Merge branch 'master' into ahrs_refactor

* master: (75 commits) [maps] hopefully finally fix google maps version download [rotorcraft] navigation: use NAV_FREQ to update stage and block time [simulator] use unconnected socket for FlightGear viz remove trailing whitespaces source and xml files should not be executable [modules] flight_time: move settings into module xml file [settings] remove some obsolete files [modules] flight_benchmark: move settings into module xml file [gps] refactor sendng of SVINFO [modules] dc: use state interface for utm position [airframes] replace joystick subsystem by USE_JOYSTICK [paparazzi.py] Produces .md with branch description [modules] airspeed_ets: retry after failed transaction dox fixes Correct mode behaviour joystick [ahrs] quaternion integrator fix [conf][joystick] update some joysticks with kill_throttle examples [math][dox] add some dox about euler convention [modules][messages] add AMSL message to air_data [modules] air_data: init vars as unknown ...
2026-05-26 08:22:43 +08:00 · 2014-11-04 23:27:48 +01:00
parent d8b3fc9edf 317dd81760
commit f1f447372e
167 changed files with 4510 additions and 1692 deletions
@@ -122,14 +122,12 @@ paparazzi.sublime-workspace
 /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/logalizer/openlog2tlm
+/sw/logalizer/ahrs2fg
+/sw/logalizer/disp3d

 # /sw/simulator/
 /sw/simulator/gaia
@@ -655,7 +655,7 @@ WARN_LOGFILE           =
 # directories like "/usr/src/myproject". Separate the files or directories
 # with spaces.

-INPUT                  = doc/manual \
+INPUT                  = README.md doc/manual \
                         sw/airborne

 # This tag can be used to specify the character encoding of the source files
@@ -1,3 +1,5 @@
+# MAIN README
+
 Paparazzi UAS
 =============

@@ -25,7 +25,9 @@ else
  TOOLCHAIN_FOUND = 1
 endif
 ifneq ($(TOOLCHAIN_FOUND),1)
-  $(error Error: arm-none-eabi-gcc cross-compiler not found! Recommended toolchain is https://launchpad.net/gcc-arm-embedded)
+  ifneq ($(MAKECMDGOALS),clean)
+    $(error Error: arm-none-eabi-gcc cross-compiler not found! Recommended toolchain is https://launchpad.net/gcc-arm-embedded)
+  endif
 endif

 CC   = $(PREFIX)-gcc
@@ -39,6 +39,7 @@ CFLAGS += $(LOCAL_CFLAGS)
 CFLAGS += -O$(OPT)
 CFLAGS += -g
 CFLAGS += -std=gnu99
+CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)

 CXXFLAGS  = -W -Wall
 CXXFLAGS += $(INCLUDES)
@@ -46,6 +47,7 @@ CXXFLAGS += $($(TARGET).CFLAGS)
 CXXFLAGS += $(LOCAL_CFLAGS)
 CXXFLAGS += -O$(OPT)
 CXXFLAGS += -g
+CXXFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)

 LDFLAGS	+= $($(TARGET).LDFLAGS)

@@ -56,6 +56,7 @@ CFLAGS += -fPIC
 CFLAGS += -O$(OPT)
 CFLAGS += -g
 CFLAGS += -std=gnu99
+CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)

 LDFLAGS		=	-lm

@@ -16,6 +16,9 @@
      <field name="distance" type="float" unit="m"/>
    </message>

+    <message name="TEMPERATURE" id="3">
+      <field name="temp" type="float" unit="deg Celcius"/>
+    </message>

    <message name="IMU_GYRO_INT32" id="4">
      <field name="stamp" type="uint32_t" unit="us"/>
@@ -195,12 +195,9 @@
      <define name="USE_AD1" value="1"/>
      <configure name="ACTUATORS" value="actuators_ppm"/>
      <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
-
-      <subsystem name="radio_control" type="ppm"/>
    </target>

    <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="control"/>
      <subsystem name="navigation"/>
    </target>
@@ -212,6 +209,7 @@
    <define name="LOITER_TRIM"/>
    <define name="RADIO_CONTROL_AUTO1"/>

+    <subsystem name="radio_control" type="ppm"/>

    <subsystem name="telemetry" type="xbee_api">
      <configure name="MODEM_PORT" value="UART0"/>
@@ -9,10 +9,9 @@
    </load>
    <load name="airspeed_adc.xml">
      <configure name="ADC_AIRSPEED" value="ADC_1"/>
-      <define name="AIRSPEED_QUADRATIC_SCALE" value="0.5"/>
-      <define name="AIRSPEED_BIAS" value="430"/>
+      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
+      <define name="AIRSPEED_ADC_BIAS" value="430"/>
      <define name="MEASURE_AIRSPEED"/>
-      <define name="AIRSPEED_SEND_RAW"/>
    </load>
    <load name="gps_ubx_ucenter.xml"/>
    <!--load name="sys_mon.xml"/-->
@@ -11,8 +11,8 @@
  <modules>
    <load name="airspeed_adc.xml">
      <configure name="ADC_AIRSPEED" value="ADC_0"/>
-      <define name="AIRSPEED_QUADRATIC_SCALE" value="1.09378"/>
-      <define name="AIRSPEED_BIAS" value="110"/>
+      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
+      <define name="AIRSPEED_ADC_BIAS" value="110"/>
    </load>
    <load name="AOA_adc.xml">
      <configure name="ADC_AOA" value="ADC_2"/>
@@ -58,6 +58,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
      <define name="BARO_ETS_SYNC_SEND"/>
    </load>
    <load name="baro_sim.xml"/>
+    <load name="air_data.xml"/>
    <load name="digital_cam.xml">
      <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO22"/><!-- 18:aux 22:camsw-->
    </load>
@@ -36,6 +36,7 @@
  <modules>
    <load name="airspeed_ets.xml"/>
    <load name="baro_ets.xml"/>
+    <load name="air_data.xml"/>
    <load name="infrared_adc.xml"/>
  </modules>

@@ -18,10 +18,10 @@
    <define name="LOITER_TRIM"/>

    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="joystick"/>

    <!-- Communication -->
    <subsystem name="telemetry" 	type="transparent"/>
+    <define name="USE_JOYSTICK" value="TRUE"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="control"/>
@@ -18,10 +18,10 @@
    <define name="LOITER_TRIM"/>

    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="joystick"/>

    <!-- Communication -->
    <subsystem name="telemetry" 	type="transparent"/>
+    <define name="USE_JOYSTICK" value="TRUE"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="control"/>
@@ -47,6 +47,7 @@
  <modules>
    <load name="sys_mon.xml"/>
    <load name="baro_sim.xml"/>
+    <load name="air_data.xml"/>

    <!-- extra navigation routines -->
    <load name="nav_bungee_takeoff.xml"/>
@@ -0,0 +1,235 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="Miniquad CHNI">
+
+  <firmware name="rotorcraft">
+    <define name="USE_INS_NAV_INIT"/>
+    <!--define name="GUIDANCE_H_USE_REF"/-->
+
+    <target name="ap" board="hbmini_1.0">
+      <define name="FAILSAFE_GROUND_DETECT"/>
+      <define name="USE_GPS_ACC4R"/>
+      <define name="ACTUATORS_START_DELAY" value="3"/>
+    </target>
+    <target name="nps" board="pc">
+      <subsystem name="fdm"         type="jsbsim"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="mkk">
+      <define name="MKK_I2C_SCL_TIME" value="25"/>
+    </subsystem>
+    <subsystem name="motor_mixing"/>
+    <subsystem name="imu"           type="hbmini"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_euler"/>
+    <subsystem name="ahrs"          type="float_cmpl_rmat"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="gps_ubx_ucenter.xml"/>
+  </modules>
+
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <!-- NW, SE, NE, SW -->
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <servos driver="Mkk">
+    <servo name="NW"   no="0"    min="0" neutral="10" max="100"/>
+    <servo name="SE"   no="1"    min="0" neutral="10" max="100"/>
+    <servo name="NE"   no="2"    min="0" neutral="10" max="100"/>
+    <servo name="SW"   no="3"    min="0" neutral="10" max="100"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="135"/>
+    <define name="TRIM_PITCH" value="-200"/>
+    <define name="TRIM_YAW" value="-300"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"  value="{  256, -256, -256,  256}"/>
+    <define name="PITCH_COEF" value="{  256, -256,  256, -256}"/>
+    <define name="YAW_COEF"   value="{  256,  256, -256, -256}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="NW"   value="motor_mixing.commands[0]"/>
+    <set servo="SE"   value="motor_mixing.commands[1]"/>
+    <set servo="NE"   value="motor_mixing.commands[2]"/>
+    <set servo="SW"   value="motor_mixing.commands[3]"/>
+  </command_laws>
+
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="21460"/>
+    <define name="GYRO_Q_NEUTRAL" value="21490"/>
+    <define name="GYRO_R_NEUTRAL" value="21830"/>
+
+    <define name="GYRO_P_SENS" value="5.79" integer="16"/>
+    <define name="GYRO_Q_SENS" value="5.89" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.56" integer="16"/>
+
+
+    <define name="ACCEL_X_NEUTRAL" value="26480"/>
+    <define name="ACCEL_Y_NEUTRAL" value="26380"/>
+    <define name="ACCEL_Z_NEUTRAL" value="25836"/>
+    <define name="ACCEL_X_SENS" value="1.94" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="1.94" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="1.99" integer="16"/>
+
+
+    <define name="MAG_X_NEUTRAL" value="-108"/>
+    <define name="MAG_Y_NEUTRAL" value="57"/>
+    <define name="MAG_Z_NEUTRAL" value="-95"/>
+    <define name="MAG_X_SENS" value="3.6472944636" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.09086502241" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.74963511486" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI" value="-2.5" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-2.0" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.366765"/>
+    <define name="H_Y" value="0.013312"/>
+    <define name="H_Z" value="0.930219"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="481"/>
+    <define name="GAIN_Q" value="485"/>
+    <define name="GAIN_R" value="465"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="220." unit="deg/s"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
+    <define name="REF_ZETA_P"   value="0.9"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
+    <define name="REF_ZETA_Q"   value="0.9"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
+    <define name="REF_ZETA_R"   value="0.9"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="880"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="300"/>
+
+    <define name="THETA_PGAIN"  value="880"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="300"/>
+
+    <define name="PSI_PGAIN"  value="600"/>
+    <define name="PSI_DGAIN"  value="320"/>
+    <define name="PSI_IGAIN"  value="150"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="100"/>
+    <define name="THETA_DDGAIN" value="100"/>
+    <define name="PSI_DDGAIN"   value="0"/>
+
+    <define name="PHI_AGAIN"   value="0"/>
+    <define name="THETA_AGAIN" value="0"/>
+    <define name="PSI_AGAIN"   value="0"/>
+  </section>
+
+  <section name="GUIDANCE_V"   prefix="GUIDANCE_V_">
+
+    <define name="REF_MIN_ZDD"  value="-0.5*9.81"/>
+    <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
+    <define name="REF_MIN_ZD"   value="-1.5"/>
+    <define name="REF_MAX_ZD"   value=" 1.5"/>
+    <define name="HOVER_KP"     value="70"/>
+    <define name="HOVER_KD"     value="100"/>
+    <define name="HOVER_KI"     value="9"/>
+    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+    <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="30" unit="deg"/>
+    <define name="PGAIN" value="80"/>
+    <define name="DGAIN" value="140"/>
+    <define name="IGAIN" value="10"/>
+    <define name="NGAIN" value="0"/>
+    <!-- feedforward -->
+    <define name="AGAIN" value="0"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
+  </section>
+
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <!--define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/-->
+    <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
+  </section>
+
+  <section name="FMS">
+    <define name="BOOZ_FMS_TIMEOUT" value="0"/>
+  </section>
+
+  <section name="MISC">
+    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+  </section>
+
+  <section name="GCS">
+    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
+    <define name="ALT_SHIFT_PLUS" value="1"/>
+    <define name="ALT_SHIFT_MINUS" value="-1"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;se_motor&quot;, &quot;ne_motor&quot;, &quot;sw_motor&quot;}"/>
+    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_hbmini.h&quot;"/>
+    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
+    <define name="JS_AXIS_MODE" value="4"/>
+  </section>
+
+</airframe>
@@ -70,6 +70,7 @@
    </load>
    <load name="gps_ubx_ucenter.xml"/>
    <load name="geo_mag.xml"/>
+    <load name="air_data.xml"/>
  </modules>

  <servos driver="Pwm">
@@ -46,6 +46,7 @@
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
+    <!-- FRONT CW, RIGHT CCW, BACK CW, LEFT CCW -->
    <define name="ROLL_COEF"  value="{    0, -256,    0,  256}"/>
    <define name="PITCH_COEF" value="{  256,    0, -256,    0}"/>
    <define name="YAW_COEF"   value="{ -256,  256, -256,  256}"/>
@@ -54,7 +55,7 @@

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
-    <!-- FRONT, BACK, RIGHT, LEFT -->
+    <!-- FRONT CW, RIGHT CCW, BACK CW, LEFT CCW -->
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
  </section>

@@ -255,8 +256,7 @@
  </section>

  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;right_motor&quot;, &quot;back_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
@@ -223,7 +223,7 @@

    <load name="nav_catapult.xml"/>
    <load name="nav_line.xml"/>
-
+    <load name="air_data.xml"/>
  </modules>

  <firmware name="fixedwing">
@@ -253,6 +253,8 @@
    </target>

    <target name="fbw" board="lisa_m_2.0">
+      <configure name="SEPARATE_FBW" value="1"/>
+
      <configure name="SYS_TIME_LED" value="2"/>
      <define name="RADIO_CONTROL_LED" value="4"/>
      <define name="LINK_MCU_LED" value="3"/>
@@ -260,8 +262,6 @@
      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>

-      <subsystem name="radio_control" type="ppm"/>
-
      <!-- split of ap/fbw specific subsystems for fbw -->
      <subsystem name="actuators" type="pwm"/>
      <subsystem name="intermcu" type="uart">
@@ -270,7 +270,6 @@
    </target>

    <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="control"/>
      <subsystem name="navigation"/>
    </target>
@@ -285,6 +284,10 @@
    <define name="WIND_INFO_RET"/>
    <define name="RADIO_CONTROL_AUTO1"/>

+    <subsystem name="radio_control" type="spektrum">
+      <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
+    </subsystem>
+
    <!-- Communication -->
    <subsystem name="telemetry" type="transparent">
      <configure name="MODEM_BAUD" value="B9600"/>
@@ -26,8 +26,8 @@
    <subsystem name="ahrs"          type="infrared"/>
    <subsystem name="gps"           type="ublox_hitl"/>
    <subsystem name="navigation"/>
-    <subsystem name="joystick"/>
    <subsystem name="ins"           type="gps_passthrough"/>
+    <define name="USE_JOYSTICK" value="TRUE"/>
  </firmware>

  <firmware name="setup">
@@ -46,3 +46,6 @@ GPS_BAUD ?= B38400
 # e.g. <servo driver="Ppm">
 #
 ACTUATORS ?= actuators_pwm
+
+# always enable SEPARATE_FBW
+SEPARATE_FBW = 1
@@ -0,0 +1,42 @@
+#
+# hbmini_1.0.makefile
+#
+# prototype for HBMini board
+#
+
+ARCH=lpc21
+
+BOARD=hbmini
+BOARD_VERSION=1.0
+
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+FLASH_MODE ?= IAP
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED ?= none
+BARO_LED          ?= none
+AHRS_ALIGNER_LED  ?= none
+GPS_LED           ?= none
+SYS_TIME_LED      ?= none
+
+
+#
+# default uart settings
+#
+MODEM_PORT ?= UART0
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART1
+GPS_BAUD ?= B38400
+
+# All targets on the HBMini board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCH)
+
@@ -186,6 +186,17 @@
   settings_modules=""
   gui_color="blue"
  />
+  <aircraft
+   name="Quad_HBMini"
+   ac_id="152"
+   airframe="airframes/examples/quadrotor_hbmini.xml"
+   radio="radios/dx6iCHNI.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="white"
+  />
  <aircraft
   name="Quad_LisaMX"
   ac_id="30"
@@ -73,10 +73,8 @@ $(TARGET).srcs += subsystems/commands.c
 $(TARGET).srcs += state.c

 #
-# AIR DATA and BARO (if needed)
+# BARO_BOARD (if existing/configured)
 #
-$(TARGET).srcs += subsystems/air_data.c
-
 include $(CFG_SHARED)/baro_board.makefile


@@ -161,8 +161,6 @@ ap_srcs 		+= state.c
 ap_srcs 		+= subsystems/settings.c
 ap_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c

-# AIR DATA
-ap_srcs += subsystems/air_data.c

 # BARO
 include $(CFG_SHARED)/baro_board.makefile
@@ -3,10 +3,15 @@
 # InterMCU type CAN

 ifneq ($(TARGET),sim)
+
+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via CAN, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif
+
+
 $(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
 $(TARGET).srcs += link_mcu_can.c
 $(TARGET).srcs += mcu_periph/can.c
 $(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
 endif
-
-SEPARATE_FBW=1
@@ -2,6 +2,11 @@

 # InterMCU type SPI

+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via SPI, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif
+
 ifeq ($(INTER_MCU_SPI),)
 INTER_MCU_SPI = SPI1
 endif
@@ -15,4 +20,3 @@ fbw.srcs    += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_
 ap_srcs     += $(SRC_FIRMWARE)/fbw_downlink.c
 ap.CFLAGS   += -DMCU_SPI_LINK -DUSE_$(INTER_MCU_SPI) -DSPI_MASTER -DUSE_SPI_$(INTER_MCU_SLAVE) -DUSE_SPI
 ap.srcs     += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
-SEPARATE_FBW    = 1
@@ -2,6 +2,10 @@

 # InterMCU type UART

+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via UART, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif

 ifeq ($(TARGET),fbw)
  ifeq ($(INTERMCU_PORT),none)
@@ -19,14 +23,3 @@ ifneq ($(TARGET),sim)
 $(TARGET).CFLAGS += -DINTER_MCU -DMCU_UART_LINK
 $(TARGET).srcs += ./link_mcu_usart.c
 endif
-
-
-
-#############################
-# CAN:
-# fbw.srcs += ./link_mcu_can.c ./mcu_periph/can.c ./arch/stm32/mcu_periph/can_arch.c
-# fbw.CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
-# $(TARGET).CFLAGS += -DCAN_SJW_TQ=CAN_SJW_1tq -DCAN_BS1_TQ=CAN_BS1_3tq -DCAN_BS2_TQ=CAN_BS2_4tq -DCAN_PRESCALER=12 -DUSE_CAN -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DCAN_ERR_RESUME=DISABLE
-
-SEPARATE_FBW=1
-
@@ -7,6 +7,8 @@ USE_MAGNETOMETER ?= 1
 INS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ins/ins_float_invariant.h\"
 INS_CFLAGS += -DUSE_AHRS_ALIGNER
 INS_CFLAGS += -DUSE_AHRS
+# for geo mag
+INS_CFLAGS += -DAHRS_FLOAT

 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
  INS_CFLAGS += -DUSE_MAGNETOMETER
@@ -131,6 +131,12 @@ else ifeq ($(BOARD), navgo)
  BARO_BOARD_SRCS += peripherals/mcp355x.c
  BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c

+# hbmini baro
+else ifeq ($(BOARD), hbmini)
+  BARO_BOARD_CFLAGS += -DUSE_I2C1
+  BARO_BOARD_SRCS += peripherals/bmp085.c
+  BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
+
 # krooz baro
 else ifeq ($(BOARD), krooz)
  BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
@@ -0,0 +1,33 @@
+
+IMU_HBMINI_CFLAGS  = -DUSE_IMU
+IMU_HBMINI_CFLAGS += -DIMU_TYPE_H=\"boards/hbmini/imu_hbmini.h\"
+
+IMU_HBMINI_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                     $(SRC_BOARD)/imu_hbmini.c
+
+IMU_HBMINI_I2C_DEV ?= i2c1
+
+IMU_HBMINI_CFLAGS += -DUSE_I2C
+IMU_HBMINI_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
+
+IMU_HBMINI_CFLAGS += -DIMU_HBMINI_I2C_DEV=$(IMU_HBMINI_I2C_DEV)
+
+IMU_HBMINI_SRCS += peripherals/hmc58xx.c
+
+
+include $(CFG_SHARED)/spi_master.makefile
+
+IMU_HBMINI_CFLAGS += -DUSE_SPI_SLAVE0
+IMU_HBMINI_CFLAGS += -DUSE_SPI1
+IMU_HBMINI_CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
+
+IMU_HBMINI_SRCS += peripherals/max1168.c
+IMU_HBMINI_SRCS += $(SRC_ARCH)/peripherals/max1168_arch.c
+
+ap.CFLAGS += $(IMU_HBMINI_CFLAGS)
+ap.srcs   += $(IMU_HBMINI_SRCS)
+
+#
+# Simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile
@@ -1,36 +1,38 @@
 # Hey Emacs, this is a -*- makefile -*-


-NORADIO = False
-
-ifeq ($(BOARD),classix)
-  ifeq ($(TARGET),ap)
-    NORADIO = True
-  endif
-endif
-
 RADIO_CONTROL_DATALINK_LED ?= none
 RADIO_CONTROL_LED ?= none

-ifeq ($(NORADIO), False)
-  ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
-    RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
-  endif
-  ifneq ($(RADIO_CONTROL_LED),none)
-    RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-  endif
-  $(TARGET).CFLAGS += -DRADIO_CONTROL
-  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
-  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
-  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
-  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
-# arch only with sim target for compatibility (empty functions)
-  sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
-
-  ap.CFLAGS += $(RC_CFLAGS)
-  ap.srcs   += $(RC_SRCS)
-
-  test_radio_control.CFLAGS += $(RC_CFLAGS)
-  test_radio_control.srcs   += $(RC_SRCS)
+ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
 endif
+
+ifneq ($(RADIO_CONTROL_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
+
+
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
+
+# arch only with sim target for compatibility (empty functions)
+sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
@@ -2,37 +2,43 @@
 # Makefile for shared radio_control ppm subsystem
 #

-NORADIO = False
 RADIO_CONTROL_LED ?= none

-ifeq ($(BOARD),classix)
-  ifeq ($(TARGET),ap)
-    NORADIO = True
+ifneq ($(RADIO_CONTROL_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
+RC_SRCS   += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
+
+ifeq ($(ARCH),stm32)
+  ifdef RADIO_CONTROL_PPM_PIN
+    ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
+      $(TARGET).CFLAGS += -DPPM_CONFIG=1
+    else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
+      $(TARGET).CFLAGS += -DPPM_CONFIG=2
+    endif
  endif
 endif

-ifeq ($(NORADIO), False)
-  $(TARGET).CFLAGS	+= -DRADIO_CONTROL
-  ifneq ($(RADIO_CONTROL_LED),none)
-    ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    test_radio_control.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-  endif
-  $(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-  $(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_PPM
-  $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
-  $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/ppm.c
-  $(TARGET).srcs 	+= $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c

-  ifeq ($(ARCH),stm32)
-    ifdef RADIO_CONTROL_PPM_PIN
-      ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
-        $(TARGET).CFLAGS += -DPPM_CONFIG=1
-      else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
-        $(TARGET).CFLAGS += -DPPM_CONFIG=2
-      endif
-    endif
-  endif
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
 endif

 # dummy stuff so you don't have to unload superbitrf.xml settings file for simulators
@@ -8,22 +8,31 @@ ifneq ($(RADIO_CONTROL_LED),none)
 	RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif

-$(TARGET).CFLAGS	+= -DRADIO_CONTROL
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL

 # convert SBUS_PORT to upper and lower case strings:
 SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
 SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)

-RC_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
-RC_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
+RC_FBW_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control.c
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus.c
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c

-ap.CFLAGS += $(RC_CFLAGS)
-ap.srcs   += $(RC_SRCS)

-test_radio_control.CFLAGS += $(RC_CFLAGS)
-test_radio_control.srcs   += $(RC_SRCS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
@@ -14,8 +14,9 @@ ifneq ($(RADIO_CONTROL_LED),none)
 	ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif

-$(TARGET).CFLAGS	+= -DRADIO_CONTROL
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"

+RC_FBW_CFLAGS += -DRADIO_CONTROL

 # convert SBUS_PORT to upper and lower case strings:
 SBUS1_PORT_UPPER=$(shell echo $(SBUS1_PORT) | tr a-z A-Z)
@@ -23,13 +24,26 @@ SBUS1_PORT_LOWER=$(shell echo $(SBUS1_PORT) | tr A-Z a-z)
 SBUS2_PORT_UPPER=$(shell echo $(SBUS2_PORT) | tr a-z A-Z)
 SBUS2_PORT_LOWER=$(shell echo $(SBUS2_PORT) | tr A-Z a-z)

-$(TARGET).CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
-$(TARGET).CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
-$(TARGET).CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
-$(TARGET).CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
-$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
-$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
+RC_FBW_CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
+RC_FBW_CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c

+
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
@@ -4,26 +4,29 @@

 RADIO_CONTROL_LED ?= none

-ifndef RADIO_CONTROL_SPEKTRUM_MODEL
-RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
-endif
-
-RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-ifeq ($(ARCH), lpc21)
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
-endif
 ifneq ($(RADIO_CONTROL_LED),none)
 RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+
+ifeq ($(ARCH), lpc21)
+ifndef RADIO_CONTROL_SPEKTRUM_MODEL
+RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
+endif
+RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
+endif
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
+RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER

 # enable the second spektrum port if so configured
 ifdef USE_SECONDARY_SPEKTRUM_RECEIVER
 ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
-RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
+RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
+RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
 endif
 endif

@@ -31,8 +34,19 @@ RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c \
           $(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
           $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c

-$(TARGET).CFLAGS += $(RC_CFLAGS)
-$(TARGET).srcs   += $(RC_SRCS)

-test_radio_control.CFLAGS += $(RC_CFLAGS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
+
+test_radio_control.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
 test_radio_control.srcs   += $(RC_SRCS)
@@ -3,21 +3,30 @@
 #

 RADIO_CONTROL_LED ?= none
-
-RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
-RC_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
-
 ifneq ($(RADIO_CONTROL_LED),none)
 RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif

+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF
+RC_FBW_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
+
 RC_SRCS += peripherals/cyrf6936.c \
 		   $(SRC_SUBSYSTEMS)/datalink/superbitrf.c\
           $(SRC_SUBSYSTEMS)/radio_control.c \
           $(SRC_SUBSYSTEMS)/radio_control/superbitrf_rc.c

-ap.CFLAGS += $(RC_CFLAGS)
-ap.srcs   += $(RC_SRCS)

-test_radio_control.CFLAGS += $(RC_CFLAGS)
-test_radio_control.srcs   += $(RC_SRCS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
@@ -0,0 +1,20 @@
+<joystick>
+  <input>
+    <axis index="1" name="roll" />
+    <axis index="2" name="pitch" />
+    <axis index="0" name="throttle" />
+    <axis index="4" name="yaw" />
+    <axis index="3" name="mode" />
+  </input>
+
+  <messages period="0.025">
+    <message class="datalink" name="RC_4CH" send_always="true">
+      <field name="mode" value="Fit(mode,-117,117,0,127)" />
+      <field name="throttle" value="Fit(throttle,-117,117,0,127)" />
+      <field name="roll" value="-roll" />
+      <field name="yaw" value="-yaw" />
+      <field name="pitch" value="-pitch" />
+    </message>
+  </messages>
+
+</joystick>
@@ -40,11 +40,11 @@ It has 8 buttons.
    <button index="3" name="b_yellow"/>
    <button index="4" name="b_ltb"/>
    <button index="5" name="b_rtb"/>
-    <button index="6" name="b_start"/>
-    <button index="7" name="b7"/>
+    <button index="6" name="b_back"/>
+    <button index="7" name="b_start"/>
    <button index="8" name="b8"/>
    <button index="9" name="b9"/>
-    <button index="10" name="b_back"/>
+    <button index="10" name="b10"/>
  </input>

  <variables>
@@ -108,6 +108,17 @@ It has 8 buttons.
    </message>
    -->

+    <!-- resurrect throttle on start button -->
+    <message class="ground" name="DL_SETTING" on_event="b_start">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="0"/>
+    </message>
+    <!-- kill throttle when pressing both back and blue buttons at the same time -->
+    <message class="ground" name="DL_SETTING" on_event="b_back && b_blue">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="1"/>
+    </message>
+
  </messages>

 </joystick>
@@ -74,5 +74,11 @@ so e.g. HatDown(hat)
      <field name="block_id" value="IndexOfBlock('land here')"/>
    </message>

+    <!-- kill throttle when pressing both fire buttons at the same time -->
+    <message class="ground" name="DL_SETTING" on_event="fire && fire2">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="1"/>
+    </message>
+
  </messages>
 </joystick>
@@ -1172,7 +1172,11 @@
    <field name="status" type="uint8" values="UNINIT|RUNNING|LOCKED"/>
  </message>

-  <!-- 138 is free -->
+  <message name="AIRSPEED_MS45XX" id="138">
+    <field name="diffPress" type="float" unit="Pa"/>
+    <field name="temperature" type="int16" unit="0.1 deg_celcius" alt_unit="deg_celcius" alt_unit_coef="0.1"/>
+    <field name="airspeed" type="float" unit="m/s"/>
+  </message>

  <message name="FILTER_COR" id="139">
    <field name="mphi"   type="int32"/>
@@ -1293,7 +1297,6 @@
    <field name="cmd_heading" type="int32"/>
  </message>

-
  <message name="ROTORCRAFT_FP" id="147">
    <field name="east"     type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
    <field name="north"    type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
@@ -1312,7 +1315,11 @@
    <field name="flight_time"   type="uint16" unit="s"/>
  </message>

-  <!-- 148 is free -->
+  <message name="TEMP_ADC" id="148">
+    <field name="temp1"   type="float" unit="deg_celsius" format="%.2f"/>
+    <field name="temp2"   type="float" unit="deg_celsius" format="%.2f"/>
+    <field name="temp3"   type="float" unit="deg_celsius" format="%.2f"/>
+  </message>

  <message name="GUIDANCE_H_REF_INT" id="149">
    <field name="sp_x"    type="int32" alt_unit="m"     alt_unit_coef="0.0039063"/>
@@ -1937,8 +1944,21 @@
    <field name="diff"         type="float"/>
  </message>

- <!--222 is free -->
- <!--223 is free -->
+  <message name="AIR_DATA" id="222">
+    <field name="pressure" type="float" unit="Pa"/>
+    <field name="diff_p" type="float" unit="Pa"/>
+    <field name="temp" type="float" unit="deg celcius"/>
+    <field name="qnh" type="float" unit="hPa"/>
+    <field name="amsl_baro" type="float" unit="m"/>
+    <field name="airspeed" type="float" unit="m/s"/>
+    <field name="tas_factor" type="float"/>
+  </message>
+
+  <message name="AMSL" id="223">
+    <field name="AMSL_BARO" type="float" unit="ft" alt_unit="m"/>
+    <field name="AMSL_GPS" type="float" unit="ft" alt_unit="m"/>
+  </message>
+
 <!--224 is free -->

  <message name="VIDEO_SYNC" id="225">
@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="agl_dist" dir="sonar">
+  <doc>
+    <description>
+      Get sonar values from ABI and store last and filtered values
+
+      Output values are stored in global variables that can be used in flight plans
+    </description>
+    <section name="AGL" prefix="AGL_DIST_SONAR_">
+      <define name="ID" value="ABI_BROADCAST" description="Sonar ABI ID"/>
+      <define name="MAX_RANGE" value="5." description="Max detection range in meters"/>
+      <define name="MIN_RANGE" value="0.001" description="Min detection range in meters"/>
+      <define name="FILTER" value="5" description="First order filter constante"/>
+    </section>
+  </doc>
+  <header>
+    <file name="agl_dist.h"/>
+  </header>
+  <init fun="agl_dist_init()"/>
+  <makefile>
+    <file name="agl_dist.c"/>
+  </makefile>
+</module>
+
@@ -0,0 +1,41 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="air_data">
+  <doc>
+    <description>
+    AirData interface.
+    Provides an interface for baro absolute and differential pressure as well as airspeed.
+    Subscribes to BARO_ABS, BARO_DIFF and TEMPERATURE ABI messages and calculates QNH and true airspeed from it.
+    Also enables you to fly on "flight levels" using AMSL (AltitudeAboveSeaLevel) calculated from current pressure and QNH.
+
+    When using this module to provide airspeed you need a differential pressure sensor module publishing the BARO_DIFF ABI message. Make sure to disable other modules which otherwise directly set the airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module, define USE_AIRSPEED_MS45XX to FALSE.
+    </description>
+    <define name="AIR_DATA_BARO_ABS_ID" value="ABI_SENDER_ID" description="ABI sender id for absolute baro measurement (default: ABI_BROADCAST)"/>
+    <define name="AIR_DATA_BARO_DIFF_ID" value="ABI_SENDER_ID" description="ABI sender id for differential baro measurement (default: ABI_BROADCAST)"/>
+    <define name="AIR_DATA_TEMPERATURE_ID" value="ABI_SENDER_ID" description="ABI sender id for temperature measurement (default: ABI_BROADCAST)"/>
+    <define name="AIR_DATA_CALC_AIRSPEED" value="FALSE|TRUE" description="Calculate Airspeed from differential pressure (default: TRUE)"/>
+    <define name="AIR_DATA_CALC_TAS_FACTOR" value="FALSE|TRUE" description="Calculate TAS factor from temp and pressure (default: TRUE)"/>
+    <define name="AIR_DATA_CALC_AMSL_BARO" value="FALSE|TRUE" description="Calculate AMS from baro and QNH (default: FALSE)"/>
+    <define name="USE_AIRSPEED_AIR_DATA" value="TRUE|FALSE" description="set airspeed in state interface (defaults to TRUE if USE_AIRSPEED)"/>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings name="air_data">
+        <dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH"/>
+        <dl_setting min="0.8" max="1.3" step="0.01" module="air_data/air_data" var="air_data.tas_factor" shortname="TASfactor" param="AIR_DATA_TAS_FACTOR"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_qnh_once" module="air_data/air_data" shortname="calcQNH"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_airspeed" module="air_data/air_data" shortname="calcAirspeed" param="AIR_DATA_CALC_AIRSPEED"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_tas_factor" module="air_data/air_data" shortname="calcTASfactor" param="AIR_DATA_CALC_TAS_FACTOR"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_amsl_baro" module="air_data/air_data" shortname="calcAMSL" param="AIR_DATA_CALC_AMSL_BARO"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="air_data.h"/>
+  </header>
+  <init fun="air_data_init()"/>
+  <periodic fun="air_data_periodic()" freq="10"/>
+  <makefile>
+    <file name="air_data.c"/>
+  </makefile>
+</module>
@@ -2,13 +2,23 @@

 <module name="airspeed_adc" dir="sensors">
  <doc>
-    <description>Airspeed sensor (ADC). Using the internal ADC.</description>
+    <description>Airspeed sensor (ADC).
+    Using the internal ADC.
+    </description>
    <configure name="ADC_AIRSPEED" value="ADCX" description="ADC on which sensor is connected"/>
-    <define name="AIRSPEED_SCALE" value="scale factor" description="linear scale factor (used if AIRSPEED_QUADRATIC_SCALE is not defined"/>
-    <define name="AIRSPEED_QUADRATIC_SCALE" value="quadratic scale factor" description="it is recommended to use quadratic scale"/>
-    <define name="AIRSPEED_BIAS" value="sensor bias" description="offset on ADC"/>
+    <define name="AIRSPEED_ADC_SCALE" value="scale factor" description="linear scale factor (used if AIRSPEED_QUADRATIC_SCALE is not defined"/>
+    <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="quadratic scale factor" description="it is recommended to use quadratic scale"/>
+    <define name="AIRSPEED_ADC_BIAS" value="sensor bias" description="offset on ADC"/>
+    <define name="USE_AIRSPEED_ADC" value="TRUE|FALSE" description="set airspeed in state interface (default:TRUE)"/>
  </doc>
-
+  <settings>
+    <dl_settings>
+      <dl_settings name="airsp">
+        <dl_setting max="4095" min="0" step="1" module="sensors/airspeed_adc" var="airspeed_adc.offset" shortname="air_bias"/>
+        <dl_setting max="3" min="0" step="0.001" module="sensors/airspeed_adc" var="airspeed_adc.scale" shortname="air_scale"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
  <header>
    <file name="airspeed_adc.h"/>
  </header>
@@ -11,8 +11,8 @@
    <define name="AIRSPEED_AMSYS_MAXPRESURE" value="2068" description="max sensor pressure (Pa) (default: 2068 for -003)(for -001 use 689)"/>
    <define name="AIRSPEED_AMSYS_SCALE" value="1.0" description="sensor scale factor (default: 1.0)"/>
    <define name="AIRSPEED_AMSYS_FILTER" value="0." description="sensor filter (default: 0. max:1)"/>
-    <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
    <define name="AIRSPEED_AMSYS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
+    <define name="USE_AIRSPEED_AMSYS" value="TRUE|FALSE" description="set airspeed in state interface"/>
  </doc>
  <settings>
    <dl_settings>
@@ -21,8 +21,8 @@
    <define name="AIRSPEED_ETS_OFFSET" value="offset" description="sensor reading offset (default: 0)"/>
    <define name="AIRSPEED_ETS_SCALE" value="scale" description="sensor scale factor (default: 1.8)"/>
    <define name="AIRSPEED_ETS_START_DELAY" value="delay" description="set initial start delay in seconds"/>
-    <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
    <define name="AIRSPEED_ETS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
+    <define name="USE_AIRSPEED_ETS" value="TRUE|FALSE" description="set airspeed in state interface"/>
  </doc>

  <header>
@@ -0,0 +1,44 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="airspeed_ms45xx_i2c" dir="sensors">
+  <doc>
+    <description>
+      MS45XX differential pressure/airspeed sensor.
+      Airspeed sensor module using the MS45xxDO digital pressure sensor via I2C.
+      Needs one of the differential versions with 14bit pressure and 11bit temperature.
+    </description>
+    <define name="MS45XX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c2)"/>
+    <define name="MS45XX_I2C_ADDR" value="0x50" description="i2c slave address (default: 0x50)"/>
+    <define name="MS45XX_PRESSURE_RANGE" value="1|2|5|15|30|50|100|150" description="pressure range in psi (default: 1)"/>
+    <define name="MS45XX_OUTPUT_TYPE" value="0|1" description="set to 0 for output type A, to 1 for output type B (default: type A)"/>
+    <define name="MS45XX_SYNC_SEND" value="TRUE|FALSE" description="flag to enable sending every new measurement via telemetry (default:FALSE)"/>
+    <define name="MS45XX_PRESSURE_SCALE" value="1.05" description="pressure scaling factor to convert raw output to Pa (default: set according to pressure range and output type according to datasheet)"/>
+    <define name="MS45XX_PRESSURE_OFFSET" value="8618.4" description="pressure offset in Pa (default: set according to pressure range and output type according to datasheet)"/>
+    <define name="MS45XX_AIRSPEED_SCALE" value="1.6327" description="quadratic scale factor to convert differential pressure to airspeed"/>
+    <define name="MS45XX_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter"/>
+    <define name="USE_AIRSPEED_MS45XX" value="TRUE|FALSE" description="set airspeed in state interface"/>
+  </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="MS45XX">
+        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ms45xx.sync_send" type="bool" shortname="sync_send" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_SYNC_SEND" persistent="true"/>
+        <dl_setting min="0.9" max="1.2" step="0.01" var="ms45xx.pressure_scale" type="float" shortname="PressScale" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_PRESSURE_SCALE" persistent="true"/>
+        <dl_setting min="8300.0" max="8900.0" step="0.1" var="ms45xx.pressure_offset" type="float" shortname="PressScale" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_PRESSURE_OFFSET" persistent="true"/>
+        <dl_setting min="1.0" max="2.0" step="0.01" var="ms45xx.airspeed_scale" type="float" shortname="AirScale" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_AIRSPEED_SCALE" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
+  <header>
+    <file name="airspeed_ms45xx_i2c.h"/>
+  </header>
+
+  <init fun="ms45xx_i2c_init()"/>
+  <periodic fun="ms45xx_i2c_periodic()" freq="100."/>
+  <event fun="ms45xx_i2c_event()"/>
+
+  <makefile target="ap">
+    <file name="airspeed_ms45xx_i2c.c"/>
+  </makefile>
+</module>
@@ -0,0 +1,44 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<module name="uart_cam_ctrl" dir="digital_cam">
+  <doc>
+    <description>
+      Digital Camera Triggering over UART link.
+      Send attitude and other relevant data to a computer based photocamera after a shootphoto command is given. And in return get certain value back from the computerbased photocamera to be able to intercat with the flightplan.</description>
+    <define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="6" description="quarter_second"/>
+    <define name="DC_AUTOSHOOT_METER_GRID" value="50" description="grid in meters"/>
+  </doc>
+  <settings>
+    <dl_settings name="control">
+      <dl_settings name="tb">
+        <dl_setting max="2" min="0" step="1" var="ticket_thumbnails" shortname="thumbs">
+          <strip_button name="DL Thumbs High" icon="on.png" value="2" group="ticket"/>
+          <strip_button name="DL Thumbs Low" icon="on.png" value="1" group="ticket"/>
+          <strip_button name="DL Thumbs STOP" icon="off.png" value="0" group="ticket"/>
+        </dl_setting>
+        <dl_setting max="2" min="0" step="1" var="ticket_status" shortname="status" />
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="uart_cam_ctrl.h"/>
+  </header>
+  <init fun="digital_cam_uart_init()"/>
+  <periodic fun="digital_cam_uart_periodic()" freq="4" autorun="TRUE"/>
+  <event fun="digital_cam_uart_event()"/>
+  <makefile target="sim">
+    <file name="catia/serial.c"/>
+  </makefile>
+  <makefile>
+    <define name="DIGITAL_CAM" />
+    <file name="uart_cam_ctrl.c"/>
+    <file name="catia/protocol.c"/>
+    <file name="dc.c"/>
+    <define name="SENSOR_SYNC_SEND" value="1"/>
+    <raw>
+$(TARGET).CFLAGS += -DCAMERA_LINK=$(CAMERA_PORT)
+$(TARGET).CFLAGS += -DUSE_$(CAMERA_PORT)
+$(TARGET).CFLAGS += -D$(CAMERA_PORT)_BAUD=B115200
+    </raw>
+  </makefile>
+</module>
+
--- a/Show More
+++ b/Show More