Merge branch 'master' into ahrs_int_cmpl_quat_correction_scaling

* master: (34 commits)
  [sys_time] replace SYS_TIME_RESOLUTION with SYS_TIME_FREQUENCY
  [stm32][sys_time][ppm] run cortex systick timer at full AHB freq again, ppm at AHB/9
  [uart] use upper case UART[01235] everywhere find conf -name "*.*" -exec sed -i 's/Uart\([01235]\+\)/UART\1/g' {} \;
  [uart] get rid of all lower case Uart[01235]Foo use only upper case for configuration and string concatenation in macros
  [uart] defines instead of enum for baud rates again: cpp can't handle enums
  [uart] less macros: uart_getch function and uart_char_available static inline function if uart is hardcoded, use function directly
  [uart] enum UartBaud, remove unused uart_periph_set_baudrate
  removed obsolete IMU_ACC_DRDY_x and libstm based adxl345 test code
  [new] XBee auto-baudrate in api mode
  [makefile] Cleanup
  [radio] Two identical files.
  [build system] delete the paparazzi ocaml executable in ~/paparazzi on make clean to ensure any PATH changes for ocaml and ocamlrun are caught after a make clean; make
  [mcu] initialize spi3 if USE_SPI3
  [spi] add missing arch indep spi3 init functions
  [gen] Raise error when unit conversion should have been performed but failed silently (e.g. when adding a space after a float)
  [lpc21] fix compilation of servos We should really use less macros...
  [sys_time] I hate integer arithmetic with it's overflows... maybe we should do all the conversions in 64bit and convert back to 32?
  [sys_time] no more macros, clenup should also result in performane improvements since ticks, etc. are calculated at startup and usec conversions are only fixedpoint now
  [conf] update mag calib and imu orientation in quadrotor example
  [conf] change warnings about obsolete subsystems to errors
  ...

Makefile

@@ -230,7 +230,7 @@ uninstall :
 #
 
 clean:
-	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
+	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin paparazzi
 	$(Q)rm -f  $(GEN_HEADERS)
 	$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
 	$(Q)$(MAKE) -C $(EXT) clean

conf/airframes/examples/demo.xml

@@ -65,7 +65,7 @@ demo4.srcs += $(SRC_ARCH)/armVIC.c
 demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 demo4.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 #
@@ -88,10 +88,10 @@ demo5.srcs += $(SRC_ARCH)/armVIC.c
 demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 demo5.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
 
 
 #
@@ -117,7 +117,7 @@ demo6.srcs += $(SRC_ARCH)/usb_ser_hw.c
 demo6.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
 demo6.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-//demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+//demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
 
 
 

conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml

@@ -86,16 +86,16 @@
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
     <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="-152"/>
-    <define name="MAG_Y_NEUTRAL" value="-51"/>
-    <define name="MAG_Z_NEUTRAL" value="10"/>
-    <define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
-    <define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="-179"/>
+    <define name="MAG_Y_NEUTRAL" value="-21"/>
+    <define name="MAG_Z_NEUTRAL" value="79"/>
+    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="-45." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
   </section>
 
   <section name="AHRS" prefix="AHRS_">

conf/airframes/examples/setup_lisam2.xml

@@ -9,7 +9,8 @@
 
   <firmware name="lisa_test_progs">
     <target name="test_led"	                board="lisa_m_2.0"/>
-    <target name="test_sys_time"            board="lisa_m_2.0"/>
+    <target name="test_sys_time_timer"      board="lisa_m_2.0"/>
+	<target name="test_sys_time_usleep"     board="lisa_m_2.0"/>
     <target name="test_uart"                board="lisa_m_2.0"/>
     <target name="test_servos"              board="lisa_m_2.0"/>
     <target name="test_telemetry"           board="lisa_m_2.0"/>

conf/airframes/fraser_lisa_m_rotorcraft.xml

@@ -32,6 +32,8 @@
 
     <!-- print the configuration during compiling -->
     <define name="PRINT_CONFIG"/>
+
+	<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
   </firmware>
 
   <firmware name="setup">
@@ -41,7 +43,8 @@
   <firmware name="lisa_test_progs">
     <configure name="FLASH_MODE" value="SWD"/>
     <target name="test_led"	                board="lisa_m_1.0"/>
-    <target name="test_sys_time"            board="lisa_m_1.0"/>
+    <target name="test_sys_time_timer"      board="lisa_m_1.0"/>
+	<target name="test_sys_time_usleep"     board="lisa_m_1.0"/>
     <target name="test_uart"                board="lisa_m_1.0"/>
     <target name="test_servos"              board="lisa_m_1.0"/>
     <target name="test_telemetry"           board="lisa_m_1.0"/>
@@ -112,12 +115,12 @@
     <define name="ACCEL_Y_NEUTRAL" value="11"/>
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
-    <define name="MAG_X_NEUTRAL" value="-45"/>
-    <define name="MAG_Y_NEUTRAL" value="334"/>
-    <define name="MAG_Z_NEUTRAL" value="7"/>
-    <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
+	<define name="MAG_X_NEUTRAL" value="22"/>
+	<define name="MAG_Y_NEUTRAL" value="-314"/>
+	<define name="MAG_Z_NEUTRAL" value="13"/>
+	<define name="MAG_X_SENS" value="3.68160078446" integer="16"/>
+	<define name="MAG_Y_SENS" value="3.6093630842" integer="16"/>
+	<define name="MAG_Z_SENS" value="3.48306842466" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -238,7 +241,7 @@
   <section name="AUTOPILOT">
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
   </section>
 
   <section name="BAT">

conf/airframes/obsolete/Poine/antenna.xml

@@ -28,15 +28,15 @@ ant.CFLAGS += -DUSE_LED
 ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 ant.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
-ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+ant.CFLAGS += -DDOWNLINK_AP_DEVICE=UART0 -DAP
+ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
 ant.srcs += datalink.c
 ant.srcs += subsystems/navigation/traffic_info.c
 
-ant.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ant.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=UART1 -DUART1_BAUD=B9600
 ant.srcs += estimator.c gps_ubx.c gps.c
 
 ant.srcs += avr/ant_tracker.c

conf/airframes/obsolete/Poine/beth.xml

@@ -113,7 +113,7 @@ main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
+main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART2
 main_stm32.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 
@@ -183,7 +183,7 @@ main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
+main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
 main_coders.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 #main_coders.CFLAGS += -DUSE_I2C2
@@ -252,11 +252,11 @@ overo_test_uart.srcs    += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downl
 overo_test_uart.srcs    += $(SRC_FMS)/fms_network.c
 overo_test_uart.LDFLAGS += -levent -lm
 overo_test_uart.srcs    += $(SRC_BETH)/overo_gcs_com.c
-#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"modules/gps_i2c/runtime_configure.h\" -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
-#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
-overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
+#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"modules/gps_i2c/runtime_configure.h\" -DGPS_BAUD=B38400 -DGPS_LINK=UART0 -DGPS_USE_LATLONG
+#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DGPS_BAUD=B38400 -DGPS_LINK=UART0 -DGPS_USE_LATLONG
+overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=UART0 -DGPS_USE_LATLONG
 overo_test_uart.srcs    += gps_ubx.c gps.c latlong.c $(SRC_BETH)/uart_hw.c
-overo_test_uart.CFLAGS  +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ
+overo_test_uart.CFLAGS  +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=UART1 -DPPRZ_UART=UART1 -DDATALINK=PPRZ
 overo_test_uart.srcs    += subsystems/datalink/pprz_transport.c $(SRC_BETH)/rcv_telemetry.c
 
 #

conf/airframes/obsolete/Poine/bl_mc.xml

@@ -32,7 +32,7 @@ main.CFLAGS += -DUSE_LED
 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 main.srcs += $(SRC_ARCH)/bl_mc_power.c

conf/airframes/obsolete/Poine/easy_glider1.xml

@@ -171,7 +171,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART0 -DDOWNLINK_AP_DEVICE=UART0 -DPPRZ_UART=UART0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -180,7 +180,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=UART1 -DUART1_BAUD=B38400
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c

conf/airframes/obsolete/Poine/motor_bench.xml

@@ -23,10 +23,10 @@ main.srcs += $(SRC_ARCH)/armVIC.c
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
 
 main.srcs += $(MB)/mb_servo.c
 

conf/airframes/obsolete/Poine/pt_ant.xml

@@ -33,10 +33,10 @@ main.srcs += $(SRC_ARCH)/armVIC.c
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c
 
-main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
 main.srcs += $(PT_ANT)/pt_ant_datalink.c
 
 main.srcs += $(PT_ANT)/pt_ant_motors.c
@@ -47,7 +47,7 @@ main.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
 #main.srcs += pt_ant_estimator.c
 
 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
-#main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart1
+#main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=UART1
 #main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\"
 #main.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 #main.srcs += gps_ubx.c gps.c

conf/airframes/obsolete/autoplato.xml

@@ -21,7 +21,7 @@ test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 #test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
+#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
 #test_usb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL

conf/airframes/obsolete/dc_mc.xml

@@ -26,7 +26,7 @@ main.CFLAGS += -DUSE_LED
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 main.srcs +=  $(SRC_ARCH)/dc_mc_link.c

conf/airframes/obsolete/easystar2.xml

@@ -191,7 +191,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART1 -DDOWNLINK_AP_DEVICE=UART1 -DPPRZ_UART=UART1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -202,7 +202,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 # USE_GPS configuration
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=UART0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN

conf/airframes/obsolete/example.xml

@@ -27,11 +27,11 @@ example_gps.srcs += $(SRC_ARCH)/armVIC.c
 example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 example_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
+example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
 example_gps.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
 example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-example_gps.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0 -DGPS_BAUD=38400
+example_gps.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=UART0 -DDOWNLINK_GPS_DEVICE=UART0 -DGPS_BAUD=38400
 example_gps.srcs += gps_ubx.c gps.c latlong.c
 
 

conf/airframes/obsolete/kalscott_easystar.xml

@@ -171,7 +171,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART1 -DDOWNLINK_AP_DEVICE=UART1 -DPPRZ_UART=UART1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -182,7 +182,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 # USE_GPS configuration
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=UART0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN

conf/airframes/obsolete/microjet5.xml

@@ -186,7 +186,7 @@ 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 += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART1 -DDOWNLINK_AP_DEVICE=UART1 -DPPRZ_UART=UART1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -195,7 +195,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=UART0 -DUART0_BAUD=B38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN

conf/airframes/obsolete/microjet5_tp_auto.xml

@@ -190,10 +190,10 @@ ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
 ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=UART0 -DDOWNLINK_AP_DEVICE=UART0 -DXBEE_UART=UART0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART0 -DDOWNLINK_AP_DEVICE=UART0 -DPPRZ_UART=UART0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c latlong.c
 
 
@@ -204,7 +204,7 @@ ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=UART1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 

conf/airframes/obsolete/microjet6.xml

@@ -208,11 +208,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # API mode
-# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
+# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=UART0 -DDOWNLINK_AP_DEVICE=UART0 -DXBEE_UART=UART0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 # ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
 
 # transparent
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=UART0 -DDOWNLINK_AP_DEVICE=UART0 -DPPRZ_UART=UART0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
 
 
@@ -223,7 +223,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=UART1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c latlong.c