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commit 5d6a84aae8ef8b6c75bc5ab18d79329a863052f7 1 parent fbe379e
authored August 20, 2005
8  Makefile
@@ -41,9 +41,9 @@ all: static ac1 ac2
41 41
 static : lib tools configurator cockpit tmtc multimon visu3d logalizer sim_static wind static_h
42 42
 
43 43
 ac1 : 
44  
-	make AIRCRAFT=Thon1 sim_ac
45  
-ac2 : 
46  
-	make AIRCRAFT=Thon2 sim_ac
  44
+	make AIRCRAFT=Thon1 ac
  45
+ac2 :
  46
+	make AIRCRAFT=Thon2 ac
47 47
 
48 48
 configure : configurator
49 49
 	PAPARAZZI_DIR=`pwd` $(CONFIGURATOR)/configurator
@@ -134,3 +134,5 @@ clean:
134 134
 	find . -name Makefile -mindepth 2 -exec sh -c '$(MAKE) -C `dirname {}` $@' \; 
135 135
 	find . -name '*~' -exec rm -f {} \;
136 136
 
  137
+dist_clean : clean
  138
+	rm -fr var
7  Makefile.ac
@@ -28,9 +28,10 @@ ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
28 28
 AIRFRAME_H=$(ACINCLUDE)/airframe.h
29 29
 RADIO_H=$(ACINCLUDE)/radio.h
30 30
 FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
  31
+FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
31 32
 INFLIGHT_CALIB_H=$(ACINCLUDE)/inflight_calib.h
32 33
 
33  
-all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(INFLIGHT_CALIB_H)
  34
+all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H)
34 35
 	echo $(AIRFRAME_H) $(CONF)/$(AIRFRAME)
35 36
 
36 37
 $(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
@@ -45,6 +46,10 @@ $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
45 46
 	$(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h
46 47
 	mv /tmp/fp.h $@
47 48
 
  49
+$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
  50
+	$(TOOLS)/gen_flight_plan.out -dump $< > /tmp/fp.xml
  51
+	mv /tmp/fp.xml $@
  52
+
48 53
 $(INFLIGHT_CALIB_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
49 54
 	$(TOOLS)/gen_calib.out $< > /tmp/c.h
50 55
 	mv /tmp/c.h $@
24  conf/flight_plans/muret_mini.xml
... ...
@@ -0,0 +1,24 @@
  1
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
  2
+
  3
+<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">
  4
+  <rc_control>
  5
+    <mode NAME="AUTO1">
  6
+      <setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
  7
+      <setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_1_down" TYPE="int16"/>
  8
+    </mode>
  9
+    <mode NAME="AUTO2">
  10
+      <setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
  11
+      <setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
  12
+    </mode>
  13
+  </rc_control>
  14
+  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
  15
+    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
  16
+     </waypoints>
  17
+
  18
+  <blocks>
  19
+    <block NAME="init">
  20
+      <circle wp="HOME" alt="GROUND_ALT+50" radius="75"/>
  21
+    </block>
  22
+  </blocks>
  23
+</flight_plan>
  24
+
2  sw/airborne/autopilot/Makefile
@@ -94,4 +94,4 @@ wavecard_glib : wavecard_glib.c wavecard.c wavecard_glib_utils.c
94 94
 
95 95
 
96 96
 clean : avr_clean
97  
-	rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h
  97
+	rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h wavecard_glib
1  sw/airborne/autopilot/main.c
@@ -479,7 +479,6 @@ inline void periodic_task( void ) {
479 479
     navigation_task();
480 480
     break;
481 481
     /*  default: */
482  
-  case 1:
483 482
   }
484 483
   switch (_20Hz) {
485 484
   case 0:
20  sw/configurator/Makefile
@@ -20,7 +20,7 @@
20 20
 # Boston, MA 02111-1307, USA.  
21 21
 #
22 22
 
23  
-OCAMLC=ocamlc -g -I +labltk -I +lablgtk2 -I +camlimages -I ../lib/ocaml -I +lablGL
  23
+OCAMLC=ocamlc -I +labltk -I ../lib/ocaml
24 24
 
25 25
 
26 26
 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/%)
30 30
 all : configurator medit
31 31
 
32 32
 configurator : $(CMO)
33  
-	$(OCAMLC) -custom -o /dev/null unix.cma str.cma xml-light.cma labltk.cma jpflib.cma lib-pprz.cma $^ # To check
34  
-	cat ../../pprz_src_test.sh > $@
35  
-	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) $$*' >> $@
36  
-	chmod a+x $@
  33
+	$(OCAMLC) -custom -o $@ labltk.cma lib-pprz.cma jpflib.cma $^
  34
+	@cat ../../pprz_src_test.sh > $@
  35
+	@echo 'ocaml -I +labltk -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/configurator labltk.cma lib-pprz.cma jpflib.cma $(ABS_CMO) $$*' >> $@
  36
+	@chmod a+x $@
  37
+
  38
+medit : OCAMLC=ocamlc -I +lablgtk2 -I +camlimages -I ../lib/ocaml -I +lablGL
37 39
 
38 40
 medit : medit.ml
39  
-	$(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
40  
-	cat ../../pprz_src_test.sh > $@
41  
-	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/$< $$*' >> $@
42  
-	chmod a+x $@
  41
+	$(OCAMLC) -o $@ glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lablgnomecanvas.cma lablgl.cma gtkInit.cmo lib-pprz.cma xlib-pprz.cma ci_core.cma ci_png.cma  $^
  42
+	@cat ../../pprz_src_test.sh > $@
  43
+	@echo 'lablgtk2 -I +camlimages -I $$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 $$PAPARAZZI_SRC/sw/configurator/$< $$*' >> $@
  44
+	@chmod a+x $@
43 45
 
44 46
 
45 47
 
4  sw/ground_segment/cockpit/Makefile
@@ -11,7 +11,7 @@ all : map2d
11 11
 map2d : map2d.ml
12 12
 	$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $< -o /dev/null #to Check
13 13
 	cat ../../../pprz_src_test.sh > $@
14  
-	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/$< $$*' >> $@
  14
+	echo 'exec lablgtk2 -I +camlimages ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
15 15
 	chmod a+x $@
16 16
 
17 17
 
@@ -25,4 +25,4 @@ map2d : map2d.ml
25 25
 	$(OCAMLOPT) $(INCLUDES) -labels -w s -c $<
26 26
 
27 27
 clean:
28  
-	rm -f *~* *.cm* *.o *.out *.opt
  28
+	rm -f *~* *.cm* *.o *.out *.opt map2d
41  sw/ground_segment/tmtc/Makefile
@@ -22,7 +22,7 @@
22 22
 
23 23
 include ../../../conf/Makefile.local
24 24
 
25  
-all: hw_modem_listen wavecard_connect receive messages listen.opt
  25
+all: hw_modem_listen receive messages
26 26
 
27 27
 clean:
28 28
 	rm -f hw_modem_listen wavecard_connect receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*
@@ -31,37 +31,28 @@ OCAMLC = ocamlc
31 31
 OCAMLOPT = ocamlopt
32 32
 INCLUDES= -I ../../lib/ocaml -I +lablgtk2
33 33
 
34  
-#messages: messages.ml
35  
-#	$(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
36  
-#	cat ../../../pprz_src_test.sh > $@
37  
-#	echo 'lablgtk2 str.cma ivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/$< $$*' >> $@
38  
-#	chmod a+x $@
39  
-
40  
-messages : messages.ml
  34
+messages.opt : messages.ml
41 35
 	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa gtkInit.cmx lib-pprz.cmxa $^ 
42 36
 	strip $@
43 37
 
44  
-hw_modem_listen : modem.cmo hw_modem_listen.ml ../../lib/ocaml/lib-pprz.cma
45  
-	$(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
46  
-	cat ../../../pprz_src_test.sh > $@
47  
-	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 $$*' >> $@
  38
+messages : messages.ml
  39
+	$(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^ #To check
  40
+	@cat ../../../pprz_src_test.sh > $@
  41
+	@echo 'exec lablgtk2 glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/messages.ml $$*' >> $@
48 42
 	chmod a+x $@
49 43
 
50  
-wavecard_connect : modem.cmo wavecard_connect.ml
51  
-	$(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
52  
-	cat ../../../pprz_src_test.sh > $@
53  
-	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 $$*' >> $@
54  
-	chmod a+x $@
55 44
 
56  
-receive : receive.ml ../../lib/ocaml/lib-pprz.cma
57  
-	$(OCAMLC) $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib-pprz.cma $^ #To check
58  
-	cat ../../../pprz_src_test.sh > $@
59  
-	echo 'lablgtk2 str.cma glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/receive.ml $$*' >> $@
60  
-	chmod a+x $@
  45
+hw_modem_listen : modem.cmo hw_modem_listen.ml ../../lib/ocaml/lib-pprz.cma
  46
+	$(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
  47
+	@cat ../../../pprz_src_test.sh > $@
  48
+	@echo 'exec lablgtk2 -I $$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 $$PAPARAZZI_SRC/sw/ground_segment/tmtc/hw_modem_listen.ml $$*' >> $@
  49
+	@chmod a+x $@
61 50
 
62  
-listen.opt : listen.ml
63  
-	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa lib-pprz.cmxa $^
64  
-	strip $@
  51
+receive : receive.ml ../../lib/ocaml/lib-pprz.cma
  52
+	$(OCAMLC) $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
  53
+	@cat ../../../pprz_src_test.sh > $@
  54
+	@echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/receive.ml $$*' >> $@
  55
+	@chmod a+x $@
65 56
 
66 57
 
67 58
 modem.cmo : modem.cmi
20  sw/ground_segment/tmtc/hw_modem_listen.ml
@@ -26,25 +26,28 @@
26 26
 
27 27
 open Printf
28 28
 
  29
+(** Ivy messages are initially tagged "modem" and with the A/C
  30
+id as soon as it is identified (IDENT message) *)
29 31
 let ac_id = ref "modem"
30 32
 
31  
-let modem_msg_period = 1000
  33
+let modem_msg_period = 1000 (** ms *)
32 34
 
33 35
 module ModemTransport = Serial.Transport(Modem.Protocol)
34 36
 module Tele_Class = struct let name = "telemetry_ap" end
35 37
 module Tele_Pprz = Pprz.Protocol(Tele_Class)
36 38
 module PprzTransport = Serial.Transport(Tele_Pprz)
37 39
 
  40
+(** Monitoring of the message reception *)
38 41
 type status = {
39 42
     mutable rx_byte : int;
40 43
     mutable rx_msg : int;
41 44
     mutable rx_err : int
42 45
   }
43  
-
44 46
 let status = { rx_byte = 0; rx_msg = 0; rx_err = 0 }
45 47
 
46  
-let use_pprz_message = fun () (msg_id, values) ->
47  
-  status.rx_msg <- status.rx_msg + 1;
  48
+(** Callback for each decoded message *)
  49
+let use_pprz_message = fun (msg_id, values) ->
  50
+  status.rx_msg <- status.rx_msg + 1; (** Monitoring update *)
48 51
   let msg = Tele_Pprz.message_of_id msg_id in
49 52
   if msg.Pprz.name = "IDENT" then
50 53
     ac_id := Pprz.string_assoc "id" values;
@@ -84,8 +87,11 @@ let listen_pprz_modem = fun pprz_message_cb tty ->
84 87
   
85 88
   ignore (Glib.Io.add_watch [`IN] cb (Glib.Io.channel_of_descr fd))
86 89
 
  90
+(** Modem monitoring messages *)
87 91
 let send_modem_msg =
88  
-  let rx_msg = ref 0 and rx_byte = ref 0 and start = Unix.gettimeofday () in
  92
+  let rx_msg = ref 0 
  93
+  and rx_byte = ref 0 
  94
+  and start = Unix.gettimeofday () in
89 95
   fun () ->
90 96
     let dt = float modem_msg_period /. 1000. in
91 97
     let t = int_of_float (Unix.gettimeofday () -. start) in
@@ -125,8 +131,10 @@ let _ =
125 131
   Ivy.init "Paparazzi hw_modem_listen" "READY" (fun _ _ -> ());
126 132
   Ivy.start !ivy_bus;
127 133
 
128  
-  listen_pprz_modem (use_pprz_message ()) !port;
  134
+  (** Listening on the given port (serial device or multimon fifo)*)
  135
+  listen_pprz_modem use_pprz_message !port;
129 136
 
  137
+  (** Sending periodically modem and downlink status messages *)
130 138
   ignore (Glib.Timeout.add modem_msg_period (fun () -> send_modem_msg (); true));
131 139
   
132 140
   let loop = Glib.Main.create true in
10  sw/lib/ocaml/Makefile
@@ -20,7 +20,8 @@
20 20
 # Boston, MA 02111-1307, USA.  
21 21
 #
22 22
 
23  
-INCLUDES= -I +lablgl -I +camlimages -I +lablgtk2
  23
+INCLUDES=
  24
+XINCLUDES= -I +lablgl -I +camlimages -I +lablgtk2
24 25
 OCAMLC=ocamlc $(INCLUDES)
25 26
 OCAMLOPT=ocamlopt $(INCLUDES)
26 27
 
@@ -33,13 +34,14 @@ XSRC = platform.ml gtkgl_Hack.ml ml_gtkgl_hack.o gtk_image.ml gtk_tools_icons.ml
33 34
 XCMO = $(XSRC:.ml=.cmo)
34 35
 XCMX = $(XSRC:.ml=.cmx)
35 36
 
  37
+$(XCMO) : INCLUDES=$(XINCLUDES)
36 38
 
37  
-all : lib-pprz.cma xlib-pprz.cma xml_get.out lib-pprz.cmxa
38  
-# lib-pprz.cmxa xlib-pprz.cmxa
  39
+all : lib-pprz.cma xlib-pprz.cma xml_get.out
  40
+#  lib-pprz.cmxa xlib-pprz.cmxa
39 41
 
40 42
 
41 43
 lib-pprz.cma : $(CMO)
42  
-	ocamlmklib -o lib-pprz str.cma unix.cma xml-light.cma ivy-ocaml.cma $^
  44
+	ocamlmklib -o lib-pprz str.cma unix.cma xml-light.cma $^
43 45
 
44 46
 lib-pprz.cmxa : $(CMX)
45 47
 	ocamlmklib -o lib-pprz $^
31  sw/simulator/Makefile
@@ -38,7 +38,7 @@ SIMSA=sims.cma
38 38
 
39 39
 OCAMLC = ocamlc
40 40
 OCAMLOPT=ocamlopt -p
41  
-INCLUDES= -I +lablgtk2 -I $(SIMDIR)/../lib/ocaml
  41
+INCLUDES= -I +lablgtk2 -I ../lib/ocaml
42 42
 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) 
43 43
 
44 44
 FBW = ../airborne/fly_by_wire
@@ -68,23 +68,20 @@ sitl.cmxa : $(SIMSCMX)
68 68
 	ocamlopt -o $@ -a $^ 
69 69
 
70 70
 $(OBJDIR)/$(SIMSA) : $(SIMSO)
71  
-	touch $(OBJDIR)/dummy.ml
72  
-	cd $(OBJDIR); ocamlmklib -o sims $^ dummy.ml
  71
+	@touch $(OBJDIR)/dummy.ml
  72
+	@cd $(OBJDIR); ocamlmklib -o sims $^ dummy.ml
73 73
 
74 74
 $(OBJDIR)/simsitl : $(OBJDIR)/$(SIMSA) $(OBJDIR)/simsitl.ml
75  
-	$(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
76  
-	cat ../../pprz_src_test.sh > $@
77  
-	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 $$PAPARAZZI_SRC/sw/simulator $(OBJDIR)/simsitl.ml $$*' >> $@
78  
-	chmod a+x $@
  75
+	$(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo -I $(OBJDIR) $(SIMSA) sitl.cma $(OBJDIR)/simsitl.ml
  76
+	@cat ../../pprz_src_test.sh > $@
  77
+	@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 $$PAPARAZZI_SRC/sw/simulator $(OBJDIR)/simsitl.ml $$*' >> $@
  78
+	@chmod a+x $@
79 79
 
80 80
 gaia : gaia.ml
81  
-	$(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma xml-light.cma unix.cma lib-pprz.cma lablgtk.cma gtkInit.cmo gaia.ml # To check
82  
-	cat ../../pprz_src_test.sh > $@
83  
-	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 $$*' >> $@
84  
-	chmod a+x $@
85  
-
86  
-$(OBJDIR)/simsitl.opt : $(SIMSO) $(OBJDIR)/simsitl.cmx
87  
-	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa glibivy-ocaml.cmxa xml-light.cmxa unix.cmxa lib.cmxa lablgtk.cmxa gtkInit.cmx $(SIMSO) sitl.cmxa  $(OBJDIR)/simsitl.cmx
  81
+	$(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo gaia.ml
  82
+	@cat ../../pprz_src_test.sh > $@
  83
+	@echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $$PAPARAZZI_SRC/sw/simulator/gaia.ml $$*' >> $@
  84
+	@chmod a+x $@
88 85
 
89 86
 $(OBJDIR)/%.o : %.c
90 87
 	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
@@ -110,8 +107,8 @@ $(OBJDIR)/simsitl.cmx : $(OBJDIR)/simsitl.ml
110 107
 	$(OCAMLOPT) $(INCLUDES) -c -o $@ $<
111 108
 
112 109
 $(OBJDIR)/simsitl.ml : simsitl.ml
113  
-	echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
114  
-	cat $< >> $@
  110
+	@echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
  111
+	@cat $< >> $@
115 112
 
116 113
 %.cmo : %.ml
117 114
 	$(OCAMLC) $(INCLUDES) -c $<
@@ -123,7 +120,7 @@ $(OBJDIR)/simsitl.ml : simsitl.ml
123 120
 	$(OCAMLC) $(INCLUDES) -c $<
124 121
 
125 122
 clean :
126  
-	\rm -f *.cm* *~ *.out .depend *.o *.a *.so
  123
+	\rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia
127 124
 
128 125
 flightModel.cmo: flightModel.cmi 
129 126
 hitl.cmo: hitl.cmi 
18  sw/tools/Makefile
... ...
@@ -1,5 +1,5 @@
1 1
 OCAML=ocaml
2  
-OCAMLC=ocamlc -g -I ../lib/ocaml
  2
+OCAMLC=ocamlc -I ../lib/ocaml
3 3
 OCAMLLEX=ocamllex
4 4
 OCAMLYACC=ocamlyacc
5 5
 
@@ -9,10 +9,10 @@ FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.ml
9 9
 ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
10 10
 
11 11
 gen_flight_plan.out : $(FP_CMO)
12  
-	$(OCAMLC) -o /dev/null lib-pprz.cma $^ # To check
13  
-	cat ../../pprz_src_test.sh > $@
14  
-	echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/tools lib-pprz.cma $(ABS_FP) $$*' >> $@
15  
-	chmod a+x $@
  12
+	$(OCAMLC) -o $@ ivy-ocaml.cma lib-pprz.cma $^
  13
+	@cat ../../pprz_src_test.sh > $@
  14
+	@echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/tools ivy-ocaml.cma lib-pprz.cma $(ABS_FP) $$*' >> $@
  15
+	@chmod a+x $@
16 16
 
17 17
 fp_parser.cmo : fp_parser.cmi fp_syntax.cmi
18 18
 fp_parser.cmi : fp_parser.ml fp_syntax.cmi
@@ -23,10 +23,10 @@ fp_syntax.cmo : fp_syntax.cmi
23 23
 
24 24
 
25 25
 %.out : %.ml
26  
-	$(OCAMLC) -o /dev/null lib-pprz.cma $< # To check
27  
-	cat ../../pprz_src_test.sh > $@
28  
-	echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/tools/$< $$*' >> $@
29  
-	chmod a+x $@
  26
+	$(OCAMLC) -o $@ ivy-ocaml.cma lib-pprz.cma $<
  27
+	@cat ../../pprz_src_test.sh > $@
  28
+	@echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/lib/ocaml ivy-ocaml.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/tools/$< $$*' >> $@
  29
+	@chmod a+x $@
30 30
 
31 31
 %.cmo : %.ml
32 32
 	$(OCAMLC) -c $<

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