mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
74f8b74624
* First shot towards a separate HITL target * Changes in HITL - still doesn't compile * Added makefile selection * HITL target works for fixedwing and rotorcraft - still needs cleanup and TLC * Removed info messages from compilation process
96 lines
3.6 KiB
XML
96 lines
3.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nps" dir="simulator">
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<doc>
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<description>
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New Paparazzi Simulator (NPS)
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Bindings between embedded autopilot code and a flight dynamic model (FDM).
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Possible FDM are: JSBSim or CRRCSIM, see corresponding modules.
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Can run Software In The Loop (SITL) or Hardware In The Loop (HITL) simulations.
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</description>
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<configure name="USE_HITL" value="0|1" description="run as SITL (0:default) or HITL (1) simulation"/>
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</doc>
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<header/>
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<makefile target="nps|hitl">
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<flag name="ARCHDIR" value="sim"/>
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<define name="SITL"/>
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<define name="USE_NPS"/>
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<raw>
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nps.LDFLAGS += -lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas
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# detect system arch and include rt and pthread library only on linux
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UNAME_S := $(shell uname -s)
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ifeq ($(UNAME_S),Linux)
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nps.LDFLAGS += -lrt -pthread
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endif
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# sdl needed for joystick input
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nps.LDFLAGS += $(shell sdl-config --libs)
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# glib is still needed for some components (such as radio input)
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nps.CFLAGS += $(shell pkg-config glib-2.0 --cflags)
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nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs)
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#
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# add the simulator directory to the make searchpath
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#
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VPATH += $(PAPARAZZI_SRC)/sw/simulator
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</raw>
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<include name="$(SRC_FIRMWARE)"/>
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<include name="$(SRC_BOARD)"/>
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<include name="$(PAPARAZZI_SRC)/sw/simulator"/>
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<include name="$(PAPARAZZI_SRC)/sw/simulator/nps"/>
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<include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
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<file name="nps_random.c" dir="nps"/>
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<file name="nps_sensors.c" dir="nps"/>
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<file name="nps_sensors_utils.c" dir="nps"/>
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<file name="nps_sensor_gyro.c" dir="nps"/>
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<file name="nps_sensor_accel.c" dir="nps"/>
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<file name="nps_sensor_mag.c" dir="nps"/>
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<file name="nps_sensor_baro.c" dir="nps"/>
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<file name="nps_sensor_sonar.c" dir="nps"/>
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<file name="nps_sensor_gps.c" dir="nps"/>
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<file name="nps_sensor_airspeed.c" dir="nps"/>
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<file name="nps_sensor_temperature.c" dir="nps"/>
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<file name="nps_sensor_aoa.c" dir="nps"/>
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<file name="nps_sensor_sideslip.c" dir="nps"/>
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<file name="nps_electrical.c" dir="nps"/>
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<file name="nps_atmosphere.c" dir="nps"/>
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<file name="nps_ivy.c" dir="nps"/>
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<file name="nps_flightgear.c" dir="nps"/>
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<file name="nps_radio_control.c" dir="nps"/>
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<file name="nps_radio_control_joystick.c" dir="nps"/>
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<file name="nps_radio_control_spektrum.c" dir="nps"/>
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<file name="nps_main_common.c" dir="nps"/>
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<file name="math/pprz_geodetic_wmm2015.c" dir="math"/>
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</makefile>
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<makefile target="nps">
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<flag name="MAKEFILE" value="nps"/>
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<file name="nps_main_sitl.c" dir="nps"/>
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</makefile>
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<makefile target="hitl">
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<flag name="MAKEFILE" value="hitl"/>
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<configure name="INS_DEV" default="/dev/ttyUSB1"/>
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<configure name="INS_BAUD" default="B921600"/>
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<configure name="AP_DEV" default="/dev/ttyUSB2"/>
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<configure name="AP_BAUD" default="B921600"/>
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<define name="INS_DEV" value="$(INS_DEV)" type="string"/>
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<define name="INS_BAUD" value="$(INS_BAUD)"/>
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<define name="AP_DEV" value="$(AP_DEV)" type="string"/>
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<define name="AP_BAUD" value="$(AP_BAUD)"/>
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<file name="nps_main_hitl.c" dir="nps"/>
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<file name="nps_ins_vectornav.c" dir="nps"/>
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</makefile>
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<makefile target="nps|hitl" firmware="fixedwing">
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<file name="nps_autopilot_fixedwing" dir="nps"/>
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</makefile>
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<makefile target="nps|hitl" firmware="rotorcraft">
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<file name="nps_autopilot_rotorcraft" dir="nps"/>
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</makefile>
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</module>
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