[modules][ocaml] implement module dependency (#2669)

- support depends, conflicts and provides nodes, all under a 'dep' node
- autoload are kept for now and are not moved yet
- modules are updated for new dep format
- it is now required that module's name and filename are the same

conf/airframes/ENAC/fixed-wing/tawaki.xml

@@ -55,9 +55,9 @@
     </module>
 
     <!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
-    <module name="tlsf"/>
+    <!--module name="tlsf"/>
     <module name="pprzlog"/>
-    <module name="logger" type="sd_chibios"/>
+    <module name="logger" type="sd_chibios"/-->
     <module name="flight_recorder"/>
   </firmware>
 
@@ -216,7 +216,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="JSBSIM_LAUNCHSPEED" value="15"/>
     <define name="JSBSIM_MODEL" value="easystar" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_wind_estimator.h" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
 

conf/modules/AOA_pwm.xml

@@ -37,7 +37,9 @@
     </dl_settings>
   </settings>
 
-  <depends>pwm_meas</depends>
+  <dep>
+    <depends>pwm_meas</depends>
+  </dep>
   <header>
     <file name="aoa_pwm.h" />
   </header>

conf/modules/ahrs_float_cmpl_rmat.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_flat_cmpl_rmat" dir="ahrs">
+<module name="ahrs_float_cmpl_rmat" dir="ahrs">
   <doc>
     <description>
       AHRS using complementary filter in floating point.

conf/modules/ahrs_float_invariant.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_float_dcm" dir="ahrs">
+<module name="ahrs_float_invariant" dir="ahrs">
   <doc>
     <description>
       AHRS using invariant filter.

conf/modules/ahrs_infrared.xml

@@ -10,7 +10,9 @@
     - ADC channels can be used for gyros.
     </description>
   </doc>
-  <depends>infrared_adc</depends>
+  <dep>
+    <depends>infrared_adc</depends>
+  </dep>
   <header>
     <file name="ahrs_infrared.h"/>
   </header>

conf/modules/auto1_commands.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="auto1_cmd" dir="switching">
+<module name="auto1_commands" dir="switching">
   <doc>
     <description>AUTO1 FLAPS/HATCH COMMANDS.
       Enable RC controlled HATCH and BRAKE/FLAPS in both MANUAL and AUTO1, while automatic in AUTO2.

conf/modules/baro_MS5534A.xml

@@ -7,6 +7,9 @@
   <header>
     <file name="baro_MS5534A.h"/>
   </header>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <init fun="baro_MS5534A_init()"/>
   <periodic fun="baro_MS5534A_send()" freq="20"/>
   <event fun="baro_MS5534A_event()"/>
@@ -14,7 +17,6 @@
     <file name="baro_MS5534A.c"/>
     <define name="USE_BARO_MS5534A"/>
     <define name="USE_SPI_SLAVE0"/>
-    <define name="SPI_MASTER"/>
     <configure name="BARO_MS5534A_W1" value="0xAC20"/>
     <configure name="BARO_MS5534A_W2" value="0x87D9"/>
     <configure name="BARO_MS5534A_W3" value="0x8D9C"/>

conf/modules/baro_bmp280_i2c.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="baro_bmp280" dir="sensors">
+<module name="baro_bmp280_i2c" dir="sensors">
   <doc>
     <description>
       Bosch-Sensortech BMP280xx pressure sensor

conf/modules/baro_ms5611_spi.xml

@@ -10,6 +10,9 @@
     <configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE0" description="SPI slave select index"/>
     <define name="SENSOR_SYNC_SEND" description="flag to enable sending BARO_MS5611 message on every new measurement"/>
   </doc>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <header>
     <file name="baro_ms5611_spi.h"/>
   </header>
@@ -20,9 +23,6 @@
   <makefile target="ap">
     <configure name="MS5611_SPI_DEV" default="spi1" case="upper|lower"/>
     <configure name="MS5611_SLAVE_IDX" default="spi_slave0" case="upper|lower"/>
-    <raw>
-      include $(CFG_SHARED)/spi_master.makefile
-    </raw>
     <define name="USE_$(MS5611_SPI_DEV_UPPER)" />
     <define name="USE_$(MS5611_SLAVE_IDX_UPPER)" />
     <define name="MS5611_SPI_DEV" value="$(MS5611_SPI_DEV_LOWER)" />

conf/modules/baro_scp.xml

@@ -8,13 +8,14 @@
   <header>
     <file name="baro_scp.h"/>
   </header>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <init fun="baro_scp_init()"/>
   <periodic fun="baro_scp_periodic()" freq="1.8"/>
   <event fun="baro_scp_event()"/>
   <makefile target="ap">
     <file name="baro_scp.c"/>
-    <define name="SPI_MASTER"/>
-    <define name="USE_SPI"/>
   </makefile>
 </module>
 

conf/modules/bebop_cam.xml

@@ -53,7 +53,9 @@
     </dl_settings>
   </settings>
   
-  <autoload name="video_thread"/>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
   
   <header>
     <file name="mt9v117.h"/>

conf/modules/board_matek_f405_wing.xml

@@ -12,10 +12,10 @@
       Normal up of the board is on STM32F405 side.
     </description>
   </doc>
+  <dep>
+    <depends>spi_master,osd_max7456,baro_bmp280_i2c</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="spi" type="master"/>
-  <autoload name="osd_max7456" />
-  <autoload name="baro_bmp280_i2c" />
 
   <makefile target="!sim|nps|fbw">
     <!-- IMU CONFIGURATION -->

conf/modules/board_matek_f765_wing.xml

@@ -13,11 +13,10 @@
     </description>
     <configure name="BOARD_MATEK_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
   </doc>
+  <dep>
+    <depends>spi_master,osd_max7456,baro_bmp280_i2c,current_sensor</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="spi" type="master"/>
-  <autoload name="osd_max7456"/>
-  <autoload name="baro_bmp280_i2c"/>
-  <autoload name="current_sensor"/>
 
   <makefile target="!sim|nps|fbw">
     <!-- IMU CONFIGURATION -->

conf/modules/board_tawaki.xml

@@ -12,9 +12,10 @@
     </description>
     <configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
   </doc>
+  <dep>
+    <depends>baro_bmp3,mag_lis3mdl</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="baro" type="bmp3"/>
-  <autoload name="mag" type="lis3mdl"/>
   <makefile target="!sim|nps|fbw">
     <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
     <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>

conf/modules/cam_segment.xml

@@ -4,7 +4,9 @@
   <doc>
     <description>Camera control to point a segment</description>
   </doc>
-  <depends>cam_point</depends>
+  <dep>
+    <depends>cam_point</depends>
+  </dep>
   <header>
     <file name="cam_segment.h"/>
   </header>

conf/modules/configure_actuators_mkk_v2.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="config">
+<module name="configure_actuators_mkk_v2" dir="config">
   <doc>
     <description>Configure Mikrokopter MKK v2.0 BLDC motor controllers (requires subsystem actuators_mkk_v2)</description>
   </doc>

conf/modules/control.xml

@@ -9,7 +9,8 @@
       - guidance_basic_fw
     </description>
   </doc>
-  <autoload name="stabilization_attitude_fw"/>
+  <dep>
-  <autoload name="guidance_basic_fw"/>
+    <depends>stabilization_attitude_fw,guidance_basic_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>

conf/modules/control_adaptive.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_adaptive" dir="control">
   <doc>
     <description>
       Adaptive control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_basic_fw
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
+  <dep>
-  <autoload name="guidance_basic_fw"/>
+    <depends>stabilization_adaptive_fw,guidance_basic_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>

conf/modules/control_energy.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_energy" dir="control">
   <doc>
     <description>
       Energy control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_energy
     </description>
   </doc>
-  <autoload name="stabilization_attitude_fw"/>
+  <dep>
-  <autoload name="guidance_energy"/>
+    <depends>stabilization_attitude_fw,guidance_energy</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>

conf/modules/control_energyadaptive.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_energyadaptive" dir="control">
   <doc>
     <description>
       Energy control for fixed-wing aircraft with adaptive stabilization.
@@ -9,7 +9,8 @@
       - guidance_energy
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
+  <dep>
-  <autoload name="guidance_energy"/>
+    <depends>stabilization_adaptive_fw,guidance_energy</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>

conf/modules/control_new.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_new" dir="control">
   <doc>
     <description>
       Full PID control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_full_pid_fw
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
+  <dep>
-  <autoload name="guidance_full_pid_fw"/>
+    <depends>stabilization_adaptive_fw,guidance_full_pid_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>

conf/modules/copilot.xml

@@ -24,7 +24,9 @@
   </doc>
 
 
-  <depends>extra_dl</depends>
+  <dep>
+    <depends>extra_dl</depends>
+  </dep>
   <header>
     <file name="copilot.h"/>
   </header>

conf/modules/ctrl_module_innerloop_demo.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ctrl_module_demo" dir="ctrl">
+<module name="ctrl_module_innerloop_demo" dir="ctrl">
   <doc>
     <description>
         Demo Control Module.

conf/modules/cv_blob_locator.xml

@@ -32,7 +32,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="cv_blob_locator.h"/>

conf/modules/cv_colorfilter.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ColorFilter" dir="computer_vision">
+<module name="cv_colorfilter" dir="computer_vision">
   <doc>
     <description>ColorFilter</description>
     <define name="COLORFILTER_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
@@ -20,7 +20,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="colorfilter.h"/>

conf/modules/cv_detect_color_object.xml

@@ -48,7 +48,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="cv_detect_color_object.h"/>

conf/modules/cv_detect_gate.xml

@@ -61,7 +61,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="detect_gate.h"/>

conf/modules/cv_detect_window.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="detect_window" dir="computer_vision">
+<module name="cv_detect_window" dir="computer_vision">
   <doc>
     <description>
     	Detect window

conf/modules/cv_opticflow.xml

@@ -180,9 +180,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
-  <autoload name="agl_dist"/>
+    <depends>video_thread,agl_dist,pose_history</depends>
-  <autoload name="pose_history"/>
+  </dep>
 
   <header>
     <file name="opticflow_module.h"/>

conf/modules/cv_qrcode.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="qrcode" dir="computer_vision/qrcode">
+<module name="cv_qrcode" dir="computer_vision/qrcode">
   <doc>
     <description>
       QR code reader using ZBAR library
@@ -10,9 +10,11 @@
     <define name="QRCODE_CAMERA" value="front_camera|bottom_camera" description="The V4L2 camera device that is used for searching a QR code"/>
     <define name="QRCODE_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
     <define name="QRCODE_DRAW_RECTANGLE" value="TRUE|FALSE" description="Whether or not to draw a rectangle around a found QR code"/>
- </doc>
+  </doc>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="qr_code.h"/>

conf/modules/cv_undistort_image.xml

@@ -32,7 +32,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="undistort_image.h"/>

conf/modules/dc_ctrl_parrot_mykonos.xml

@@ -41,7 +41,9 @@
       </dl_settings>
     </dl_settings>
   </settings>
-  <conflicts>digital_cam,digital_cam_servo,digital_cam_i2co,digital_cam_i2c,digital_cam_video</conflicts>
+  <dep>
+    <conflicts>digital_cam,digital_cam_servo,digital_cam_i2co,digital_cam_i2c,digital_cam_video</conflicts>
+  </dep>
   <header>
     <file name="dc_ctrl_parrot_mykonos.h"/>
     <file name="dc.h"/>

conf/modules/digital_cam.xml

@@ -51,7 +51,9 @@
     </dl_settings>
   </settings>
 
-  <conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+  <dep>
+    <conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+  </dep>
 
   <header>
     <file name="gpio_cam_ctrl.h"/>

conf/modules/digital_cam_i2c.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="atmega_i2c_cam_ctrl" dir="digital_cam">
+<module name="digital_cam_i2c" dir="digital_cam">
   <doc>
     <description>
       Digital Photo Camera Triggering (using a I2C channel)
@@ -14,7 +14,9 @@
     <define name="DC_SHOOT_ON_BUTTON_RELEASE" />
     <define name="DC_SHOT_SYNC_SEND" value="TRUE|FALSE" description="send DC_SHOT message when photo was taken (default: TRUE)"/>
   </doc>
-  <conflicts>digital_cam,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+  <dep>
+    <conflicts>digital_cam,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+  </dep>
   <header>
     <file name="atmega_i2c_cam_ctrl.h"/>
     <file name="dc.h"/>

conf/modules/digital_cam_servo.xml

@@ -17,7 +17,9 @@
     <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="grid in meters"/>
   </doc>
 
-  <conflicts>digital_cam,digital_cam_i2c,digital_cam_uart,digital_cam_video</conflicts>
+  <dep>
+    <conflicts>digital_cam,digital_cam_i2c,digital_cam_uart,digital_cam_video</conflicts>
+  </dep>
 
   <header>
     <file name="servo_cam_ctrl.h"/>

conf/modules/digital_cam_shoot_rc.xml

@@ -11,7 +11,9 @@
     </description>
     <define name="DC_RADIO_SHOOT" value="RADIO_xxx" description="specifies the channel to be used to trigger the camera by radio transmiter"/>
   </doc>
-  <depends>digital_cam|digital_cam_servo|digital_cam_uart|digital_cam_i2c|digital_cam_video</depends>
+  <dep>
+    <depends>digital_cam|digital_cam_servo|digital_cam_uart|digital_cam_i2c|digital_cam_video</depends>
+  </dep>
   <header>
     <file name="dc_shoot_rc.h"/>
   </header>

conf/modules/digital_cam_uart.xml

@@ -1,5 +1,5 @@
 <!DOCTYPE module SYSTEM "module.dtd">
-<module name="uart_cam_ctrl" dir="digital_cam">
+<module name="digital_cam_uart" dir="digital_cam">
   <doc>
     <description>
       Digital Photo Camera Triggering (using a UART link)
@@ -53,7 +53,9 @@
       </dl_settings>
     </dl_settings>
   </settings>
-  <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c</conflicts>
+  <dep>
+    <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c</conflicts>
+  </dep>
   <header>
     <file name="uart_cam_ctrl.h"/>
     <file name="dc.h"/>

conf/modules/digital_cam_video.xml

@@ -1,5 +1,5 @@
 <!DOCTYPE module SYSTEM "module.dtd">
-<module name="video_cam_ctrl" dir="digital_cam">
+<module name="digital_cam_video" dir="digital_cam">
   <doc>
     <description>
       Digital Photo Camera Triggering (using embedded video)
@@ -34,9 +34,10 @@
     </dl_settings>
   </settings>
 
-  <depends>video_capture</depends>
+  <dep>
-
+    <depends>video_capture</depends>
-  <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c,digital_cam_uart</conflicts>
+    <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c,digital_cam_uart</conflicts>
+  </dep>
 
   <header>
     <file name="video_cam_ctrl.h"/>

conf/modules/direct_memory_logger.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="loggers">
+<module name="direct_memory_logger" dir="loggers">
   <doc>
     <description>
     Directly log values to memory for flash chips.
@@ -18,6 +18,9 @@
       </dl_settings>
     </dl_settings>
   </settings>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
 
   <header>
     <file name="direct_memory_logger.h"/>
@@ -30,9 +33,6 @@
     <configure name="DM_LOG_UART" default="uart1" case="upper|lower"/>
     <configure name="DM_LOG_SPI_DEV" default="spi2" case="upper|lower"/>
     <configure name="DM_LOG_SPI_SLAVE_IDX" default="spi_slave1" case="upper|lower"/>
-    <raw>
-      include $(CFG_SHARED)/spi_master.makefile
-    </raw>
 
     <define name="USE_$(DM_LOG_SPI_DEV_UPPER)" value="1" />
     <define name="USE_$(DM_LOG_SPI_SLAVE_IDX_UPPER)" value="1" />

conf/modules/distributed_circular_formation.xml

@@ -27,7 +27,9 @@
     </dl_settings>
   </settings>
 
-  <depends>gvf_module.xml</depends>
+  <dep>
+    <depends>gvf_module</depends>
+  </dep>
 
   <header>
     <file name="dcf.h"/>

conf/modules/flight_recorder.xml

@@ -11,6 +11,10 @@
     <configure name="FLIGHTRECORDER_SDLOG" value="TRUE|FALSE" description="Enable/disable logging on internal SD card (default=TRUE)"/>
     <define name="FLIGHTRECORDER_DEVICE" value="dev" description="Device to be used when not internal SD card (ex: uart0)"/>
   </doc>
+  <dep>
+    <depends>logger_sd_chibios,pprzlog</depends>
+    <provides>flight_recorder</provides>
+  </dep>
   <header>
     <file name="flight_recorder.h"/>
   </header>

conf/modules/follow.xml

@@ -12,7 +12,9 @@
     <define name="FOLLOW_OFFSET_Y" value="0"  description="the y offset in ENU (meters) from the plane"/>
     <define name="FOLLOW_OFFSET_Z" value="0"  description="the z offset in ENU (meters) from the plane"/>
   </doc>
-  <depends>traffic_info</depends>
+  <dep>
+    <depends>traffic_info</depends>
+  </dep>
   <header>
     <file name="follow.h"/>
   </header>

conf/modules/formation_flight.xml

@@ -16,7 +16,9 @@
       </dl_settings>
     </dl_settings>
   </settings>
-  <depends>traffic_info</depends>
+  <dep>
+    <depends>traffic_info</depends>
+  </dep>
   <header>
     <file name="formation.h"/>
   </header>

conf/modules/gas_engine_idle.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="gas_engine">
+<module name="gas_engine_idle" dir="gas_engine">
   <doc>
     <description>Gas Engine Idle</description>
   </doc>

conf/modules/gpio_ext_pca95xx.xml

@@ -14,7 +14,9 @@ always blocking).
     <define    name="GPIO_EXT_PCA95XX_I2C_ADDRESSx" value="0x82" description="I2C address of GPIO expander"/>
     <define    name="GPIO_EXT_PCA95XX_BLOCKINGx" value="TRUE|FALSE" description="Whether write operations to this port should be blocking. (Note: reading is always blocking)."/>
   </doc>
-  <autoload name="gpio_ext_common"/>
+  <dep>
+    <depends>gpio_ext_common</depends>
+  </dep>
   <header>
     <file name="gpio_ext_pca95xx.h"/>
   </header>

conf/modules/gps_mediatek_diy.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="gps_mediatek" dir="gps">
+<module name="gps_mediatek_diy" dir="gps">
   <doc>
     <description>
       Mediatek MT3329 GPS (UART)

conf/modules/gps_ubx_i2c.xml

@@ -9,7 +9,9 @@
     <configure name="GPS_UBX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c1)"/>
   </doc>
 
-  <depends>gps_ublox</depends>
+  <dep>
+    <depends>gps_ublox</depends>
+  </dep>
   <autoload name="gps_ublox"/>
   <header>
     <file name="gps_ubx_i2c.h"/>

conf/modules/gps_ubx_ucenter.xml

@@ -33,7 +33,9 @@ Warning: you still need to tell the driver, which paparazzi port you use.
     </dl_settings>
   </settings>
 
-  <depends>gps_ublox</depends>
+  <dep>
+    <depends>gps_ublox</depends>
+  </dep>
 
   <header>
     <file name="gps_ubx_ucenter.h"/>

conf/modules/guidance_basic_fw.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="guidance_basic" dir="guidance">
+<module name="guidance_basic_fw" dir="guidance">
   <doc>
     <description>
       Legacy vertical control for fixedwing aircraft based on throttle (default) or pitch

conf/modules/guidance_full_pid_fw.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="guidance_full_pid" dir="guidance">
+<module name="guidance_full_pid_fw" dir="guidance">
   <doc>
     <description>
       Vertical control for fixedwing aircraft based on PID