diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml new file mode 100644 index 0000000000..d99518c561 --- /dev/null +++ b/conf/airframes/ENAC/fixed-wing/spocII.xml @@ -0,0 +1,272 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + +
+ + +
+ +
+ + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + +
+ +
+ + + + + +
+ +
+ + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ +
+ + +
+ +
+ + + + + + + + +
+ + +
+ + + + + + +
+ +
+ + + + + +
+ + +CONFIG = \"tiny_2_1_1.h\" + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + +ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 +ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c + +ap.CFLAGS += -DRADIO_CONTROL +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +#TRANSPARENT +ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_5 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 +# -DGPS_LED=2 +ap.srcs += gps_ubx.c gps.c latlong.c + +ap.CFLAGS += -DINFRARED -DALT_KALMAN +ap.srcs += infrared.c estimator.c + +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c +ap.srcs += nav_survey_rectangle.c nav_line.c + +ap.CFLAGS += -DGYRO -DADXRS150 +ap.srcs += gyro.c + +# Current sensor +ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3 + +# Config for SITL simulation +#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.ARCHDIR = $(ARCHI) +sim.ARCH = sitl +sim.TARGET = autopilot +sim.TARGETDIR = autopilot +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO +sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c 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 += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN + +sim.srcs += nav_line.c nav_survey_rectangle.c + + +# a test program to setup actuators +setup_actuators.ARCHDIR = $(ARCHI) +setup_actuators.ARCH = arm7tdmi +setup_actuators.TARGET = setup_actuators +setup_actuators.TARGETDIR = setup_actuators + +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c + + +