- by default use pprzlink message definition
- if custom messages are need to be used, place the file messages.xml in conf
- only use default units.xml file
- better quiet compilation
no more moving and restoring of the conf.xml
Test targets available now:
- test_math: doesn't care about conf nor needs any other pprz code built
- test_examples: compiles all aircrafts in conf_tests.xml, doesn't care about conf.xml
- test_sim: needs a valid conf.xml with the appropriate aircrafts (Microjet for now)
- test: only calls test_math and test_examples for now (no X needed, conf.xml is not read)
- always save build version when updating anything that depends on libpprz, so it will also be updated on e.g. make tmtc
- only warn if the version number (major.minor.patch) is different, disregard the label, sha1, dirty postfixes in the string...
Baro event handling using ABI interface
Main benefits:
less crappy handler functions in main.c files
possibility to use multiple sources of sensors (integrated to the board or not)
the filters don't need to know who is sending the raw values (not completely true with the old alt_float filter yet)
the pressure are now standardized in Pascal and the standard atmosphere model is used
The INS_BARO_SENS is hence not needed anymore.
onboard baros are automatically available in fixedwing firmware as well (use same code as rotorcraft now)
disable onboard baro with <configure name="USE_BARO_BOARD" value="FALSE"/>
Some stuff to do before using: find the default conversion factor to convert ADC values to Pascal
(mostly older boards/baro, recent digital sensors can output pressure in Pascal already)
Also all baro_board implementations use the same BARO_BOARD_SENDER_ID,
since there can only be one baro_board at the same time and this provides a good default for INS_BARO_ID.
So if you want to use an onboard baro the INS_BARO_ID is already ok (also if you have additional baro modules).
To use a baro module for INS: <define name="INS_BARO_ID" value="BARO_x_SENDER_ID"/>
closes#525
- Use findlib (ocamlfind) for ocaml packages.
- Create META file for pprz ocaml lib.
- Link dynamically instead of statically (no -custom), which also results in faster build times.
- Use mktemp to properly create temporary files.
- More makefile cleanup...
closes#274
Gautier Hattenberger
Open UAS
Michal Podhradsky
Felix Ruess
Felix Ruess
Freek van Tienen
Christophe De Wagter
Stephen Dwyer