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1 parent fbe379e commit 5d6a84aae8ef8b6c75bc5ab18d79329a863052f7 Pascal Brisset committed Aug 20, 2005
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8 Makefile
@@ -41,9 +41,9 @@ all: static ac1 ac2
static : lib tools configurator cockpit tmtc multimon visu3d logalizer sim_static wind static_h
ac1 :
- make AIRCRAFT=Thon1 sim_ac
-ac2 :
- make AIRCRAFT=Thon2 sim_ac
+ make AIRCRAFT=Thon1 ac
+ac2 :
+ make AIRCRAFT=Thon2 ac
configure : configurator
PAPARAZZI_DIR=`pwd` $(CONFIGURATOR)/configurator
@@ -134,3 +134,5 @@ clean:
find . -name Makefile -mindepth 2 -exec sh -c '$(MAKE) -C `dirname {}` $@' \;
find . -name '*~' -exec rm -f {} \;
+dist_clean : clean
+ rm -fr var
View
7 Makefile.ac
@@ -28,9 +28,10 @@ ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
AIRFRAME_H=$(ACINCLUDE)/airframe.h
RADIO_H=$(ACINCLUDE)/radio.h
FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
+FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
INFLIGHT_CALIB_H=$(ACINCLUDE)/inflight_calib.h
-all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(INFLIGHT_CALIB_H)
+all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H)
echo $(AIRFRAME_H) $(CONF)/$(AIRFRAME)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
@@ -45,6 +46,10 @@ $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
$(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h
mv /tmp/fp.h $@
+$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
+ $(TOOLS)/gen_flight_plan.out -dump $< > /tmp/fp.xml
+ mv /tmp/fp.xml $@
+
$(INFLIGHT_CALIB_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
$(TOOLS)/gen_calib.out $< > /tmp/c.h
mv /tmp/c.h $@
View
24 conf/flight_plans/muret_mini.xml
@@ -0,0 +1,24 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan NAME="Muret mini" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
+ <rc_control>
+ <mode NAME="AUTO1">
+ <setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
+ <setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_1_down" TYPE="int16"/>
+ </mode>
+ <mode NAME="AUTO2">
+ <setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
+ <setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
+ </mode>
+ </rc_control>
+ <waypoints utm_x0="360284.8" utm_y0="4813595.5">
+ <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
+ </waypoints>
+
+ <blocks>
+ <block NAME="init">
+ <circle wp="HOME" alt="GROUND_ALT+50" radius="75"/>
+ </block>
+ </blocks>
+</flight_plan>
+
View
2 sw/airborne/autopilot/Makefile
@@ -94,4 +94,4 @@ wavecard_glib : wavecard_glib.c wavecard.c wavecard_glib_utils.c
clean : avr_clean
- rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h
+ rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h wavecard_glib
View
1 sw/airborne/autopilot/main.c
@@ -479,7 +479,6 @@ inline void periodic_task( void ) {
navigation_task();
break;
/* default: */
- case 1:
}
switch (_20Hz) {
case 0:
View
20 sw/configurator/Makefile
@@ -20,7 +20,7 @@
# Boston, MA 02111-1307, USA.
#
-OCAMLC=ocamlc -g -I +labltk -I +lablgtk2 -I +camlimages -I ../lib/ocaml -I +lablGL
+OCAMLC=ocamlc -I +labltk -I ../lib/ocaml
CMO = env_conf.cmo notebook.cmo tty.cmo varXml.cmo console.cmo tkXml.cmo flasher.cmo welcome.cmo hardware.cmo radio.cmo servos.cmo adc.cmo infrared.cmo attitude.cmo autopilot.cmo airframe.cmo flightplan.cmo upload.cmo simulator.cmo monitor.cmo logalizer.cmo main.ml
@@ -30,16 +30,18 @@ ABS_CMO = $(CMO:%=$$PAPARAZZI_SRC/sw/configurator/%)
all : configurator medit
configurator : $(CMO)
- $(OCAMLC) -custom -o /dev/null unix.cma str.cma xml-light.cma labltk.cma jpflib.cma lib-pprz.cma $^ # To check
- cat ../../pprz_src_test.sh > $@
- echo 'ocaml -I +labltk -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/configurator unix.cma str.cma xml-light.cma labltk.cma jpflib.cma lib-pprz.cma $(ABS_CMO) $$*' >> $@
- chmod a+x $@
+ $(OCAMLC) -custom -o $@ labltk.cma lib-pprz.cma jpflib.cma $^
+ @cat ../../pprz_src_test.sh > $@
+ @echo 'ocaml -I +labltk -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/configurator labltk.cma lib-pprz.cma jpflib.cma $(ABS_CMO) $$*' >> $@
+ @chmod a+x $@
+
+medit : OCAMLC=ocamlc -I +lablgtk2 -I +camlimages -I ../lib/ocaml -I +lablGL
medit : medit.ml
- $(OCAMLC) -o /dev/null str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lablgnomecanvas.cma lablgl.cma gtkInit.cmo lib-pprz.cma xlib-pprz.cma ci_core.cma ci_png.cma $^ # To check
- cat ../../pprz_src_test.sh > $@
- echo 'lablgtk2 -I +camlimages -I $$PAPARAZZI_SRC/sw/lib/ocaml str.cma unix.cma xml-light.cma glibivy-ocaml.cma ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/configurator/$< $$*' >> $@
- chmod a+x $@
+ $(OCAMLC) -o $@ glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lablgnomecanvas.cma lablgl.cma gtkInit.cmo lib-pprz.cma xlib-pprz.cma ci_core.cma ci_png.cma $^
+ @cat ../../pprz_src_test.sh > $@
+ @echo 'lablgtk2 -I +camlimages -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/configurator/$< $$*' >> $@
+ @chmod a+x $@
View
4 sw/ground_segment/cockpit/Makefile
@@ -11,7 +11,7 @@ all : map2d
map2d : map2d.ml
$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $< -o /dev/null #to Check
cat ../../../pprz_src_test.sh > $@
- echo 'lablgtk2 str.cma unix.cma xml-light.cma -I +camlimages glibivy-ocaml.cma ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
+ echo 'exec lablgtk2 -I +camlimages ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
chmod a+x $@
@@ -25,4 +25,4 @@ map2d : map2d.ml
$(OCAMLOPT) $(INCLUDES) -labels -w s -c $<
clean:
- rm -f *~* *.cm* *.o *.out *.opt
+ rm -f *~* *.cm* *.o *.out *.opt map2d
View
41 sw/ground_segment/tmtc/Makefile
@@ -22,7 +22,7 @@
include ../../../conf/Makefile.local
-all: hw_modem_listen wavecard_connect receive messages listen.opt
+all: hw_modem_listen receive messages
clean:
rm -f hw_modem_listen wavecard_connect receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*
@@ -31,37 +31,28 @@ OCAMLC = ocamlc
OCAMLOPT = ocamlopt
INCLUDES= -I ../../lib/ocaml -I +lablgtk2
-#messages: messages.ml
-# $(OCAMLC) $(INCLUDES) -o /dev/null unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma gtkInit.cmo str.cma lib-pprz.cma $^ # To check
-# cat ../../../pprz_src_test.sh > $@
-# echo 'lablgtk2 str.cma ivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/$< $$*' >> $@
-# chmod a+x $@
-
-messages : messages.ml
+messages.opt : messages.ml
$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa gtkInit.cmx lib-pprz.cmxa $^
strip $@
-hw_modem_listen : modem.cmo hw_modem_listen.ml ../../lib/ocaml/lib-pprz.cma
- $(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
- cat ../../../pprz_src_test.sh > $@
- echo 'lablgtk2 str.cma glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/modem.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/hw_modem_listen.ml $$*' >> $@
+messages : messages.ml
+ $(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^ #To check
+ @cat ../../../pprz_src_test.sh > $@
+ @echo 'exec lablgtk2 glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/messages.ml $$*' >> $@
chmod a+x $@
-wavecard_connect : modem.cmo wavecard_connect.ml
- $(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
- cat ../../../pprz_src_test.sh > $@
- echo 'lablgtk2 str.cma glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/wavecard_connect.ml $$*' >> $@
- chmod a+x $@
-receive : receive.ml ../../lib/ocaml/lib-pprz.cma
- $(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
- cat ../../../pprz_src_test.sh > $@
- echo 'lablgtk2 str.cma glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/receive.ml $$*' >> $@
- chmod a+x $@
+hw_modem_listen : modem.cmo hw_modem_listen.ml ../../lib/ocaml/lib-pprz.cma
+ $(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
+ @cat ../../../pprz_src_test.sh > $@
+ @echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/modem.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/hw_modem_listen.ml $$*' >> $@
+ @chmod a+x $@
-listen.opt : listen.ml
- $(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa lib-pprz.cmxa $^
- strip $@
+receive : receive.ml ../../lib/ocaml/lib-pprz.cma
+ $(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
+ @cat ../../../pprz_src_test.sh > $@
+ @echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/receive.ml $$*' >> $@
+ @chmod a+x $@
modem.cmo : modem.cmi
View
20 sw/ground_segment/tmtc/hw_modem_listen.ml
@@ -26,25 +26,28 @@
open Printf
+(** Ivy messages are initially tagged "modem" and with the A/C
+id as soon as it is identified (IDENT message) *)
let ac_id = ref "modem"
-let modem_msg_period = 1000
+let modem_msg_period = 1000 (** ms *)
module ModemTransport = Serial.Transport(Modem.Protocol)
module Tele_Class = struct let name = "telemetry_ap" end
module Tele_Pprz = Pprz.Protocol(Tele_Class)
module PprzTransport = Serial.Transport(Tele_Pprz)
+(** Monitoring of the message reception *)
type status = {
mutable rx_byte : int;
mutable rx_msg : int;
mutable rx_err : int
}
-
let status = { rx_byte = 0; rx_msg = 0; rx_err = 0 }
-let use_pprz_message = fun () (msg_id, values) ->
- status.rx_msg <- status.rx_msg + 1;
+(** Callback for each decoded message *)
+let use_pprz_message = fun (msg_id, values) ->
+ status.rx_msg <- status.rx_msg + 1; (** Monitoring update *)
let msg = Tele_Pprz.message_of_id msg_id in
if msg.Pprz.name = "IDENT" then
ac_id := Pprz.string_assoc "id" values;
@@ -84,8 +87,11 @@ let listen_pprz_modem = fun pprz_message_cb tty ->
ignore (Glib.Io.add_watch [`IN] cb (Glib.Io.channel_of_descr fd))
+(** Modem monitoring messages *)
let send_modem_msg =
- let rx_msg = ref 0 and rx_byte = ref 0 and start = Unix.gettimeofday () in
+ let rx_msg = ref 0
+ and rx_byte = ref 0
+ and start = Unix.gettimeofday () in
fun () ->
let dt = float modem_msg_period /. 1000. in
let t = int_of_float (Unix.gettimeofday () -. start) in
@@ -125,8 +131,10 @@ let _ =
Ivy.init "Paparazzi hw_modem_listen" "READY" (fun _ _ -> ());
Ivy.start !ivy_bus;
- listen_pprz_modem (use_pprz_message ()) !port;
+ (** Listening on the given port (serial device or multimon fifo)*)
+ listen_pprz_modem use_pprz_message !port;
+ (** Sending periodically modem and downlink status messages *)
ignore (Glib.Timeout.add modem_msg_period (fun () -> send_modem_msg (); true));
let loop = Glib.Main.create true in
View
10 sw/lib/ocaml/Makefile
@@ -20,7 +20,8 @@
# Boston, MA 02111-1307, USA.
#
-INCLUDES= -I +lablgl -I +camlimages -I +lablgtk2
+INCLUDES=
+XINCLUDES= -I +lablgl -I +camlimages -I +lablgtk2
OCAMLC=ocamlc $(INCLUDES)
OCAMLOPT=ocamlopt $(INCLUDES)
@@ -33,13 +34,14 @@ XSRC = platform.ml gtkgl_Hack.ml ml_gtkgl_hack.o gtk_image.ml gtk_tools_icons.ml
XCMO = $(XSRC:.ml=.cmo)
XCMX = $(XSRC:.ml=.cmx)
+$(XCMO) : INCLUDES=$(XINCLUDES)
-all : lib-pprz.cma xlib-pprz.cma xml_get.out lib-pprz.cmxa
-# lib-pprz.cmxa xlib-pprz.cmxa
+all : lib-pprz.cma xlib-pprz.cma xml_get.out
+# lib-pprz.cmxa xlib-pprz.cmxa
lib-pprz.cma : $(CMO)
- ocamlmklib -o lib-pprz str.cma unix.cma xml-light.cma ivy-ocaml.cma $^
+ ocamlmklib -o lib-pprz str.cma unix.cma xml-light.cma $^
lib-pprz.cmxa : $(CMX)
ocamlmklib -o lib-pprz $^
View
31 sw/simulator/Makefile
@@ -38,7 +38,7 @@ SIMSA=sims.cma
OCAMLC = ocamlc
OCAMLOPT=ocamlopt -p
-INCLUDES= -I +lablgtk2 -I $(SIMDIR)/../lib/ocaml
+INCLUDES= -I +lablgtk2 -I ../lib/ocaml
OCAMLCC = gcc -O2 -I /usr/include/glib-2.0 -I /usr/lib/glib-2.0/include -DUBX -DCTL_BRD_V1_2 -I $(OBJDIR) -I $(ACDIR)
FBW = ../airborne/fly_by_wire
@@ -68,23 +68,20 @@ sitl.cmxa : $(SIMSCMX)
ocamlopt -o $@ -a $^
$(OBJDIR)/$(SIMSA) : $(SIMSO)
- touch $(OBJDIR)/dummy.ml
- cd $(OBJDIR); ocamlmklib -o sims $^ dummy.ml
+ @touch $(OBJDIR)/dummy.ml
+ @cd $(OBJDIR); ocamlmklib -o sims $^ dummy.ml
$(OBJDIR)/simsitl : $(OBJDIR)/$(SIMSA) $(OBJDIR)/simsitl.ml
- $(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma xml-light.cma unix.cma lib-pprz.cma lablgtk.cma gtkInit.cmo -I $(OBJDIR) $(SIMSA) sitl.cma $(OBJDIR)/simsitl.ml # To check
- cat ../../pprz_src_test.sh > $@
- echo 'lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $(OBJDIR) glibivy-ocaml.cma xml-light.cma lib-pprz.cma $(SIMSA) $$PAPARAZZI_SRC/sw/simulator/sitl.cma -I $$PAPARAZZI_SRC/sw/simulator $(OBJDIR)/simsitl.ml $$*' >> $@
- chmod a+x $@
+ $(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo -I $(OBJDIR) $(SIMSA) sitl.cma $(OBJDIR)/simsitl.ml
+ @cat ../../pprz_src_test.sh > $@
+ @echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $(OBJDIR) glibivy-ocaml.cma xml-light.cma lib-pprz.cma $(SIMSA) $$PAPARAZZI_SRC/sw/simulator/sitl.cma -I $$PAPARAZZI_SRC/sw/simulator $(OBJDIR)/simsitl.ml $$*' >> $@
+ @chmod a+x $@
gaia : gaia.ml
- $(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma xml-light.cma unix.cma lib-pprz.cma lablgtk.cma gtkInit.cmo gaia.ml # To check
- cat ../../pprz_src_test.sh > $@
- echo 'lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma xml-light.cma unix.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $$PAPARAZZI_SRC/sw/simulator/gaia.ml $$*' >> $@
- chmod a+x $@
-
-$(OBJDIR)/simsitl.opt : $(SIMSO) $(OBJDIR)/simsitl.cmx
- $(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa glibivy-ocaml.cmxa xml-light.cmxa unix.cmxa lib.cmxa lablgtk.cmxa gtkInit.cmx $(SIMSO) sitl.cmxa $(OBJDIR)/simsitl.cmx
+ $(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo gaia.ml
+ @cat ../../pprz_src_test.sh > $@
+ @echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $$PAPARAZZI_SRC/sw/simulator/gaia.ml $$*' >> $@
+ @chmod a+x $@
$(OBJDIR)/%.o : %.c
$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
@@ -110,8 +107,8 @@ $(OBJDIR)/simsitl.cmx : $(OBJDIR)/simsitl.ml
$(OCAMLOPT) $(INCLUDES) -c -o $@ $<
$(OBJDIR)/simsitl.ml : simsitl.ml
- echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
- cat $< >> $@
+ @echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
+ @cat $< >> $@
%.cmo : %.ml
$(OCAMLC) $(INCLUDES) -c $<
@@ -123,7 +120,7 @@ $(OBJDIR)/simsitl.ml : simsitl.ml
$(OCAMLC) $(INCLUDES) -c $<
clean :
- \rm -f *.cm* *~ *.out .depend *.o *.a *.so
+ \rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia
flightModel.cmo: flightModel.cmi
hitl.cmo: hitl.cmi
View
18 sw/tools/Makefile
@@ -1,5 +1,5 @@
OCAML=ocaml
-OCAMLC=ocamlc -g -I ../lib/ocaml
+OCAMLC=ocamlc -I ../lib/ocaml
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc
@@ -9,10 +9,10 @@ FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.ml
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
gen_flight_plan.out : $(FP_CMO)
- $(OCAMLC) -o /dev/null lib-pprz.cma $^ # To check
- cat ../../pprz_src_test.sh > $@
- echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/tools lib-pprz.cma $(ABS_FP) $$*' >> $@
- chmod a+x $@
+ $(OCAMLC) -o $@ ivy-ocaml.cma lib-pprz.cma $^
+ @cat ../../pprz_src_test.sh > $@
+ @echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/tools ivy-ocaml.cma lib-pprz.cma $(ABS_FP) $$*' >> $@
+ @chmod a+x $@
fp_parser.cmo : fp_parser.cmi fp_syntax.cmi
fp_parser.cmi : fp_parser.ml fp_syntax.cmi
@@ -23,10 +23,10 @@ fp_syntax.cmo : fp_syntax.cmi
%.out : %.ml
- $(OCAMLC) -o /dev/null lib-pprz.cma $< # To check
- cat ../../pprz_src_test.sh > $@
- echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/tools/$< $$*' >> $@
- chmod a+x $@
+ $(OCAMLC) -o $@ ivy-ocaml.cma lib-pprz.cma $<
+ @cat ../../pprz_src_test.sh > $@
+ @echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml ivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/tools/$< $$*' >> $@
+ @chmod a+x $@
%.cmo : %.ml
$(OCAMLC) -c $<

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