mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
e436d78c84
There is no longer a separated FBW in normal operation for fixedwing, only a single AP task/thread. The code for main_ap is now factorized for all firmwares. Dual MCU support (separated AP and FBW) is still possible, based on the rotorcraft implementation and intermcu pprzlink messages. Relevant code is also factorized and available in all firmwares. The recovery mode (in case of hard fault) is still available for fixedwing with ChibiOS implementation. Only intermcu_uart is supported at the moment. Other options (spi/can) might be added back in the future if really used. Some other evolution are made: - in the radio_control and actuators modules, now integrated to AP and using ABI messages - the message parsing on datalink event (defined in module) that is now properly filtering the messages based on their class and allowing to have multiple callbacks for the same message - cleaning the part of code that were using the old intermcu fixedwing interface
48 lines
1.4 KiB
XML
48 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_intermcu" dir="gps" task="sensors">
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<doc>
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<description>
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Remote GPS via intermcu.
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Parses the IMCU_REMOTE_GPS message and publishes it onboard via ABI.
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</description>
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</doc>
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<dep>
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<depends>gps,@datalink</depends>
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<provides>gps</provides>
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</dep>
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<autoload name="gps_nps"/>
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<autoload name="gps_sim"/>
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<header>
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<file name="gps.h"/>
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</header>
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<init fun="gps_intermcu_init()"/>
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<periodic fun="gps_intermcu_periodic_check()" freq="1." autorun="TRUE"/>
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<datalink message="IMCU_REMOTE_GPS" fun="gps_intermcu_parse_IMCU_REMOTE_GPS(buf)"/>
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<makefile target="ap|fbw">
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<file name="gps_intermcu.c"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring $(SECONDARY_GPS), intermcu))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_intermcu.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_IMCU
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else
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_intermcu.h\"
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$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_IMCU
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endif
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else
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# plain old single GPS usage
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_intermcu.h\"
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endif
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</raw>
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<test firmware="rotorcraft">
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<define name="PRIMARY_GPS" value="GPS_IMCU"/>
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</test>
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</makefile>
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<makefile target="fbw">
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<define name="USE_GPS"/>
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</makefile>
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</module>
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