOC +#define LED_8_GPIO_CLK RCC_APB2ENR_IOPCEN +#define LED_8_GPIO_PIN GPIO1 +#define LED_8_AFIO_REMAP ((void)0) + + +/* + * not actual LEDS, used as GPIOs + */ + +/* PC12, on GPIO connector*/ +#define LED_12_BANK +#define LED_12_GPIO GPIOC +#define LED_12_GPIO_CLK RCC_APB2ENR_IOPCEN +#define LED_12_GPIO_PIN GPIO12 +#define LED_12_AFIO_REMAP ((void)0) + /* configuration for aspirin - and more generaly IMUs */ #define IMU_ACC_DRDY_RCC_GPIO RCC_APB2ENR_IOPBEN diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c index 2ca6bf6c74..978121cdc7 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot.c @@ -93,11 +93,14 @@ void autopilot_periodic(void) { autopilot_detect_ground = FALSE; } #endif - if ( !autopilot_motors_on || + + /* set failsafe commands, if in FAILSAFE or KILL mode */ #ifndef FAILSAFE_GROUND_DETECT - autopilot_mode == AP_MODE_FAILSAFE || + if (autopilot_mode == AP_MODE_KILL || + autopilot_mode == AP_MODE_FAILSAFE) { +#else + if (autopilot_mode == AP_MODE_KILL) { #endif - autopilot_mode == AP_MODE_KILL ) { SetCommands(commands_failsafe, autopilot_in_flight, autopilot_motors_on); } @@ -129,6 +132,8 @@ void autopilot_set_mode(uint8_t new_autopilot_mode) { #endif case AP_MODE_KILL: autopilot_set_motors_on(FALSE); + autopilot_in_flight = FALSE; + autopilot_in_flight_counter = 0; guidance_h_mode_changed(GUIDANCE_H_MODE_KILL); break; case AP_MODE_RC_DIRECT: @@ -246,12 +251,11 @@ void autopilot_on_rc_frame(void) { autopilot_set_mode(new_autopilot_mode); } - /* if not in FAILSAFE or KILL mode, check motor and in_flight status, read RC */ - if (autopilot_mode > AP_MODE_KILL) { + /* if not in FAILSAFE mode check motor and in_flight status, read RC */ + if (autopilot_mode > AP_MODE_FAILSAFE) { /* an arming sequence is used to start/stop motors */ autopilot_arming_check_motors_on(); - kill_throttle = ! autopilot_motors_on; autopilot_check_in_flight(autopilot_motors_on); diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h index e43110e03f..e9250f488c 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h @@ -36,9 +36,11 @@ enum arming_state { }; enum arming_state autopilot_arming_state; +bool_t autopilot_unarmed_in_auto; static inline void autopilot_arming_init(void) { autopilot_arming_state = STATE_UNINIT; + autopilot_unarmed_in_auto = FALSE; } static inline void autopilot_arming_set(bool_t motors_on) { @@ -46,8 +48,16 @@ static inline void autopilot_arming_set(bool_t motors_on) { autopilot_arming_state = STATE_MOTORS_ON; } else { - if (autopilot_arming_state == STATE_MOTORS_ON) + if (autopilot_arming_state == STATE_MOTORS_ON) { autopilot_arming_state = STATE_STARTABLE; + /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */ + if (autopilot_mode != MODE_MANUAL) { + autopilot_unarmed_in_auto = TRUE; + } + else { + autopilot_unarmed_in_auto = FALSE; + } + } } } @@ -62,35 +72,46 @@ static inline void autopilot_arming_check_motors_on( void ) { switch(autopilot_arming_state) { case STATE_UNINIT: autopilot_motors_on = FALSE; - if (kill_switch_is_on()) + if (kill_switch_is_on()) { autopilot_arming_state = STATE_STARTABLE; - else + } + else { autopilot_arming_state = STATE_WAITING; + } break; case STATE_WAITING: autopilot_motors_on = FALSE; - if (kill_switch_is_on()) + if (kill_switch_is_on()) { autopilot_arming_state = STATE_STARTABLE; + } break; case STATE_STARTABLE: autopilot_motors_on = FALSE; if (!kill_switch_is_on() && THROTTLE_STICK_DOWN() && rc_attitude_sticks_centered() && - autopilot_mode == MODE_MANUAL && - ahrs_is_aligned()) { + (autopilot_mode == MODE_MANUAL || autopilot_unarmed_in_auto)) { autopilot_arming_state = STATE_MOTORS_ON; } break; case STATE_MOTORS_ON: autopilot_motors_on = TRUE; - if (kill_switch_is_on()) + if (kill_switch_is_on()) { + /* if killed, go to STATE_STARTABLE where motors will be turned off */ autopilot_arming_state = STATE_STARTABLE; + /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */ + if (autopilot_mode != MODE_MANUAL) { + autopilot_unarmed_in_auto = TRUE; + } + else { + autopilot_unarmed_in_auto = FALSE; + } + } break; default: break; } - kill_throttle = ! autopilot_motors_on; + } #endif /* AUTOPILOT_ARMING_SWITCH_H */ diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h index 679055860b..eedfd2d742 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h @@ -37,10 +37,12 @@ enum arming_throttle_state { enum arming_throttle_state autopilot_arming_state; uint8_t autopilot_arming_delay_counter; +bool_t autopilot_unarmed_in_auto; static inline void autopilot_arming_init(void) { autopilot_arming_state = STATE_UNINIT; autopilot_arming_delay_counter = 0; + autopilot_unarmed_in_auto = FALSE; } static inline void autopilot_arming_set(bool_t motors_on) { @@ -48,8 +50,9 @@ static inline void autopilot_arming_set(bool_t motors_on) { autopilot_arming_state = STATE_MOTORS_ON; } else { - if (autopilot_arming_state == STATE_MOTORS_ON) - autopilot_arming_state = STATE_MOTORS_OFF_READY; + if (autopilot_arming_state == STATE_MOTORS_ON) { + autopilot_arming_state = STATE_WAITING; + } } } @@ -62,59 +65,75 @@ static inline void autopilot_arming_set(bool_t motors_on) { * - AHRS needs to be aligned */ static inline void autopilot_arming_check_motors_on( void ) { - switch(autopilot_arming_state) { - case STATE_UNINIT: - autopilot_motors_on = FALSE; - autopilot_arming_delay_counter = 0; - if (THROTTLE_STICK_DOWN()) - autopilot_arming_state = STATE_MOTORS_OFF_READY; - else - autopilot_arming_state = STATE_WAITING; - break; - case STATE_WAITING: - autopilot_motors_on = FALSE; - autopilot_arming_delay_counter = 0; - if (THROTTLE_STICK_DOWN()) - autopilot_arming_state = STATE_MOTORS_OFF_READY; - break; - case STATE_MOTORS_OFF_READY: - autopilot_motors_on = FALSE; - autopilot_arming_delay_counter = 0; - if (!THROTTLE_STICK_DOWN() && - rc_attitude_sticks_centered() && - autopilot_mode == MODE_MANUAL && - ahrs_is_aligned()) { - autopilot_arming_state = STATE_ARMING; + + /* only allow switching motor if not in FAILSAFE or KILL mode */ + if (autopilot_mode > AP_MODE_KILL) { + + switch(autopilot_arming_state) { + case STATE_UNINIT: + autopilot_motors_on = FALSE; + autopilot_arming_delay_counter = 0; + if (THROTTLE_STICK_DOWN()) { + autopilot_arming_state = STATE_MOTORS_OFF_READY; + } + else { + autopilot_arming_state = STATE_WAITING; + } + break; + case STATE_WAITING: + autopilot_motors_on = FALSE; + autopilot_arming_delay_counter = 0; + if (THROTTLE_STICK_DOWN()) { + autopilot_arming_state = STATE_MOTORS_OFF_READY; + } + break; + case STATE_MOTORS_OFF_READY: + autopilot_motors_on = FALSE; + autopilot_arming_delay_counter = 0; + if (!THROTTLE_STICK_DOWN() && + rc_attitude_sticks_centered() && + (autopilot_mode == MODE_MANUAL || autopilot_unarmed_in_auto)) { + autopilot_arming_state = STATE_ARMING; + } + break; + case STATE_ARMING: + autopilot_motors_on = FALSE; + autopilot_arming_delay_counter++; + if (THROTTLE_STICK_DOWN() || + !rc_attitude_sticks_centered() || + (autopilot_mode != MODE_MANUAL && !autopilot_unarmed_in_auto)) { + autopilot_arming_state = STATE_MOTORS_OFF_READY; + } + else if (autopilot_arming_delay_counter >= AUTOPILOT_ARMING_DELAY) { + autopilot_arming_state = STATE_MOTORS_ON; + } + break; + case STATE_MOTORS_ON: + autopilot_motors_on = TRUE; + autopilot_arming_delay_counter = AUTOPILOT_ARMING_DELAY; + if (THROTTLE_STICK_DOWN()) { + autopilot_arming_state = STATE_UNARMING; + } + break; + case STATE_UNARMING: + autopilot_motors_on = TRUE; + autopilot_arming_delay_counter--; + if (!THROTTLE_STICK_DOWN()) { + autopilot_arming_state = STATE_MOTORS_ON; + } + else if (autopilot_arming_delay_counter == 0) { + autopilot_arming_state = STATE_MOTORS_OFF_READY; + if (autopilot_mode != MODE_MANUAL) { + autopilot_unarmed_in_auto = TRUE; + } + else { + autopilot_unarmed_in_auto = FALSE; + } + } + break; + default: + break; } - break; - case STATE_ARMING: - autopilot_motors_on = FALSE; - autopilot_arming_delay_counter++; - if (THROTTLE_STICK_DOWN() || - !rc_attitude_sticks_centered() || - autopilot_mode != MODE_MANUAL || - !ahrs_is_aligned()) { - autopilot_arming_state = STATE_MOTORS_OFF_READY; - } - else if (autopilot_arming_delay_counter >= AUTOPILOT_ARMING_DELAY) - autopilot_arming_state = STATE_MOTORS_ON; - break; - case STATE_MOTORS_ON: - autopilot_motors_on = TRUE; - autopilot_arming_delay_counter = AUTOPILOT_ARMING_DELAY; - if (THROTTLE_STICK_DOWN()) - autopilot_arming_state = STATE_UNARMING; - break; - case STATE_UNARMING: - autopilot_motors_on = TRUE; - autopilot_arming_delay_counter--; - if (!THROTTLE_STICK_DOWN()) - autopilot_arming_state = STATE_MOTORS_ON; - else if (autopilot_arming_delay_counter == 0) - autopilot_arming_state = STATE_MOTORS_OFF_READY; - break; - default: - break; } } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h index daa9b741dd..bfd47f0a1d 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h @@ -63,50 +63,54 @@ static inline void autopilot_arming_set(bool_t motors_on) { * The stick must return to a neutral position before starting/stoping again */ static inline void autopilot_arming_check_motors_on( void ) { - switch(autopilot_check_motor_status) { - case STATUS_MOTORS_OFF: - autopilot_motors_on = FALSE; - autopilot_motors_on_counter = 0; - if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) // stick pushed - autopilot_check_motor_status = STATUS_M_OFF_STICK_PUSHED; - break; - case STATUS_M_OFF_STICK_PUSHED: - autopilot_motors_on = FALSE; - autopilot_motors_on_counter++; - if (autopilot_motors_on_counter >= AUTOPILOT_MOTOR_ON_TIME) - autopilot_check_motor_status = STATUS_START_MOTORS; - else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // stick released too soon - autopilot_check_motor_status = STATUS_MOTORS_OFF; - break; - case STATUS_START_MOTORS: - autopilot_motors_on = TRUE; - autopilot_motors_on_counter = AUTOPILOT_MOTOR_ON_TIME; - if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // wait until stick released - autopilot_check_motor_status = STATUS_MOTORS_ON; - break; - case STATUS_MOTORS_ON: - autopilot_motors_on = TRUE; - autopilot_motors_on_counter = AUTOPILOT_MOTOR_ON_TIME; - if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) // stick pushed - autopilot_check_motor_status = STATUS_M_ON_STICK_PUSHED; - break; - case STATUS_M_ON_STICK_PUSHED: - autopilot_motors_on = TRUE; - autopilot_motors_on_counter--; - if (autopilot_motors_on_counter == 0) - autopilot_check_motor_status = STATUS_STOP_MOTORS; - else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // stick released too soon - autopilot_check_motor_status = STATUS_MOTORS_ON; - break; - case STATUS_STOP_MOTORS: - autopilot_motors_on = FALSE; - autopilot_motors_on_counter = 0; - if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // wait until stick released - autopilot_check_motor_status = STATUS_MOTORS_OFF; - break; - default: - break; - }; + /* only allow switching motor if not in FAILSAFE or KILL mode */ + if (autopilot_mode > AP_MODE_KILL) { + + switch(autopilot_check_motor_status) { + case STATUS_MOTORS_OFF: + autopilot_motors_on = FALSE; + autopilot_motors_on_counter = 0; + if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) // stick pushed + autopilot_check_motor_status = STATUS_M_OFF_STICK_PUSHED; + break; + case STATUS_M_OFF_STICK_PUSHED: + autopilot_motors_on = FALSE; + autopilot_motors_on_counter++; + if (autopilot_motors_on_counter >= AUTOPILOT_MOTOR_ON_TIME) + autopilot_check_motor_status = STATUS_START_MOTORS; + else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // stick released too soon + autopilot_check_motor_status = STATUS_MOTORS_OFF; + break; + case STATUS_START_MOTORS: + autopilot_motors_on = TRUE; + autopilot_motors_on_counter = AUTOPILOT_MOTOR_ON_TIME; + if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // wait until stick released + autopilot_check_motor_status = STATUS_MOTORS_ON; + break; + case STATUS_MOTORS_ON: + autopilot_motors_on = TRUE; + autopilot_motors_on_counter = AUTOPILOT_MOTOR_ON_TIME; + if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) // stick pushed + autopilot_check_motor_status = STATUS_M_ON_STICK_PUSHED; + break; + case STATUS_M_ON_STICK_PUSHED: + autopilot_motors_on = TRUE; + autopilot_motors_on_counter--; + if (autopilot_motors_on_counter == 0) + autopilot_check_motor_status = STATUS_STOP_MOTORS; + else if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // stick released too soon + autopilot_check_motor_status = STATUS_MOTORS_ON; + break; + case STATUS_STOP_MOTORS: + autopilot_motors_on = FALSE; + autopilot_motors_on_counter = 0; + if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) // wait until stick released + autopilot_check_motor_status = STATUS_MOTORS_OFF; + break; + default: + break; + }; + } } #endif /* AUTOPILOT_ARMING_YAW_H */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h index 22ad878da5..3176c50a91 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h @@ -28,6 +28,14 @@ #include "generated/airframe.h" +#ifndef STABILIZATION_ATTITUDE_FLOAT_GAIN_NB +#define STABILIZATION_ATTITUDE_FLOAT_GAIN_NB 1 +#endif + +#ifndef STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT +#define STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT 0 +#endif + struct FloatAttitudeGains { struct FloatVect3 p; struct FloatVect3 d; diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c index ba6cfe3167..011a486ae1 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c @@ -32,22 +32,11 @@ #include "math/pprz_algebra_int.h" #include "subsystems/ahrs.h" #include "generated/airframe.h" +#include "stabilization_attitude_float.h" +#include "stabilization_attitude_rc_setpoint.h" struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_FLOAT_GAIN_NB]; -/* warn if some gains are still negative */ -#if (STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN < 0) || \ - (STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN < 0) -#warning "ALL control gains are now positive!!!" -#endif - struct FloatQuat stabilization_att_sum_err_quat; struct FloatEulers stabilization_att_sum_err_eulers; @@ -132,6 +121,9 @@ void stabilization_attitude_enter(void) { FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers ); } +#ifndef GAIN_PRESCALER_FF +#define GAIN_PRESCALER_FF 1 +#endif static void attitude_run_ff(float ff_commands[], struct FloatAttitudeGains *gains, struct FloatRates *ref_accel) { /* Compute feedforward based on reference acceleration */ @@ -144,6 +136,15 @@ static void attitude_run_ff(float ff_commands[], struct FloatAttitudeGains *gain ff_commands[COMMAND_YAW_SURFACE] = GAIN_PRESCALER_FF * gains->surface_dd.z * ref_accel->r; } +#ifndef GAIN_PRESCALER_P +#define GAIN_PRESCALER_P 1 +#endif +#ifndef GAIN_PRESCALER_D +#define GAIN_PRESCALER_D 1 +#endif +#ifndef GAIN_PRESCALER_I +#define GAIN_PRESCALER_I 1 +#endif static void attitude_run_fb(float fb_commands[], struct FloatAttitudeGains *gains, struct FloatQuat *att_err, struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct FloatQuat *sum_err) { @@ -230,4 +231,15 @@ void stabilization_attitude_run(bool_t enable_integrator) { for (int i = COMMAND_ROLL; i <= COMMAND_YAW_SURFACE; i++) { stabilization_cmd[i] = stabilization_att_fb_cmd[i]+stabilization_att_ff_cmd[i]; } + + /* bound the result */ + BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ); + BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ); + BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ); +} + +void stabilization_attitude_read_rc(bool_t in_flight) { + + stabilization_attitude_read_rc_setpoint_quat_float(&stab_att_sp_quat, in_flight); + //FLOAT_QUAT_WRAP_SHORTEST(stab_att_sp_quat); } diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h index 460b6716c3..f68db9d153 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h @@ -26,19 +26,44 @@ #ifndef STABILISATION_ATTITUDE_RC_SETPOINT_H #define STABILISATION_ATTITUDE_RC_SETPOINT_H +#include "std.h" #include "generated/airframe.h" #include "math/pprz_algebra_int.h" +#include "math/pprz_algebra_float.h" #include "subsystems/radio_control.h" #include "subsystems/ahrs.h" +#ifdef STABILISATION_ATTITUDE_TYPE_INT +#define SP_MAX_PHI (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) +#define SP_MAX_THETA (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) +#define SP_MAX_R (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) +#endif // STABILISATION_ATTITUDE_TYPE_INT -#define SP_MAX_PHI (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) -#define SP_MAX_THETA (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) -#define SP_MAX_R (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) +#ifdef STABILISATION_ATTITUDE_TYPE_FLOAT +#define SP_MAX_PHI STABILIZATION_ATTITUDE_SP_MAX_PHI +#define SP_MAX_THETA STABILIZATION_ATTITUDE_SP_MAX_THETA +#define SP_MAX_R STABILIZATION_ATTITUDE_SP_MAX_R +#endif // STABILISATION_ATTITUDE_TYPE_FLOAT #define RC_UPDATE_FREQ 40 +#ifdef STABILIZATION_ATTITUDE_DEADBAND_A +#define ROLL_DEADBAND_EXCEEDED() \ + (radio_control.values[RADIO_ROLL] > STABILIZATION_ATTITUDE_DEADBAND_A || \ + radio_control.values[RADIO_ROLL] < -STABILIZATION_ATTITUDE_DEADBAND_A) +#else +#define ROLL_DEADBAND_EXCEEDED() (TRUE) +#endif /* STABILIZATION_ATTITUDE_DEADBAND_A */ + +#ifdef STABILIZATION_ATTITUDE_DEADBAND_E +#define PITCH_DEADBAND_EXCEEDED() \ + (radio_control.values[RADIO_PITCH] > STABILIZATION_ATTITUDE_DEADBAND_E || \ + radio_control.values[RADIO_PITCH] < -STABILIZATION_ATTITUDE_DEADBAND_E) +#else +#define PITCH_DEADBAND_EXCEEDED() (TRUE) +#endif /* STABILIZATION_ATTITUDE_DEADBAND_E */ + #define YAW_DEADBAND_EXCEEDED() \ (radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_DEADBAND_R || \ radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R) diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h index d2404a9715..5243d007ac 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h @@ -28,27 +28,9 @@ #include "stabilization_attitude_ref_float.h" -#define RC_UPDATE_FREQ 40. -#define ROLL_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI / MAX_PPRZ) -// FIXME: unused, what was it supposed to be? -//#define ROLL_COEF_H (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H / MAX_PPRZ) -#define PITCH_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ) -// FIXME: what is this supposed to be?? -#define YAW_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI / MAX_PPRZ) - #define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE)) #define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0) -#define ROLL_DEADBAND_EXCEEDED() \ - (radio_control.values[RADIO_ROLL] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A || \ - radio_control.values[RADIO_ROLL] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A) -#define PITCH_DEADBAND_EXCEEDED() \ - (radio_control.values[RADIO_PITCH] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E || \ - radio_control.values[RADIO_PITCH] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E) -#define YAW_DEADBAND_EXCEEDED() \ - (radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \ - radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R) - void stabilization_attitude_ref_enter(void); void stabilization_attitude_ref_schedule(uint8_t idx); diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h index 6a4bbdd0d5..56923fa33f 100644 --- a/sw/airborne/firmwares/rotorcraft/telemetry.h +++ b/sw/airborne/firmwares/rotorcraft/telemetry.h @@ -416,7 +416,7 @@ #define PERIODIC_SEND_AHRS_LKF_ACC_DBG(_trans, _dev) {} #endif - +#if defined STABILISATION_ATTITUDE_TYPE_QUAT && defined STABILISATION_ATTITUDE_TYPE_INT #define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) { \ DOWNLINK_SEND_AHRS_REF_QUAT(_trans, _dev, \ &stab_att_ref_quat.qi, \ @@ -428,6 +428,9 @@ &ahrs.ltp_to_body_quat.qy, \ &ahrs.ltp_to_body_quat.qz); \ } +#else +#define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) {} +#endif /* STABILISATION_ATTITUDE_TYPE_QUAT */ #define PERIODIC_SEND_AHRS_QUAT_INT(_trans, _dev) { \ DOWNLINK_SEND_AHRS_QUAT_INT(_trans, _dev, \ @@ -719,7 +722,6 @@ #define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev) {} #endif - #define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev) { \ DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev, \ &radio_control.values[RADIO_ROLL], \ @@ -737,90 +739,44 @@ &ahrs.ltp_to_body_euler.psi); \ } - -#ifdef USE_I2C0 -#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \ - uint16_t i2c0_ack_fail_cnt = i2c0.errors->ack_fail_cnt; \ - uint16_t i2c0_miss_start_stop_cnt = i2c0.errors->miss_start_stop_cnt; \ - uint16_t i2c0_arb_lost_cnt = i2c0.errors->arb_lost_cnt; \ - uint16_t i2c0_over_under_cnt = i2c0.errors->over_under_cnt; \ - uint16_t i2c0_pec_recep_cnt = i2c0.errors->pec_recep_cnt; \ - uint16_t i2c0_timeout_tlow_cnt = i2c0.errors->timeout_tlow_cnt; \ - uint16_t i2c0_smbus_alert_cnt = i2c0.errors->smbus_alert_cnt; \ - uint16_t i2c0_unexpected_event_cnt = i2c0.errors->unexpected_event_cnt; \ - uint32_t i2c0_last_unexpected_event = i2c0.errors->last_unexpected_event; \ - DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ - &i2c0_ack_fail_cnt, \ - &i2c0_miss_start_stop_cnt, \ - &i2c0_arb_lost_cnt, \ - &i2c0_over_under_cnt, \ - &i2c0_pec_recep_cnt, \ - &i2c0_timeout_tlow_cnt, \ - &i2c0_smbus_alert_cnt, \ - &i2c0_unexpected_event_cnt, \ - &i2c0_last_unexpected_event); \ - } -#else -#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) {} -#endif - #ifdef USE_I2C1 -#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \ - uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt; \ - uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt; \ - uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt; \ - uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt; \ - uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt; \ - uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt; \ - uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt; \ - uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt; \ - uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event; \ - DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ - &i2c1_ack_fail_cnt, \ - &i2c1_miss_start_stop_cnt, \ - &i2c1_arb_lost_cnt, \ - &i2c1_over_under_cnt, \ - &i2c1_pec_recep_cnt, \ - &i2c1_timeout_tlow_cnt, \ - &i2c1_smbus_alert_cnt, \ - &i2c1_unexpected_event_cnt, \ - &i2c1_last_unexpected_event); \ +#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \ + DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ + &i2c1.errors->ack_fail_cnt, \ + &i2c1.errors->miss_start_stop_cnt, \ + &i2c1.errors->arb_lost_cnt, \ + &i2c1.errors->over_under_cnt, \ + &i2c1.errors->pec_recep_cnt, \ + &i2c1.errors->timeout_tlow_cnt, \ + &i2c1.errors->smbus_alert_cnt, \ + &i2c1.errors->unexpected_event_cnt, \ + &i2c1.errors->last_unexpected_event); \ } #else #define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {} #endif #ifdef USE_I2C2 -#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \ - uint16_t i2c2_ack_fail_cnt = i2c2.errors->ack_fail_cnt; \ - uint16_t i2c2_miss_start_stop_cnt = i2c2.errors->miss_start_stop_cnt; \ - uint16_t i2c2_arb_lost_cnt = i2c2.errors->arb_lost_cnt; \ - uint16_t i2c2_over_under_cnt = i2c2.errors->over_under_cnt; \ - uint16_t i2c2_pec_recep_cnt = i2c2.errors->pec_recep_cnt; \ - uint16_t i2c2_timeout_tlow_cnt = i2c2.errors->timeout_tlow_cnt; \ - uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt; \ - uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt; \ - uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event; \ - DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ - &i2c2_ack_fail_cnt, \ - &i2c2_miss_start_stop_cnt, \ - &i2c2_arb_lost_cnt, \ - &i2c2_over_under_cnt, \ - &i2c2_pec_recep_cnt, \ - &i2c2_timeout_tlow_cnt, \ - &i2c2_smbus_alert_cnt, \ - &i2c2_unexpected_event_cnt, \ - &i2c2_last_unexpected_event); \ +#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \ + DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \ + &i2c2.errors->ack_fail_cnt, \ + &i2c2.errors->miss_start_stop_cnt, \ + &i2c2.errors->arb_lost_cnt, \ + &i2c2.errors->over_under_cnt, \ + &i2c2.errors->pec_recep_cnt, \ + &i2c2.errors->timeout_tlow_cnt, \ + &i2c2.errors->smbus_alert_cnt, \ + &i2c2.errors->unexpected_event_cnt, \ + &i2c2.errors->last_unexpected_event); \ } #else #define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {} #endif -#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \ - PERIODIC_SEND_I2C0_ERRORS(_trans, _dev); \ - PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \ - PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \ -} +#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \ + PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \ + PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \ + } // FIXME: still used?? or replace by EXTRA_ADC #define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) {} diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c index 5e3be7f786..10acf76215 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.c +++ b/sw/airborne/subsystems/gps/gps_nmea.c @@ -66,13 +66,12 @@ void gps_impl_init( void ) { } - /** * parse GPGSA-nmea-messages stored in * nmea_msg_buf . */ void parse_nmea_GPGSA(void) { - int i = 8; // current position in the message + int i = 6; // current position in the message, start after: GPGSA, // char* endptr; // end of parsed substrings // attempt to reject empty packets right away @@ -113,7 +112,7 @@ void parse_nmea_GPGSA(void) { * gps_nmea.msg_buf . */ void parse_nmea_GPRMC(void) { - int i = 8; // current position in the message + int i = 6; // current position in the message, start after: GPRMC, char* endptr; // end of parsed substrings // attempt to reject empty packets right away @@ -192,7 +191,7 @@ void parse_nmea_GPRMC(void) { * gps_nmea.msg_buf . */ void parse_nmea_GPGGA(void) { - int i = 8; // current position in the message + int i = 6; // current position in the message, start after: GPGGA, char* endptr; // end of parsed substrings double degrees, minutesfrac; struct LlaCoor_f lla_f; @@ -205,6 +204,7 @@ void parse_nmea_GPGGA(void) { // get UTC time [hhmmss.sss] // ignored GpsInfo.PosLLA.TimeOfFix.f = strtod(&packet[i], &endptr); + // FIXME: parse UTC time correctly double time = strtod(&gps_nmea.msg_buf[i],&endptr); gps.tow = (uint32_t)((time+1)*1000); @@ -280,11 +280,9 @@ void parse_nmea_GPGGA(void) { // check for good position fix if( (gps_nmea.msg_buf[i] != '0') && (gps_nmea.msg_buf[i] != ',') ) { gps_nmea.pos_available = TRUE; - //gps.fix = GPS_FIX_3D; NMEA_PRINT("p_GPGGA() - POS_AVAILABLE == TRUE\n\r"); } else { gps_nmea.pos_available = FALSE; - //gps.fix = GPS_FIX_NONE; NMEA_PRINT("p_GPGGA() - gps_pos_available == false\n\r"); } @@ -377,22 +375,26 @@ void nmea_parse_msg( void ) { NMEA_PRINT("parsing RMC: \"%s\" \n\r",gps_nmea.msg_buf); NMEA_PRINT("RMC"); parse_nmea_GPRMC(); - } else + } + else { if(gps_nmea.msg_len > 5 && !strncmp(gps_nmea.msg_buf , "GPGGA", 5)) { gps_nmea.msg_buf[gps_nmea.msg_len] = 0; NMEA_PRINT("parse_gps_msg() - parsing GGA gps-message \"%s\" \n\r",gps_nmea.msg_buf); NMEA_PRINT("GGA"); parse_nmea_GPGGA(); - } else + } + else { if(gps_nmea.msg_len > 5 && !strncmp(gps_nmea.msg_buf , "GPGSA", 5)) { - gps_nmea.msg_buf[gps_nmea.msg_len] = 0; - NMEA_PRINT("GSA: \"%s\" \n\r",gps_nmea.msg_buf); - NMEA_PRINT("GSA"); - parse_nmea_GPGSA(); + gps_nmea.msg_buf[gps_nmea.msg_len] = 0; + NMEA_PRINT("GSA: \"%s\" \n\r",gps_nmea.msg_buf); + NMEA_PRINT("GSA"); + parse_nmea_GPGSA(); } else { - gps_nmea.msg_buf[gps_nmea.msg_len] = 0; - NMEA_PRINT("ignoring: len=%i \n\r \"%s\" \n\r", gps_nmea.msg_len, gps_nmea.msg_buf); + gps_nmea.msg_buf[gps_nmea.msg_len] = 0; + NMEA_PRINT("ignoring: len=%i \n\r \"%s\" \n\r", gps_nmea.msg_len, gps_nmea.msg_buf); } + } + } // reset message-buffer gps_nmea.msg_len = 0; diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h index 08b0c818be..d7ac3076cd 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin2.h +++ b/sw/airborne/subsystems/imu/imu_aspirin2.h @@ -28,10 +28,7 @@ #include "subsystems/imu.h" -#ifdef IMU_ASPIRIN_VERSION_2_0 -#define IMU_MAG_X_CHAN 2 -#define IMU_MAG_Y_CHAN 0 -#define IMU_MAG_Z_CHAN 1 +#ifdef IMU_ASPIRIN_VERSION_2_1 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN #define IMU_MAG_X_SIGN 1 #define IMU_MAG_Y_SIGN 1 @@ -160,12 +157,13 @@ static inline void imu_from_buff(void) #ifdef LISA_M_LONGITUDINAL_X RATES_ASSIGN(imu.gyro_unscaled, q, -p, r); VECT3_ASSIGN(imu.accel_unscaled, y, -x, z); + VECT3_ASSIGN(imu.mag_unscaled, -Mx, -Mz, My); #else RATES_ASSIGN(imu.gyro_unscaled, p, q, r); VECT3_ASSIGN(imu.accel_unscaled, x, y, z); + VECT3_ASSIGN(imu.mag_unscaled, Mz, -Mx, My); #endif - VECT3_ASSIGN(imu.mag_unscaled, Mx, My, Mz); // Is this is new data #define MPU_OFFSET_STATUS 1 diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h index 8553183e56..f89ae00dc5 100644 --- a/sw/airborne/subsystems/imu/imu_b2.h +++ b/sw/airborne/subsystems/imu/imu_b2.h @@ -137,9 +137,9 @@ #define IMU_ACCEL_Z_SIGN 1 #endif #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN -#define IMU_MAG_X_SIGN 1 +#define IMU_MAG_X_SIGN -1 #define IMU_MAG_Y_SIGN -1 -#define IMU_MAG_Z_SIGN -1 +#define IMU_MAG_Z_SIGN 1 #endif #endif /* IMU_B2_VERSION_1_2 */ diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c index 9306fbe328..3ee24f568f 100644 --- a/sw/airborne/subsystems/ins.c +++ b/sw/airborne/subsystems/ins.c @@ -182,8 +182,6 @@ void ins_update_baro() { ins_qfe = baro.absolute; ins_baro_initialised = TRUE; } - ins_baro_alt = ((baro.absolute - ins_qfe) * INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN; - float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt); if (ins_vf_realign) { ins_vf_realign = FALSE; ins_qfe = baro.absolute; @@ -198,7 +196,11 @@ void ins_update_baro() { ins_enu_speed.z = -ins_ltp_speed.z; ins_enu_accel.z = -ins_ltp_accel.z; } - vff_update(alt_float); + else { /* not realigning, so normal update with baro measurement */ + ins_baro_alt = ((baro.absolute - ins_qfe) * INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN; + float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt); + vff_update(alt_float); + } } #endif } diff --git a/sw/ground_segment/cockpit/live.ml b/sw/ground_segment/cockpit/live.ml index e4f78e5a3a..42dddbcfd4 100644 --- a/sw/ground_segment/cockpit/live.ml +++ b/sw/ground_segment/cockpit/live.ml @@ -1193,7 +1193,7 @@ let listen_flight_params = fun geomap auto_center_new_ac alert alt_graph -> match ap_mode with "AUTO2" | "NAV" -> ok_color | "AUTO1" | "R_RCC" | "A_RCC" | "ATT_C" | "R_ZH" | "A_ZH" | "HOVER" | "HOV_C" | "H_ZH" -> "#10F0E0" - | "MANUAL" | "RATE" | "ATT" -> warning_color + | "MANUAL" | "RATE" | "ATT" | "RC_D" -> warning_color | _ -> alert_color in ac.strip#set_color "AP" color; end; diff --git a/sw/ground_segment/tmtc/server_globals.ml b/sw/ground_segment/tmtc/server_globals.ml index 9eea214c71..fb6d60214b 100644 --- a/sw/ground_segment/tmtc/server_globals.ml +++ b/sw/ground_segment/tmtc/server_globals.ml @@ -4,7 +4,7 @@ let hostname = ref "localhost" (** FIXME: Should be read from messages.xml *) let fixedwing_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS";"FAIL"|] -let rotorcraft_ap_modes = [|"SAFE";"KILL";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV"|] +let rotorcraft_ap_modes = [|"SAFE";"KILL";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV";"RC_D"|] let _AUTO2 = 2 let gaz_modes = [|"MANUAL";"GAZ";"CLIMB";"ALT"|] let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|] diff --git a/sw/in_progress/python/attitude_viz.py b/sw/in_progress/python/attitude_viz.py index 537172b75f..7bae48a73c 100755 --- a/sw/in_progress/python/attitude_viz.py +++ b/sw/in_progress/python/attitude_viz.py @@ -69,7 +69,7 @@ class Visualization: if (graph_value.message_name == data[1]): self.display_dirty = True graph_value.value = (float(data[graph_value.index + 0]) + graph_value.offset) / graph_value.scale - + def DrawCircle(self, radius): glBegin(GL_TRIANGLE_FAN) glVertex3f(0, 0, 0) @@ -115,14 +115,14 @@ class Visualization: separation = 0.7 chord = 0.35 thickness = 0.08 - strutcount = 5 + strutcount = 3 discradius = 0.45 discseparation = 0.01 - + #wings glColor3f(0.1, 0.1, 0.9) glPushMatrix() - glTranslate(0, 0, separation) + glTranslate(0, 0, 0.05) self.DrawBox(wingspan, chord, thickness) glColor3f(0.0, 0.0, 0.0) glTranslate(-wingspan, -0.2, thickness + 0.01) @@ -131,7 +131,7 @@ class Visualization: glPopMatrix() glPushMatrix() - glTranslate(0, 0, -separation) + glTranslate(0, 0, -0.05) glColor3f(0.6, 0.6, 0.2) self.DrawBox(wingspan, chord, thickness) glColor3f(0.0, 0.0, 0.0) @@ -147,22 +147,26 @@ class Visualization: # struts glColor3f(0.4, 0.4, 0.4) glPushMatrix() - glTranslate(-wingspan, 0, 0) + glTranslate(-wingspan/2, 0, separation/2) glRotate(90, 0, 1, 0) - for x in range (0, strutcount): - self.DrawBox(separation, chord - .01, thickness) - glTranslate(0, 0, 2 * wingspan/(strutcount - 1)) + for x in range (0, strutcount-1): + self.DrawBox(separation/2, chord - .01, thickness) + glTranslate(0, 0, wingspan) + glTranslate(separation, 0, -5*wingspan/2) + for x in range (0, strutcount-1): + self.DrawBox(separation/2, chord - .01, thickness) + glTranslate(0, 0, 2*wingspan) glPopMatrix() #rotors glColor3f(0.9, 0.1, 0.1) glPushMatrix() glRotate(90, 1, 0, 0) - glTranslate(-wingspan, separation, -(chord + .01)) + glTranslate(-wingspan/2, separation, -(chord + .01)) for x in range (0, strutcount): if (x != strutcount/2): self.DrawCircle(discradius) - glTranslate(2 * wingspan/(strutcount - 1), 0, 0) + glTranslate(2 * wingspan/(strutcount + 1), 0, 0) glPopMatrix() glPushMatrix() @@ -215,16 +219,13 @@ class Visualization: glTranslate(0, -height + (height / len(self.quats) + 1), 0) for telemetry_quat in self.quats: glPushMatrix() - try: - telemetry_quat.qi = telemetry_quat.qi * telemetry_quat.scale - telemetry_quat.qx = telemetry_quat.qx * telemetry_quat.scale - telemetry_quat.qy = telemetry_quat.qy * telemetry_quat.scale - telemetry_quat.qz = telemetry_quat.qz * telemetry_quat.scale - glRotate(360 * math.acos(telemetry_quat.qi ) / math.pi, telemetry_quat.qy, -telemetry_quat.qz, -telemetry_quat.qx) + try: + scaled_quat = [telemetry_quat.qi * telemetry_quat.scale, telemetry_quat.qx * telemetry_quat.scale, telemetry_quat.qy * telemetry_quat.scale, telemetry_quat.qz * telemetry_quat.scale] + glRotate(360 * math.acos(scaled_quat[0] ) / math.pi, scaled_quat[2], -scaled_quat[3], -scaled_quat[1]) glRotate(-90, 1, 0, 0) self.DrawVehicle(telemetry_quat.name) except Exception: - pass + raise Exception finally: glPopMatrix() glTranslate(0, 2 * height / (len(self.quats)), 0) @@ -236,11 +237,11 @@ class Visualizer: # listen to Ivy logging.getLogger('Ivy').setLevel(logging.WARN) - IvyInit(_NAME, - "", - 0, - lambda x,y: y, - lambda x,z: z + IvyInit(_NAME, + "", + 0, + lambda x,y: y, + lambda x,z: z ) IvyStart("") @@ -253,9 +254,9 @@ class Visualizer: messages.append(vehicle_quat[0]) for bar_value in BAR_VALUES: messages.append(bar_value[0]) - + # bind to set of messages (ie, only bind each message once) - for message_name in set(messages): + for message_name in set(messages): bind_string = "(^.*" + message_name + ".*$)" IvyBindMsg(self.visualization.onmsgproc, bind_string) @@ -263,7 +264,7 @@ class Visualizer: if self.visualization.display_dirty: self.visualization.Draw() self.visualization.display_dirty = False - + def OnClose(self): IvyStop() @@ -287,7 +288,7 @@ def init(): glShadeModel (GL_SMOOTH) glClearColor(1.0, 1.0, 1.0, 1.0) glClearDepth(1.0) - + glPointSize(3.0) glMatrixMode(GL_PROJECTION) @@ -312,7 +313,7 @@ def init(): def run(): global VEHICLE_QUATS, BAR_VALUES VEHICLE_QUATS = [ ["AHRS_REF_QUAT", 6, "Estimate", True], ["AHRS_REF_QUAT", 2, "Reference", True]] - BAR_VALUES = [ ["ROTORCRAFT_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100] ] + BAR_VALUES = [ ["ROTORCRAFT_RADIO_CONTROL", 5, "Throttle (%%) %i", 0, 100, 100] ] window_title = "Attitude_Viz" try: opts, args = getopt.getopt(sys.argv[1:], "t:", ["title"]) @@ -329,17 +330,22 @@ def run(): #resize(*SCREEN_SIZE) init() visualizer = Visualizer() - while True: - for event in pygame.event.get(): - if event.type == pygame.QUIT: - visualizer.OnClose() - return - if event.type == pygame.KEYUP and event.key == pygame.K_ESCAPE: - visualizer.OnClose() - return - visualizer.Draw() - pygame.display.flip() - time.sleep(.02) + + try: + while True: + for event in pygame.event.get(): + if event.type == pygame.QUIT: + visualizer.OnClose() + return + if event.type == pygame.KEYUP and event.key == pygame.K_ESCAPE: + visualizer.OnClose() + return + visualizer.Draw() + pygame.display.flip() + time.sleep(.02) + except KeyboardInterrupt: + visualizer.OnClose() + return if __name__ == "__main__": run() diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml index a939129326..4a8a4adf76 100644 --- a/sw/tools/gen_aircraft.ml +++ b/sw/tools/gen_aircraft.ml @@ -241,7 +241,7 @@ let parse_firmware = fun makefile_ac firmware -> List.iter (print_firmware_define makefile_ac) defines; List.iter (print_firmware_define makefile_ac) t_defines; fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board"); - fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib firmware "name"); + fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/firmwares/%s.makefile\n" (Xml.attrib firmware "name"); List.iter (print_firmware_subsystem makefile_ac firmware) t_subsystems; List.iter (print_firmware_subsystem makefile_ac firmware) subsystems; fprintf makefile_ac "endif\n\n"