################################## FLIGHT MODE CONFIGURATION ####################################### CONFIG = \"tiny_2_1_1.h\" include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c commands.c ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c ####################### MODEM BAUD RATE AND UART SETTINGS ############################ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600 #XBEE_MODEM #ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c ####################### GPS BAUD RATE AND UART SETTINGS ############################## ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_LED=2 # LEA 5H Gps module, LEA 4P does not must not have the below definition. ap.CFLAGS += -DGPS_USE_LATLONG ap.srcs += gps_ubx.c gps.c latlong.c ################################# INFRARED ########################################### ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DINFRARED -DALT_KALMAN ap.srcs += infrared.c estimator.c ###################### VARIOUS SUBSYSTEMS AND PERIPHERALS ############################ # Strong Wind compensation, use on windy areas and days. #ap.CFLAGS += -DSTRONG_WIND ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_line.c nav_survey_rectangle.c ########## OSAM functions (poly survey etc. ) #ap.srcs += OSAMNav.c #ap.CFLAGS += -DGYRO -DADXRS150 #ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c ########## EagleTree sensors (altimeter and airspeed) #ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 #ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c ########## Configuration for Hardware In The Loop # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 ######################## Config for SITL simulation ##################################### include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DUSE_MODULES sim.CFLAGS += -DSTRONG_WIND sim.srcs += nav_line.c nav_survey_rectangle.c traffic_info.c #OSAM functions (poly survey etc. ) #sim.srcs += OSAMNav.c sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c