[paparazzi-commits] [5769] gps patch needed to compile overo_test_uart target.

[Paul Cox]

Revision: 5769
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5769
Author:   paulcox
Date:     2010-08-31 15:50:10 +0000 (Tue, 31 Aug 2010)
Log Message:
-----------
gps patch needed to compile overo_test_uart target.
Adding README.

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/beth/README
    paparazzi3/trunk/sw/airborne/beth/gps_c.patch

Added: paparazzi3/trunk/sw/airborne/beth/README
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/README                            (rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/README    2010-08-31 15:50:10 UTC (rev 
5769)
@@ -0,0 +1,41 @@
+Author : Paul Cox
+
+The Beth test bench is two things:
+
+    * 1. A three degree of freedom mechanical test bench
+    * 2. A paparazzi build target that provides the code and configuration for 
the Lisa/Overo and Olimex STM32 boards mounted on item 1 
+
+More information available on the wiki page :
+http://paparazzi.enac.fr/wiki/Beth_Test_Bench
+
+Source notes: 
+
+/*
+overo_test_uart
+*/
+
+overo_test_uart target opens a serial port and parses gps messages from ublox 
receiver
+
+* gps_c.patch is used to patch sw/airborne/gps.c so that the overo_test_uart 
target will compile
+
+* currently tested on USB/serial adapters but should work just fine on the 
overo serial ports (assuming proper voltage level translation is in place)
+
+TODO: GPS_CONFIGURE currently not supported 
+
+/*
+main_overo
+*/
+
+This is the initial target for overo on beth that implements control 
stabilization using the potentiometers values from the beth boards (via CAN), a 
crista IMU, wifi for datalink and telemetry.
+
+/*
+main_twisting
+*/
+
+Sliding mode control on the tilt axis, and keeping the rest of the main_overo 
target.
+
+/*
+main_sfb
+*/
+
+State feedback control. Will be expanded later to use diff. plat. for 
trajectory control.
\ No newline at end of file

Added: paparazzi3/trunk/sw/airborne/beth/gps_c.patch
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/gps_c.patch                               
(rev 0)
+++ paparazzi3/trunk/sw/airborne/beth/gps_c.patch       2010-08-31 15:50:10 UTC 
(rev 5769)
@@ -0,0 +1,28 @@
+--- sw/airborne/gps.c  2010-08-31 17:34:05.838376327 +0200
++++ sw/airborne/gps_new.c      2010-08-31 17:31:18.097499266 +0200
+@@ -31,7 +31,9 @@
+ 
+ #include "gps.h"
+ #include "latlong.h"
++#ifndef FMS_PERIODIC_FREQ
+ #include "sys_time.h"
++#endif
+ #include "airframe.h"
+ #include "periodic.h"
+ 
+@@ -46,8 +48,15 @@
+ #endif
+ 
+ #define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE
++
++#ifdef FMS_PERIODIC_FREQ
++#include "messages2.h"
++#include "beth/overo_gcs_com.h"
++#define DefaultChannel gcs_com.udp_transport
++#else
+ #include "messages.h"
+ #include "downlink.h"
++#endif
+ 
+ uint16_t last_gps_msg_t;      /** cputime of the last gps message */
+ bool_t gps_verbose_downlink;