[paparazzi-commits] [5319] subsystem makefiles for fixedwing

[Felix Ruess]

Revision: 5319
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5319
Author:   flixr
Date:     2010-08-11 20:36:55 +0000 (Wed, 11 Aug 2010)
Log Message:
-----------
subsystem makefiles for fixedwing

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
    paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
    paparazzi3/trunk/conf/airframes/mentor_tum.xml
    paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-08-11 19:24:52 UTC (rev 5318)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-08-11 20:36:55 UTC (rev 5319)
@@ -44,17 +44,6 @@
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_3"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
-
-  </section>
-
   <section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -179,6 +168,7 @@
 # Fixed Wing Specifics
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
 # Temporary problem solving
 ap.CFLAGS      += -DSTM32
@@ -191,10 +181,14 @@
 MODEM_BAUD     = 57600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
+# rest
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
+ap.srcs   += traffic_info.c
+
 # Config for SITL simulation
 
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS     += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM 
-DALT_KALMAN -DTRAFFIC_INFO
-sim.srcs       += nav_survey_rectangle.c traffic_info.c nav_line.c
+sim.srcs       += traffic_info.c
   </makefile>
 </airframe>

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-11 19:24:52 UTC (rev 5318)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-11 20:36:55 UTC (rev 5319)
@@ -44,17 +44,6 @@
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_3"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
-
-  </section>
-
   <section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -180,17 +169,24 @@
 # Fixed Wing Specifics
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
 # IO Options
 include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
 
-GPS_UART_NR    = 0
-GPS_BAUD       = 38400
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment 
if needed
+#GPS_UART_NR   = 0
+#GPS_BAUD      = 38400
 include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
 
-MODEM_UART_NR  = 1
-MODEM_BAUD     = 9600
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if 
needed
+#MODEM_UART_NR = 1
+MODEM_BAUD = 9600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
 
@@ -198,14 +194,7 @@
 ap.CFLAGS      += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 
-######################################
-# Todo
 
-ap.CFLAGS      += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-ap.CFLAGS      += -DGYRO -DADXRS150
-ap.srcs        += $(SRC_FIXEDWING)/gyro.c
-
-
 ######################################
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

Modified: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-08-11 19:24:52 UTC 
(rev 5318)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-08-11 20:36:55 UTC 
(rev 5319)
@@ -217,13 +217,14 @@
 
 # IO Options
 include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
 
-# default GPS parameters
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment 
if needed
 #GPS_UART_NR   = 0
 #GPS_BAUD      = 38400
 include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
 
-# default modem parameters
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if 
needed
 #MODEM_UART_NR = 1
 #MODEM_BAUD = 57600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile

Modified: paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile   2010-08-11 
19:24:52 UTC (rev 5318)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile   2010-08-11 
20:36:55 UTC (rev 5319)
@@ -2,7 +2,7 @@
 
 
 SRC_FIXEDWING=.
-SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCHI)
 SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 
 CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile 
    2010-08-11 19:24:52 UTC (rev 5318)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile 
    2010-08-11 20:36:55 UTC (rev 5319)
@@ -1,5 +1,15 @@
-# attitude via IR sensors and standard assignment for tiny and twog
+# attitude via IR sensors
 
+#
+# default values for tiny and twog are:
+# ADC_IR1    = ADC_1
+# ADC_IR2    = ADC_2
+# ADC_IR_TOP = ADC_0
+# ADC_IR_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
+
 ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
 ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
 ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)

Modified: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile  
2010-08-11 19:24:52 UTC (rev 5318)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile  
2010-08-11 20:36:55 UTC (rev 5319)
@@ -1,5 +1,13 @@
-# Standard setup for roll stabilization with gyro on a tiny or twog
+# roll stabilization with gyro
 
+#
+# default values for tiny and twog are:
+# ADC_GYRO_ROLL    = ADC_3
+# ADC_GYRO_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
+
 ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
 ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)