fdm_jsbsim.makefile

# Hey Emacs, this is a -*- makefile -*-

#
# SITL Simulator
#

JSBSIM_ROOT ?= /opt/jsbsim
JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
JSBSIM_LIB = $(JSBSIM_ROOT)/lib

SRC_FIRMWARE=firmwares/rotorcraft

SRC_BOARD=boards/$(BOARD)

NPSDIR = $(SIMDIR)/nps


nps.ARCHDIR = sim

# include Makefile.nps instead of Makefile.sim
nps.MAKEFILE = nps

nps.CFLAGS  += -DSITL -DUSE_NPS
nps.CFLAGS  += $(shell pkg-config glib-2.0 --cflags)
nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy $(shell pcre-config --libs) -lgsl -lgslcblas
nps.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
nps.LDFLAGS += $(shell sdl-config --libs)

# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
JSBSIM_PKG ?= $(shell pkg-config JSBSim --exists && echo 'yes')
ifeq ($(JSBSIM_PKG), yes)
	nps.CFLAGS  += $(shell pkg-config JSBSim --cflags)
	nps.LDFLAGS += $(shell pkg-config JSBSim --libs)
else
	JSBSIM_PKG = no
	nps.CFLAGS  += -I$(JSBSIM_INC)
	nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
endif


nps.srcs += $(NPSDIR)/nps_main.c                 \
       $(NPSDIR)/nps_fdm_jsbsim.cpp              \
       $(NPSDIR)/nps_random.c                    \
       $(NPSDIR)/nps_sensors.c                   \
       $(NPSDIR)/nps_sensors_utils.c             \
       $(NPSDIR)/nps_sensor_gyro.c               \
       $(NPSDIR)/nps_sensor_accel.c              \
       $(NPSDIR)/nps_sensor_mag.c                \
       $(NPSDIR)/nps_sensor_baro.c               \
       $(NPSDIR)/nps_sensor_sonar.c              \
       $(NPSDIR)/nps_sensor_gps.c                \
       $(NPSDIR)/nps_electrical.c                \
       $(NPSDIR)/nps_atmosphere.c                \
       $(NPSDIR)/nps_radio_control.c             \
       $(NPSDIR)/nps_radio_control_joystick.c    \
       $(NPSDIR)/nps_radio_control_spektrum.c    \
       $(NPSDIR)/nps_autopilot_rotorcraft.c      \
       $(NPSDIR)/nps_ivy_common.c                \
       $(NPSDIR)/nps_ivy_rotorcraft.c            \
       $(NPSDIR)/nps_flightgear.c                \

# for geo mag calculation
nps.srcs += math/pprz_geodetic_wmm2010.c

nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Main'
nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c

USE_MISSION_COMMANDS_IN_NPS ?= 0
ifeq ($(USE_MISSION_COMMANDS_IN_NPS), 1)
nps.srcs += $(NPSDIR)/nps_ivy_mission_commands.c
nps.CFLAGS += -DUSE_MISSION_COMMANDS_IN_NPS
endif