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https://github.com/paparazzi/paparazzi.git
synced 2026-05-11 07:49:41 +08:00
Gautier Hattenberger
494e3f3ad9
When adding a test node to a makefile section, with required compilation flags, include and other options, all the files (not arch dependent files) can be compiled with a TAP compatible program, included in the standard tests of the CI servers. Not all module's XML files are converted, but a large part of the most important parts are already covered. More will be added later. The number of tested airframes (full compilation of all targets) have been reduced to speed the CI compile time but still covers the relevant architecture and boards. The main benefit is that the overall coverage is already better than before as previous test aircraft were compiling more or less the same part of the airborne code, while this new mechanism is more efficient to test modules not included in any config.
64 lines
1.7 KiB
C
64 lines
1.7 KiB
C
#ifndef GENERATED_FLIGHT_PLAN_H
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#define GENERATED_FLIGHT_PLAN_H
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#include "std.h"
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#include "generated/modules.h"
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#include "subsystems/abi.h"
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#include "autopilot.h"
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#define NAV_DEFAULT_ALT 260 /* nominal altitude of the flight plan */
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#define NAV_UTM_EAST0 360285
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#define NAV_UTM_NORTH0 4813595
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#define NAV_UTM_ZONE0 31
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#define NAV_LAT0 434622300 /* 1e7deg */
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#define NAV_LON0 12728900 /* 1e7deg */
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#define NAV_ALT0 185000 /* mm above msl */
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#define NAV_MSL0 51850 /* mm, EGM96 geoid-height (msl) over ellipsoid */
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#define QFU 0.0
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#define WP_dummy 0
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#define WP_HOME 1
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#define WAYPOINTS_UTM { \
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{42.0, 42.0, 260},\
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{0.0, 0.0, 260},\
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};
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#define WAYPOINTS_ENU { \
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{41.13, 42.87, 75.00}, /* ENU in meters */ \
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{-0.00, -0.00, 75.00}, /* ENU in meters */ \
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};
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#define WAYPOINTS_LLA { \
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{.lat=434626158, .lon=12733981, .alt=260000}, /* 1e7deg, 1e7deg, mm (above NAV_MSL0, local msl=51.85m) */ \
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{.lat=434622299, .lon=12728900, .alt=260000}, /* 1e7deg, 1e7deg, mm (above NAV_MSL0, local msl=51.85m) */ \
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};
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#define WAYPOINTS_LLA_WGS84 { \
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{.lat=434626158, .lon=12733981, .alt=311850}, /* 1e7deg, 1e7deg, mm (above WGS84 ref ellipsoid) */ \
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{.lat=434622299, .lon=12728900, .alt=311850}, /* 1e7deg, 1e7deg, mm (above WGS84 ref ellipsoid) */ \
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};
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#define WAYPOINTS_GLOBAL { \
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FALSE, \
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FALSE, \
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};
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#define NB_WAYPOINT 2
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#define FP_BLOCKS { \
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"Wait GPS" , \
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"HOME" , \
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}
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#define NB_BLOCK 2
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#define GROUND_ALT 185.
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#define GROUND_ALT_CM 18500
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#define SECURITY_HEIGHT 25.
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#define SECURITY_ALT 210.
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#define HOME_MODE_HEIGHT 25.
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#define MAX_DIST_FROM_HOME 1500.
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#ifdef NAV_C
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static inline void auto_nav_init(void) {}
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static inline void auto_nav(void) {}
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#endif
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#endif // GENERATED_FLIGHT_PLAN_H
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