diff --git a/conf/airframes/microjetI.xml b/conf/airframes/microjetI.xml new file mode 100644 index 0000000000..ee217cda8a --- /dev/null +++ b/conf/airframes/microjetI.xml @@ -0,0 +1,267 @@ + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + + + + + + +
+ + +
+ +
+ + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + +
+ +
+ + +
+ +
+ + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + +
+ +
+ + + + + + + + +
+ +
+ + + + + + +
+ +
+ + + + + +
+ +
+ + +
+ +
+ +
+ + +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + +ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT +ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c + +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c + +# transparent +#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 +#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 + +ap.srcs += gps_ubx.c gps.c latlong.c + +ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360 +ap.srcs += infrared.c estimator.c + +ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c + +ap.CFLAGS += -DGYRO -DADXRS150 +ap.srcs += gyro.c + +ap.srcs += nav_line.c nav_survey_rectangle.c + +# PID sensor +ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16 +ap.srcs += adc_generic.c + + +# Harware In The Loop + +#ap.CFLAGS += -DHITL + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A +sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c + + +