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Merge branch 'dev'

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This commit is contained in:
Felix Ruess
2011-10-20 21:44:44 +02:00
parent 1e174d09bb 1e8ff67314
commit efbe7038e7
44 changed files with 138 additions and 778 deletions
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.gitignore
+13
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@@ -59,6 +59,8 @@
/sw/ground_segment/cockpit/gtk_setting_time.ml
/sw/ground_segment/cockpit/gcs
/sw/ground_segment/cockpit/gtk_strip.ml
/sw/ground_segment/cockpit/ant_track
# /sw/ground_segment/lpc21iap/
/sw/ground_segment/lpc21iap/lpc21iap
@@ -80,11 +82,15 @@
/sw/ground_segment/tmtc/ivy2udp
/sw/ground_segment/tmtc/server
/sw/ground_segment/tmtc/diadec
/sw/ground_segment/tmtc/GSM/SMS_GS
# /sw/ground_segment/joystick
/sw/ground_segment/joystick/input2ivy
/sw/ground_segment/joystick/test_stick
/sw/in_progress/fdm/fdm_step
/sw/in_progress/fdm/fms_steps_attitude
# /sw/lib/ocaml/
/sw/lib/ocaml/gtk_papget_editor.ml
/sw/lib/ocaml/gtk_papget_text_editor.ml
@@ -102,6 +108,13 @@
/sw/logalizer/gtk_export.ml
/sw/logalizer/sd2log
/sw/logalizer/plotprofile
/sw/logalizer/ahrsview
/sw/logalizer/ctrlstick
/sw/logalizer/ffjoystick
/sw/logalizer/imuview
/sw/logalizer/ivy_example
/sw/logalizer/motor_bench
/sw/logalizer/tmclient
# /sw/simulator/
/sw/simulator/gaia
conf/Makefile.lpc21
+1 -1
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@@ -87,7 +87,7 @@ CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
CFLAGS = $(CINCS)
CFLAGS += -O$(OPT)
# CFLAGS += -malignment-traps
CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align -Winline
CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
CFLAGS += -Wpointer-arith -Wswitch
CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
conf/airframes/Poine/fuckyou.xml
-20
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@@ -1,20 +0,0 @@
<airframe name="FuckYou_1">
<makefile>
HOST=auto3
# test 1
test42.ARCHDIR = omap
test42.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
test42.srcs = fms/libeknav/hello_world.c
# test1.srcs += fms/bla.c
</makefile>
</airframe>
conf/airframes/Poine/turntable.xml
+4 -1
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@@ -5,7 +5,7 @@ ARCH=lpc21
FLASH_MODE = IAP
MB=motor_bench
MB=firmwares/motor_bench
main.ARCHDIR = $(ARCH)
@@ -13,6 +13,8 @@ main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" -I$(MB)
main.CFLAGS += -DPERIPHERALS_AUTO_INIT
main.srcs = $(MB)/main_turntable.c
main.srcs += $(SRC_ARCH)/armVIC.c
main.srcs += mcu.c
main.srcs += $(SRC_ARCH)/mcu_arch.c
main.CFLAGS += -DUSE_LED
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
@@ -25,6 +27,7 @@ main.srcs += sys_time.c $(MB)/turntable_systime.c
#main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
main.srcs += mcu_periph/uart.c
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
conf/airframes/flixr_discovery.xml
+1
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@@ -32,6 +32,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="radio_control" type="ppm"/>
<!--subsystem name="settings" type="rc"/-->
<!-- Control -->
<subsystem name="control" type="new"/>
conf/airframes/Poine/autoplato.xml → conf/airframes/obsolete/autoplato.xml
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conf/airframes/Poine/booz2_a2.xml → conf/airframes/obsolete/booz2_a2.xml
View File
conf/airframes/Poine/booz2_a3.xml → conf/airframes/obsolete/booz2_a3.xml
View File
conf/airframes/Poine/booz2_a4.xml → conf/airframes/obsolete/booz2_a4.xml
View File
conf/airframes/Poine/booz2_a5.xml → conf/airframes/obsolete/booz2_a5.xml
View File
conf/autopilot/subsystems/fixedwing/settings_rc.makefile
+6
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@@ -0,0 +1,6 @@
# Hey Emacs, this is a -*- makefile -*-
# change settings via Remote Control, e.g. tune your aircraft
$(TARGET).srcs += rc_settings.c
$(TARGET).CFLAGS += -DRADIO_CONTROL_SETTINGS
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+5
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@@ -13,3 +13,8 @@ AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
-2
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@@ -21,5 +21,3 @@ ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
conf/conf.xml.example
-11
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@@ -16,17 +16,6 @@
gui_color="white"
/>
<aircraft
name="BOOZ2_A2"
ac_id="151"
airframe="airframes/Poine/booz2_a2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/telemetry_booz2.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml settings/settings_booz2_fms_ts.xml"
gui_color="white"
/>
<!-- LISA -->
<aircraft
name="Hexa_LisaL"
conf/settings/tuning_ins_rc.xml
+18
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@@ -0,0 +1,18 @@
<!--<!DOCTYPE settings SYSTEM "settings.dtd">-->
<!-- A conf to use to tune an A/C using only the rc -->
<settings>
<rc_settings>
<rc_mode NAME="AUTO1">
<rc_setting VAR="ins_pitch_neutral" RANGE="0.2" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="ins_roll_neutral" RANGE="-0.2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
<rc_mode NAME="AUTO2">
<rc_setting VAR="h_ctl_course_pgain" RANGE="0.5" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="flight_altitude" RANGE="-100" RC="gain_1_down" TYPE="float"/>
</rc_mode>
</rc_settings>
</settings>
conf/telemetry/default.xml
+1
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@@ -20,6 +20,7 @@
<message name="CALIBRATION" period="2.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="5."/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="5."/>
<message name="DOWNLINK" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
conf/telemetry/default_fixedwing_imu.xml
+1
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@@ -20,6 +20,7 @@
<message name="CALIBRATION" period="2.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="5."/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="2.2"/>
<message name="DOWNLINK" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
conf/telemetry/default_fixedwing_imu_9k6.xml
+1
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@@ -20,6 +20,7 @@
<message name="CALIBRATION" period="2.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="5."/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="2.2"/>
<message name="DOWNLINK" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
sw/airborne/firmwares/motor_bench/main_turntable.c
+2
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@@ -4,6 +4,8 @@
#include "led.h"
#include "interrupt_hw.h"
#include "mcu_periph/usb_serial.h"
#include "mcu_periph/uart.h"
#include "mcu_arch.h"
#include "messages.h"
#include "downlink.h"
sw/airborne/firmwares/motor_bench/mb_tacho.c
+1
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@@ -3,6 +3,7 @@
#include "LPC21xx.h"
#include "interrupt_hw.h"
#include "mcu.h"
volatile uint32_t mb_tacho_duration;
volatile uint8_t got_one_pulse;
sw/airborne/rc_settings.c
+1 -1
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@@ -25,8 +25,8 @@
#include <inttypes.h>
#include "rc_settings.h"
#include "generated/radio.h"
#include "rc_settings.h"
#include "autopilot.h"
#include "subsystems/nav.h"
#include "subsystems/sensors/infrared.h"
sw/airborne/rc_settings.h
+5 -7
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@@ -28,11 +28,8 @@
*
* The 'rc_control' section of a XML flight plan allows the user to change the
* value of an autopilot internal variable through the rc transmitter.
* C code is generated from this XML code (var/AC/inflight_calib.h). This
* module handles the control of this setting mode.
* This module handles the control of this setting mode.
*
* Note that this functionnality is deprecated since datalink use is a lot more
* easier ('dl_settings' section)
*/
#ifndef RC_SETTINGS_H
@@ -46,6 +43,10 @@
#define RC_SETTINGS_MODE_DOWN 1
#define RC_SETTINGS_MODE_UP 2
extern uint8_t rc_settings_mode;
void rc_settings(bool_t mode_changed);
#define RcSettingsOff() (rc_settings_mode==RC_SETTINGS_MODE_NONE)
#define RC_SETTINGS_MODE_OF_PULSE(pprz) (pprz < TRESHOLD1 ? RC_SETTINGS_MODE_DOWN : \
@@ -55,9 +56,6 @@
#define RcSettingsModeUpdate(_rc_channels) \
ModeUpdate(rc_settings_mode, RC_SETTINGS_MODE_OF_PULSE(_rc_channels[RADIO_CALIB]))
extern uint8_t rc_settings_mode;
void rc_settings(bool_t mode_changed);
#else /* RADIO_CALIB && defined RADIO_CONTROL_SETTINGS */
sw/airborne/test/ahrs/Makefile
+1 -1
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@@ -131,7 +131,7 @@ run_ahrs_on_synth: run_ahrs_on_synth.c $(RAOS_SRCS) $(AHRS_SRCS)
$(Q) $(CC) $(CFLAGS) $(AHRS_CFLAGS) -o $@ $^ $(LDFLAGS)
IVY_CFLAGS=-g -O2 -Wall `pkg-config glib-2.0 --cflags`
IVY_LDFLAGS=`pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
IVY_LDFLAGS=`pkg-config glib-2.0 --libs` -lglibivy
run_ahrs_on_synth_ivy: run_ahrs_on_synth_ivy.c $(RAOS_SRCS) $(AHRS_SRCS)
$(CC) $(CFLAGS) $(AHRS_CFLAGS) $(IVY_CFLAGS) -o $@ $^ $(LDFLAGS) $(IVY_LDFLAGS)
sw/ground_segment/cockpit/Makefile
+1 -1
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@@ -96,7 +96,7 @@ clean:
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags` $(FPIC)
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lglibivy
ant_track : ant_track.c
sw/ground_segment/joystick/Makefile
+4 -5
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@@ -1,4 +1,4 @@
#
#
# $Id$
# Copyright (C) 2004 Pascal Brisset, Antoine Drouin
#
@@ -17,8 +17,8 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Boston, MA 02111-1307, USA.
#
# Quiet compilation
Q=@
@@ -32,7 +32,7 @@ LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
all: test_stick input2ivy
test_stick: test_stick.o
gcc -g -O2 -Wall -DSTICK_DBG `pkg-config glib-2.0 --cflags` -o $@ $^ usb_stick.c `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall -DSTICK_DBG `pkg-config glib-2.0 --cflags` -o $@ $^ usb_stick.c `pkg-config glib-2.0 --libs` -lglibivy
input2ivy: usb_stick.o ml_usb_stick.o input2ivy.cmo
$(OCAMLC) $(OCAMLINCLUDES) -custom -o $@ unix.cma str.cma glibivy-ocaml.cma xml-light.cma lib-pprz.cma lablgtk.cma $(TOOLSDIR)/fp_proc.cmo $^
@@ -47,4 +47,3 @@ input2ivy: usb_stick.o ml_usb_stick.o input2ivy.cmo
clean:
rm -f *~ core *.o *.bak .depend test_stick *.cmo *.cmi input2ivy
sw/ground_segment/tmtc/GSM/Makefile
+1 -1
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@@ -1,7 +1,7 @@
all: SMS_GS
SMS_GS: SMS_Ground_UDtest_final.c
gcc -g -O2 -Wall `pkg-config --cflags glib-2.0 gtk+-2.0` -L/usr/lib -lglibivy -o SMS_GS SMS_Ground_UDtest_final.c `pkg-config --libs glib-2.0 gtk+-2.0` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config --cflags glib-2.0 gtk+-2.0` -L/usr/lib -lglibivy -o SMS_GS SMS_Ground_UDtest_final.c `pkg-config --libs glib-2.0 gtk+-2.0` -lglibivy
clean:
rm SMS_GS
sw/ground_segment/tmtc/aircraft.ml
+10 -2
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@@ -61,6 +61,12 @@ let svinfo_init = fun () ->
age = 0
}
type inflight_calib = {
mutable if_mode : int; (* DOWN|OFF|UP *)
mutable if_val1 : float;
mutable if_val2 : float
}
type horiz_mode =
Circle of Latlong.geographic * int
| Segment of Latlong.geographic * Latlong.geographic
@@ -151,7 +157,8 @@ type aircraft = {
mutable survey : (Latlong.geographic * Latlong.geographic) option;
mutable last_msg_date : float;
mutable time_since_last_survey_msg : float;
mutable dist_to_wp : float
mutable dist_to_wp : float;
inflight_calib : inflight_calib
}
let max_nb_dl_setting_values = 256 (** indexed iwth an uint8 (messages.xml) *)
@@ -181,5 +188,6 @@ let new_aircraft = fun id name fp airframe ->
horiz_mode = UnknownHorizMode;
horizontal_mode = 0;
waypoints = Hashtbl.create 3; survey = None; last_msg_date = 0.; dist_to_wp = 0.;
time_since_last_survey_msg = 1729.
time_since_last_survey_msg = 1729.;
inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.}
}
sw/ground_segment/tmtc/aircraft.mli
+8 -1
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@@ -30,6 +30,12 @@ type ac_cam = {
mutable target : (float * float) (* meter*meter relative *)
}
type inflight_calib = {
mutable if_mode : int;
mutable if_val1 : float;
mutable if_val2 : float;
}
type rc_status = string
type rc_mode = string
type fbw = { mutable rc_status : rc_status; mutable rc_mode : rc_mode; mutable rc_rate : int; mutable pprz_mode_msgs_since_last_fbw_status_msg : int; }
@@ -117,7 +123,8 @@ type aircraft = {
mutable survey : (Latlong.geographic * Latlong.geographic) option;
mutable last_msg_date : float;
mutable time_since_last_survey_msg : float;
mutable dist_to_wp : float
mutable dist_to_wp : float;
inflight_calib : inflight_calib
}
val new_aircraft : string -> string -> Xml.xml -> Xml.xml -> aircraft
sw/ground_segment/tmtc/fw_server.ml
+4
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@@ -206,6 +206,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.gaz_mode <- check_index (ivalue "ap_gaz") gaz_modes "AP_GAZ";
a.lateral_mode <- check_index (ivalue "ap_lateral") lat_modes "AP_LAT";
a.horizontal_mode <- check_index (ivalue "ap_horizontal") horiz_modes "AP_HORIZ";
a.inflight_calib.if_mode <- check_index (ivalue "if_calib_mode") if_modes "IF_MODE";
let mcu1_status = ivalue "mcu1_status" in
(** c.f. link_autopilot.h *)
if a.fbw.pprz_mode_msgs_since_last_fbw_status_msg < 10 then
@@ -263,6 +264,9 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
if !Kml.enabled then Kml.update_horiz_mode a
| _ -> ()
end
| "SETTINGS" ->
a.inflight_calib.if_val1 <- fvalue "slider_1_val";
a.inflight_calib.if_val2 <- fvalue "slider_2_val";
| "SURVEY" ->
begin
a.time_since_last_survey_msg <- 0.;
sw/ground_segment/tmtc/server.ml
+9
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@@ -182,6 +182,14 @@ let send_cam_status = fun a ->
"cam_target_long", Pprz.Float ((Rad>>Deg)twgs84.posn_long)] in
Ground_Pprz.message_send my_id "CAM_STATUS" values
let send_if_calib = fun a ->
let if_mode = get_indexed_value if_modes a.inflight_calib.if_mode in
let values = ["ac_id", Pprz.String a.id;
"if_mode", Pprz.String if_mode;
"if_value1", Pprz.Float a.inflight_calib.if_val1;
"if_value2", Pprz.Float a.inflight_calib.if_val2] in
Ground_Pprz.message_send my_id "INFLIGH_CALIB" values
let send_fbw = fun a ->
let values = [ "ac_id", Pprz.String a.id;
"rc_mode", Pprz.String a.fbw.rc_mode;
@@ -384,6 +392,7 @@ let send_aircraft_msg = fun ac ->
Ground_Pprz.message_send my_id "AP_STATUS" values;
send_cam_status a;
send_if_calib a;
send_fbw a;
send_svsinfo a;
send_horiz_status a;
sw/ground_segment/tmtc/server_globals.ml
+1
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@@ -13,6 +13,7 @@ let state_filter_modes = [|"UNKNOWN";"INIT";"ALIGN";"OK";"GPS_LOST";"IMU_LOST";"
let _3D = 3
let gps_hybrid_modes = [|"OFF";"ON"|]
let horiz_modes = [|"WAYPOINT";"ROUTE";"CIRCLE";"ATTITUDE"|]
let if_modes = [|"OFF";"DOWN";"UP"|]
let string_of_values = fun values ->
String.concat " " (List.map (fun (_, v) -> Pprz.string_of_value v) values)
sw/ground_segment/visu3d/Makefile
-45
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@@ -1,45 +0,0 @@
OCAMLOPT0 = ocamlopt
OCAMLC = ocamlc $(shell ocamlfind query -r -i-format xml-light)
MLFLAGS = $(shell ocamlfind query -r -i-format lablGL) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format camlimages) -I ../../lib/ocaml
OCAMLOPT = $(OCAMLOPT0) $(OCAMLOPT_OPTIONS)
SRC = mapGL.ml
OBJS= $(SRC:.ml=.cmo)
LINK= $(OCAMLC) $(MLFLAGS)
LIBS_CI = ci_core.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_png.cma \
ci_xpm.cma ci_ps.cma ci_freetype.cma
STDLIBS = unix.cma str.cma xml-light.cma lablgtk.cma lablgnomecanvas.cma lablgl.cma lablgtkgl.cma $(LIBS_CI)
ADD_LIBS = glibivy-ocaml.cma lib-pprz.cma xlib-pprz.cma
CLIBS = -cclib -lpthread
all: mapGL
clean:
\rm -f mapGL *.cm* *.o *.a *~ *.opt *.out *.top *.output *obj *exe \
stars_lexer.ml stars_parser.mli stars_parser.ml .depend
# Executables
mapGL: mapGL.ml
$(OCAMLC) -custom $(MLFLAGS) $(STDLIBS) gtkInit.cmo $(ADD_LIBS) -o $@ $< $(CLIBS)
# Do not edit below this line
.depend:
ocamldep *.mli *.ml *.mly *.mll > .depend
.SUFFIXES: .ml .mli .cmo .cmi .cmx
.ml.cmo:
$(OCAMLC) $(MLFLAGS) -labels -w s -c $<
.mli.cmi:
$(OCAMLC) $(MLFLAGS) -labels -w s -c $<
.ml.cmx:
$(OCAMLOPT) $(MLFLAGS) -labels -w s -c $<
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/ground_segment/visu3d/TODO
-20
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@@ -1,20 +0,0 @@
add waypoint icons
add aircraft icon
add camera trace on ground
manage aircraft track length (limit to n minutes)
map video frame (photos) on ground surface
transform photos (translate, rotate, zoom)
save photos position and visibility for future reload.
manage photos (like layers in a cad program )
add fact_alti adjust
support several aircrafts, maybe with an identification label (3D radar track ? )
select aircraft, waypoints (would it be possible??)
support viewpoint selection using function keys - viewpoints are defined in the flight plan ?
sw/ground_segment/visu3d/mapGL.ml
-531
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File diff suppressed because it is too large Load Diff
sw/in_progress/button/Makefile
+9 -9
View File
@@ -1,4 +1,4 @@
#
#
# $Id: Makefile 5874 2010-09-15 03:41:04Z aibara $
# Copyright (C) 2004 Pascal Brisset, Antoine Drouin
#
@@ -17,15 +17,15 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Boston, MA 02111-1307, USA.
#
# Quiet compilation
Q=@
OCAMLC = ocamlc
OCAMLOPT = ocamlopt
INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../../lib/ocaml
INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../../lib/ocaml
all: panic
@@ -63,10 +63,10 @@ pt : ahrsview imuview ahrs2fg
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox `pcre-config --libs` -lglibivy
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox -lglibivy
MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic /usr/lib/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL -Wl,--rpath -Wl,/usr/local/lib -lglibivy `pcre-config --libs`
MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic /usr/lib/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL -Wl,--rpath -Wl,/usr/local/lib `pcre-config --libs` -lglibivy
MORE_CFLAGS = -DHAVE_DLFCN_H=1 -DSTDC_HEADERS=1 -I. -I. -I.. -g -O2 -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include
clean:
@@ -99,7 +99,7 @@ FGFS_ARGS = $(FGFS_COMMON_ARGS) $(FGFS_IN_GUI_ARGS)
#FGFS_GAME_ARGS)
panic: panic.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy -lhid
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lhid
#
# Dependencies
@@ -108,6 +108,6 @@ panic: panic.c
.depend: Makefile
ocamldep -I ../../lib/ocaml *.ml* > .depend
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/in_progress/fdm/Makefile
+5 -6
View File
@@ -1,4 +1,4 @@
#
#
# $Id$
# Copyright (C) 2004 Pascal Brisset, Antoine Drouin
#
@@ -17,8 +17,8 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Boston, MA 02111-1307, USA.
#
# Quiet compilation
Q=@
@@ -26,14 +26,13 @@ Q=@
all: fdm_step
fdm_step: fdm_step.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
fms_steps_attitude: fms_steps_attitude.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
clean:
rm -f *~ core *.o *.bak .depend fdm_step fms_steps_attitude
sw/in_progress/ir_calibration/Makefile
+2 -2
View File
@@ -2,10 +2,10 @@
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
LDFLAGS=`pkg-config gtk+-2.0 --libs` `pcre-config --libs` -lglibivy -lm -lgtkdatabox
LDFLAGS=`pkg-config gtk+-2.0 --libs` -lglibivy -lm -lgtkdatabox
ir_calib : main.c calibrator.c gui.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
clean:
rm -f *~ ir_calib
rm -f *~ ir_calib
sw/in_progress/motor_bench/Makefile
+1 -1
View File
@@ -1,6 +1,6 @@
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags` -I ../../../var/MB
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lglibivy
motor_bench : main.c
sw/lib/ocaml/Makefile
+4 -4
View File
@@ -1,4 +1,4 @@
#
#
# $Id$
# Copyright (C) 2003 Pascal Brisset, Antoine Drouin
#
@@ -17,7 +17,7 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# Boston, MA 02111-1307, USA.
#
@@ -25,7 +25,7 @@ Q=@
LBITS := $(shell getconf LONG_BIT)
ifeq ($(LBITS),64)
FPIC = -ccopt -fPIC
FPIC = -ccopt -fPIC
else
FPIC =
endif
@@ -164,6 +164,6 @@ clean :
.depend: Makefile
ocamldep *.ml* > .depend
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/lib/ocaml/ivy/Makefile
+2 -2
View File
@@ -63,7 +63,7 @@ deb :
cp debian/changelog.$(DISTRO) debian/changelog
dpkg-buildpackage -rfakeroot
ivy : ivy-ocaml.cma ivy-ocaml.cmxa
ivy : ivy-ocaml.cma ivy-ocaml.cmxa
glibivy : glibivy-ocaml.cma glibivy-ocaml.cmxa
tkivy : tkivy-ocaml.cma tkivy-ocaml.cmxa
@@ -101,7 +101,7 @@ tkivy-ocaml.cmxa : $(TKIVYCMX) civy.o ctkivy.o
.ml.cmo :
$(OCAMLC) $(OCAMLFLAGS) $(INCLUDES) -c $<
.c.o :
$(CC) -Wall -c $(FPIC) -I /opt/local/include/ $(OCAMLINC) $(GLIBINC) $<
.mli.cmi :
$(OCAMLMLI) $(OCAMLFLAGS) -c $<
sw/logalizer/Makefile
+14 -14
View File
@@ -1,4 +1,4 @@
#
#
# $Id$
# Copyright (C) 2004 Pascal Brisset, Antoine Drouin
#
@@ -17,15 +17,15 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Boston, MA 02111-1307, USA.
#
# Quiet compilation
Q=@
OCAMLC = ocamlc
OCAMLOPT = ocamlopt
INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml
INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml
all: play plotter plot sd2log plotprofile
@@ -81,7 +81,7 @@ pt : ahrsview imuview ahrs2fg
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox `pcre-config --libs` -lglibivy
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox -lglibivy
motor_bench : motor_bench.c sliding_plot.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
@@ -98,15 +98,15 @@ plot_roll_loop : plot_roll_loop.c sliding_plot.c
test_sliding_plot: test_sliding_plot.c sliding_plot.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic /usr/lib/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL -Wl,--rpath -Wl,/usr/local/lib `pcre-config --libs` -lglibivy
MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic /usr/lib/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL -Wl,--rpath -Wl,/usr/local/lib -lglibivy `pcre-config --libs`
MORE_CFLAGS = -DHAVE_DLFCN_H=1 -DSTDC_HEADERS=1 -I. -I. -I.. -g -O2 -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include
disp3d: disp3d.c
$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS)
plotprofile: plotprofile.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
test1: test1.c
$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS) -lglut
@@ -146,23 +146,23 @@ FGFS_ARGS = $(FGFS_COMMON_ARGS) $(FGFS_IN_GUI_ARGS)
run_fg:
$(FGFS_ENV) $(FGFS) $(FGFS_ARGS)
ahrs2fg: ahrs2fg.c network.c flight_gear.c utils.c
ahrs2fg: ahrs2fg.c network.c flight_gear.c utils.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
test_samere: test_samere.c network.c flight_gear.c utils.c
$(CC) $(CFLAGS) -I../airborne -I../airborne/test -I../include -g -o $@ $^ $(LDFLAGS)
ivy_example: ivy_example.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
tmclient: tmclient.c
gcc -g -O1 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O1 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
ffjoystick: ffjoystick.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy -lm
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lm
ctrlstick: ctrlstick.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
#
# Dependencies
@@ -171,6 +171,6 @@ ctrlstick: ctrlstick.c
.depend: Makefile
ocamldep -I ../lib/ocaml *.ml* > .depend
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/logalizer/sliding_plot.c
+1 -1
View File
@@ -4,7 +4,7 @@
#include <gtkdatabox_bars.h>
#include <gtkdatabox_grid.h>
#include <gtkdatabox_cross_simple.h>
#include <gtkdatabox_marker.h>
#include <gtkdatabox_markers.h>
#include <string.h>
sw/simulator/old_booz/tests/Makefile
+1 -4
View File
@@ -9,7 +9,7 @@
#CFLAGS += -I /usr/include/meschach -I /usr/local/include/
#LDFLAGS += -lmeschach -L /usr/lib
#CFLAGS += `pkg-config glib-2.0 --cflags`
#LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy
#LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lpcre
#test1: nps_test1.c nps_jsbsim.c
# $(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
@@ -28,13 +28,10 @@ CFLAGS = -Wall \
-I ../../../var/BOOZ2_A1 \
-I ../../airborne \
-I ../../include \
-I /usr/include/meschach \
-I $(JSBSIM)/include/JSBSim \
`pkg-config glib-2.0 --cflags` \
LDFLAGS = -lm \
-lmeschach \
-lpcre \
-lglibivy \
-L $(JSBSIM)/lib -lJSBSim \
`pkg-config glib-2.0 --libs` \
sw/supervision/paparazzi.pl
-85
View File
@@ -1,85 +0,0 @@
#!/usr/bin/perl -w
package Paparazzi;
my $paparazzi_lib;
BEGIN {
$paparazzi_lib = (defined $ENV{PAPARAZZI_SRC}) ?
$ENV{PAPARAZZI_SRC}."/sw/lib/perl" :
"/usr/lib/paparazzi/";
}
use lib ($paparazzi_lib);
if (exists $ENV{PAPARAZZI_SRC} and defined $ENV{PAPARAZZI_SRC}) {
use lib ($ENV{PAPARAZZI_SRC}."/sw/supervision");
}
use Paparazzi::CpGui;
@ISA = qw(Paparazzi::CpGui);
use Paparazzi::Environment;
use strict;
use Tk;
use Subject;
use Data::Dumper;
use Getopt::Long;
sub populate {
my ($self, $args) = @_;
my $paparazzi_src = Paparazzi::Environment::paparazzi_src();
my $paparazzi_home = Paparazzi::Environment::paparazzi_home();
Paparazzi::Environment::check_paparazzi_home();
$args->{-config_file} = $paparazzi_home."/conf/control_panel.xml";
$args->{-variables} = {paparazzi_home => $paparazzi_home};
$args->{-bin_base_dir} = defined $paparazzi_src ? $paparazzi_src : "/usr/share/paparazzi";
$args->{-logo_file} = $paparazzi_home."/data/pictures/penguin_logo.gif";
$self->SUPER::populate($args);
$self->configspec(-variables => [S_SUPER, S_SUPER, S_SUPER, S_SUPER, S_SUPER, {}]);
}
sub completeinit {
my ($self) = @_;
$self->SUPER::completeinit();
$self->parse_args();
}
sub parse_args {
my ($self) = @_;
my $options = {
ivy_bus => undef,
map => undef,
render => undef,
};
GetOptions("b=s" => \$options->{ivy_bus},
"m=s" => \$options->{map},
"r=s" => \$options->{render},
);
my $variables = $self->get('-variables');
foreach my $var (keys %{$options}) {
$variables->{$var} = $options->{$var} if defined $options->{$var};
}
# print "in paparazzi::parse_args variables after\n".Dumper($variables);
}
sub catchSigTerm() {
my ($paparazzi) = @_;
printf("in catchSigTerm\n");
$paparazzi->terminate_all();
}
my $paparazzi = Paparazzi->new();
$SIG{TERM} = sub {$paparazzi->catchSigTerm()};
Tk::MainLoop();
$paparazzi->catchSigTerm();
1;