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replaced CONFIG with BOARD_CONFIG
removed booz_geometry_xxxx (now replaced by math/pprz_trig_int and math/pprz_algebra_xxx )
moved booz/arm7 to booz/arch/lpc21 and booz/stm32 to booz/arch/stm32
This commit is contained in:
Antoine Drouin
2009-07-18 18:22:45 +00:00
parent 5c1dcd5fa8
commit fa2d6026e6
207 changed files with 1074 additions and 2270 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Makefile
+3
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@@ -186,6 +186,9 @@ clean:
dist_clean : clean
ab_clean:
find sw/airborne -name '*~' -exec rm -f {} \;
test_all_example_airframes:
$(MAKE) AIRCRAFT=BOOZ2_A2 clean_ac ap
$(MAKE) AIRCRAFT=MJ5 clean_ac ap sim
conf/airframes/antenna.xml
+1 -1
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@@ -22,7 +22,7 @@ ant.EXT_FUSE = ff
ant.LOCK_FUSE = ff
ant.CFLAGS += -DCONFIG=\"antenna.h\"
ant.CFLAGS += -DBOARD_CONFIG=\"antenna.h\"
ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c
ant.CFLAGS += -DLED
conf/airframes/bl_mc.xml
+1 -1
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@@ -22,7 +22,7 @@ LOCK_FUSE = ff
#EXT_FUSE = ff
#LOCK_FUSE = ff
main.CFLAGS += -DCONFIG=\"conf_bl_mc.h\"
main.CFLAGS += -DBOARD_CONFIG=\"conf_bl_mc.h\"
main.srcs = main_bl_mc.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)'
conf/airframes/black_one.xml
+2 -2
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@@ -216,7 +216,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.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
@@ -270,7 +270,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
sim.srcs += bomb.c
#Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
conf/airframes/booz2_a1.xml
+10 -8
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@@ -113,10 +113,10 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
@@ -135,8 +135,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
<!-- <define name="BATTERY_SENS" value="0.46" integer="16"/> -->
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
<section name="AUTOPILOT">
@@ -164,9 +163,13 @@
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
@@ -178,8 +181,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
</makefile>
conf/airframes/booz2_a2.xml
+10 -6
View File
@@ -102,15 +102,15 @@
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -139,10 +139,13 @@
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
@@ -153,6 +156,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_crista.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
</makefile>
conf/airframes/booz2_a3.xml
+10 -7
View File
@@ -102,15 +102,15 @@
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -139,10 +139,13 @@
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
@@ -151,7 +154,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_spektrum.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
</makefile>
conf/airframes/booz2_a4.xml
+9 -11
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@@ -105,15 +105,15 @@
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -142,12 +142,13 @@
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
@@ -155,12 +156,9 @@ sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
#include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_ppm.makefile
#ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_DX7
include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
ap.CFLAGS += -DUSE_BOOZ2_CONTROL_SURFACES -DUSE_BOOZ2_SERVOS_DIRECT
ap.CFLAGS += -DUSE_BOOZ2_SERVOS_DIRECT_0 -DUSE_BOOZ2_SERVOS_DIRECT_1
conf/airframes/booz2_flixr.xml
+14 -15
View File
@@ -112,26 +112,20 @@
</section>
<section name="FILTER" prefix="FILTER_">
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(0.))"/>
<define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(0.))"/>
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -154,18 +148,23 @@
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DKILL_SWITCH=RADIO_SWITCH1
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
conf/airframes/booz2_g1.xml
+7 -6
View File
@@ -100,15 +100,15 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-350"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value="0.118"/>
</section>
@@ -161,6 +161,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
ap.CFLAGS += -DUSE_CAM
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
conf/airframes/booz2_j1.xml
+6 -6
View File
@@ -109,15 +109,15 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-300"/>
<define name="HOVER_KD" value="-200"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
conf/airframes/booz2_s1.xml
+11 -8
View File
@@ -111,15 +111,15 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -161,9 +161,13 @@
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
# ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
@@ -171,8 +175,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
</makefile>
conf/airframes/booz2_x1.xml
+12 -8
View File
@@ -114,15 +114,15 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
@@ -159,17 +159,21 @@
<makefile>
ARCH=lpc21
BOARD_CFG = \"booz2_board_v1_0.h\"
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_radio_control_ppm.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_gps.makefile
</makefile>
conf/airframes/dc_mc.xml
+1 -1
View File
@@ -16,7 +16,7 @@ main.HIGH_FUSE = cb
main.EXT_FUSE = ff
main.LOCK_FUSE = ff
main.CFLAGS += -DCONFIG=\"conf_dc_mc.h\"
main.CFLAGS += -DBOARD_CONFIG=\"conf_dc_mc.h\"
main.srcs = main_dc_mc.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
conf/airframes/demo.xml
+7 -7
View File
@@ -15,7 +15,7 @@ demo1.ARCH = arm7tdmi
demo1.TARGET = demo1
demo1.TARGETDIR = demo1
demo1.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo1.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo1.srcs = main_demo1.c
#
@@ -26,7 +26,7 @@ demo2.ARCH = arm7tdmi
demo2.TARGET = demo2
demo2.TARGETDIR = demo2
demo2.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo2.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo2.srcs = main_demo2.c
demo2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
@@ -42,7 +42,7 @@ demo3.ARCH = arm7tdmi
demo3.TARGET = demo3
demo3.TARGETDIR = demo3
demo3.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo3.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo3.srcs = main_demo3.c
demo3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
@@ -64,7 +64,7 @@ demo4.ARCH = arm7tdmi
demo4.TARGET = demo4
demo4.TARGETDIR = demo4
demo4.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo4.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo4.srcs = main_demo4.c
demo4.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
@@ -90,7 +90,7 @@ demo5.ARCH = arm7tdmi
demo5.TARGET = demo5
demo5.TARGETDIR = demo5
demo5.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo5.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo5.srcs = main_demo5.c
demo5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
@@ -117,7 +117,7 @@ demo6.ARCH = arm7tdmi
demo6.TARGET = demo6
demo6.TARGETDIR = demo6
demo6.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo6.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo6.srcs = main_demo6.c
demo6.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
@@ -147,7 +147,7 @@ test_spk.ARCH = arm7tdmi
test_spk.TARGET = test_spk
test_spk.TARGETDIR = test_spk
test_spk.CFLAGS += -DCONFIG=\"booz2_board_usb.h\"
test_spk.CFLAGS += -DBOARD_CONFIG=\"booz2_board_usb.h\"
test_spk.srcs = main_test_spk.c
test_spk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
conf/airframes/demo_module.xml
+2 -2
View File
@@ -165,7 +165,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.CFLAGS += -DINTER_MCU
@@ -207,7 +207,7 @@ ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
conf/airframes/easy_glider1.xml
+2 -2
View File
@@ -162,7 +162,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -206,7 +206,7 @@ ap.srcs += adc_generic.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
</makefile>
conf/airframes/example.xml
+1 -1
View File
@@ -17,7 +17,7 @@ example_gps.ARCH = arm7tdmi
example_gps.TARGET = example_gps
example_gps.TARGETDIR = example_gps
example_gps.CFLAGS += -DCONFIG=\"conf_demo.h\"
example_gps.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
example_gps.srcs = example/example_gps.c
example_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
conf/airframes/funjet1.xml
+3 -3
View File
@@ -216,7 +216,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -274,7 +274,7 @@ ap.srcs += dc.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
# -DENOSE
@@ -292,7 +292,7 @@ setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
</makefile>
conf/airframes/funjeteth1.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetgfi1.xml
+2 -2
View File
@@ -196,7 +196,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -260,7 +260,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += joystick.c
conf/airframes/funjetgfi3.xml
+2 -2
View File
@@ -196,7 +196,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -264,7 +264,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
</makefile>
conf/airframes/funjetgfi4.xml
+2 -2
View File
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -235,7 +235,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetgfi5.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetgfi6.xml
+2 -2
View File
@@ -191,7 +191,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -240,7 +240,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetgfi7.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetgfi8.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/funjetmm.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
conf/airframes/glass_one1.xml
+2 -2
View File
@@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -260,7 +260,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.srcs += bomb.c nav_survey_rectangle.c
sim.srcs += traffic_info.c nav_line.c
conf/airframes/glass_one2.xml
+2 -2
View File
@@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.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
@@ -231,7 +231,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.srcs += bomb.c nav_survey_rectangle.c
sim.srcs += traffic_info.c nav_line.c
conf/airframes/glass_one3.xml
+2 -2
View File
@@ -207,7 +207,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -258,7 +258,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.srcs += bomb.c nav_survey_rectangle.c
sim.srcs += traffic_info.c nav_line.c
conf/airframes/hitl_usb.xml
+2 -2
View File
@@ -115,7 +115,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -153,7 +153,7 @@ sim.TARGET = autopilot
sim.TARGETDIR = autopilot
sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED
sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
</makefile>
conf/airframes/holiday50.xml
+2 -2
View File
@@ -238,7 +238,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
# main files (including the 60Hz timing)
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
# Command allocation and Radio Mixers
@@ -295,7 +295,7 @@ ap.srcs += bomb.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
sim.srcs += nav_survey_rectangle.c nav_line.c
# traffic_info.c
#sim.CFLAGS += -DUSE_AIRSPEED
conf/airframes/jsbsim.xml
+1 -1
View File
@@ -232,7 +232,7 @@ sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy -L$(
sim.CFLAGS += -DJSBSIM_ROOT_DIR=\"/home/violato/enac/programs/JSBSim/\"
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
conf/airframes/logger_sd.xml
+1 -1
View File
@@ -43,7 +43,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
conf/airframes/mac06a.xml
+2 -2
View File
@@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -249,7 +249,7 @@ ap.srcs += bomb.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.srcs += bomb.c
</makefile>
conf/airframes/malolo_sim.xml
+1 -1
View File
@@ -232,7 +232,7 @@ sim.CFLAGS += -I$(SIMDIR) -I/home/cocoleon/usr/include/JSBSim -I/usr/include
sim.CFLAGS += `pkg-config glib-2.0 --cflags`
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/home/cocoleon/usr/lib/ -lJSBSim
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
conf/airframes/microjet5.xml
+2 -2
View File
@@ -209,7 +209,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.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.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
@@ -254,7 +254,7 @@ ap.srcs += gyro.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
</makefile>
</airframe>
conf/airframes/microjet5_tp_auto.xml
+2 -2
View File
@@ -177,7 +177,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.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.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
@@ -226,7 +226,7 @@ ap.srcs += gyro.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\"
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
sim.CFLAGS += -DGYRO -DADXRS150
sim.srcs += gyro.c
conf/airframes/microjet6.xml
+2 -2
View File
@@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -253,7 +253,7 @@ ap.srcs += nav_line.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
</makefile>
conf/airframes/microjetI.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -238,7 +238,7 @@ ap.srcs += adc_generic.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += light.c
conf/airframes/microjetII.xml
+2 -2
View File
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -234,7 +234,7 @@ ap.CFLAGS += -DUSE_LIGHT
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += traffic_info.c
conf/airframes/microjetIII.xml
+2 -2
View File
@@ -176,7 +176,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
@@ -226,7 +226,7 @@ ap.srcs += adc_generic.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
# -DESTIMATOR_COMP_FILTER
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
conf/airframes/minimag1.xml
+2 -2
View File
@@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
@@ -211,7 +211,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
</makefile>
conf/airframes/minimag_fs.xml
+2 -2
View File
@@ -182,7 +182,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -219,7 +219,7 @@ ap.srcs += dc.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += dc.c
</makefile>
conf/airframes/mmlaas_N1.xml
+2 -2
View File
@@ -197,7 +197,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
@@ -249,7 +249,7 @@ ap.srcs += tcas.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
</makefile>
conf/airframes/mmlaas_N2.xml
+2 -2
View File
@@ -198,7 +198,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -247,7 +247,7 @@ ap.srcs += tcas.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
</makefile>
conf/airframes/mmlaas_N3.xml
+2 -2
View File
@@ -198,7 +198,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"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
@@ -247,7 +247,7 @@ ap.srcs += tcas.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
</makefile>
conf/airframes/motor_bench.xml
+3 -3
View File
@@ -13,7 +13,7 @@ main.ARCH = arm7tdmi
main.TARGET = mb
main.TARGETDIR = mb
main.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
main.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
main.srcs = $(MB)/main_motor_bench.c
main.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
@@ -60,7 +60,7 @@ foo.ARCH = arm7tdmi
foo.TARGET = mb
foo.TARGETDIR = mb
foo.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
foo.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
foo.srcs = $(MB)/main_foo.c
foo.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
@@ -82,7 +82,7 @@ bar.ARCH = arm7tdmi
bar.TARGET = mb
bar.TARGETDIR = mb
bar.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
bar.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
bar.srcs = $(MB)/main_bar.c
bar.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
conf/airframes/nova.xml
+1 -1
View File
@@ -11,7 +11,7 @@ timu.ARCH = arm7tdmi
timu.TARGET = timu
timu.TARGETDIR = timu
timu.CFLAGS += -DCONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
timu.CFLAGS += -DLED -DLED -DTIME_LED=1

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