mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Felix Ruess
d70badc2bf
include booz2_ins_hff.makefile to use the filter and define GPS_LAG in seconds: e.g. -DGPS_LAG=0.8 removed bias estimation in hff since that was plain wrong
158 lines
3.6 KiB
Makefile
158 lines
3.6 KiB
Makefile
#
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# $Id$
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#
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# Copyright (C) 2008 Antoine Drouin
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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ARCHI=arm7
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FLASH_MODE = IAP
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ap.ARCHDIR = $(ARCHI)
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ap.ARCH = arm7tdmi
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ap.TARGET = ap
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ap.TARGETDIR = ap
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ap.CFLAGS += $(BOOZ_INC)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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ap.srcs += $(SRC_BOOZ)/booz2_main.c
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ap.CFLAGS += -DPERIPHERALS_AUTO_INIT
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ap.CFLAGS += -DUSE_LED
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ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
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# -DTIME_LED=1
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ap.CFLAGS += -DUSE_UART1 -DUART1_VIC_SLOT=6 -DUART1_BAUD=MODEM_BAUD
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ap.srcs += $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
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ap.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
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downlink.c \
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pprz_transport.c
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ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
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ap.srcs += $(SRC_BOOZ)/booz2_datalink.c
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ap.srcs += $(SRC_BOOZ)/booz2_commands.c
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#
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# Radio control choice
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#
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# include booz2_radio_control_ppm.makefile
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# or
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# include booz2_radio_control_spektrum.makefile
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#
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#
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# Actuator choice
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#
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# include booz2_actuators_buss.makefile
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# or
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# include booz2_actuators_asctec.makefile
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#
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#
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# IMU choice
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#
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# include booz2_imu_b2v1.makefile
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# or
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# include booz2_imu_crista.makefile
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#
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ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
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ap.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
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ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
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ap.srcs += $(SRC_BOOZ)/booz2_battery.c
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ap.CFLAGS += -DADC0_VIC_SLOT=2
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ap.CFLAGS += -DADC1_VIC_SLOT=3
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ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
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$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
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#
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# GPS choice
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#
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# include booz2_gps.makefile
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# or
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# nothing
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#
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#
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# AHRS choice
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#
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# include booz2_ahrs_cmpl.makefile
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# or
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# include booz2_ahrs_lkf.makefile
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#
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ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
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ap.srcs += math/pprz_trig_int.c
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ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
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ap.CFLAGS += -DUSE_NAVIGATION
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ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
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ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
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ap.srcs += $(SRC_BOOZ)/booz2_ins.c
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ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c
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#
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# INS choice
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#
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# include booz2_ins_hff.makefile
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# or
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# nothing
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#
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# vertical filter float version
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ap.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
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ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)" -DFLOAT_T=float
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ap.srcs += $(SRC_BOOZ)/booz2_navigation.c
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#
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# FMS choice
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#
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# include booz2_fms_test_signal.makefile
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# or
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# include booz2_fms_datalink.makefile
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# or
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# nothing
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#
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