diff --git a/CHANGELOG.md b/CHANGELOG.md index cbcf94891d5..e5962ee45c4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,7 +1,7 @@ -Paparazzi v5.9_devel -==================== +Paparazzi v5.9.0_testing +======================== -Currently ongoing development. +First release candidate for v5.10 General ------- @@ -25,6 +25,7 @@ General [#1675] (https://github.com/paparazzi/paparazzi/pull/1675) - flight plans: simpler geofence safety behaviour definition [#1664] (https://github.com/paparazzi/paparazzi/pull/1644) + [#1802] (https://github.com/paparazzi/paparazzi/pull/1802) - module build system: improvements to efficiently replace subsystems [#1534] (https://github.com/paparazzi/paparazzi/pull/1534) [#1590] (https://github.com/paparazzi/paparazzi/pull/1590) @@ -60,6 +61,12 @@ General [#1758] (https://github.com/paparazzi/paparazzi/pull/1758) - cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug [#1647] (https://github.com/paparazzi/paparazzi/pull/1647) +- GCS: plot shapes on the map + [#1809] (https://github.com/paparazzi/paparazzi/pull/1809) +- paparazzicenter: experimental Python version + [#1811] (https://github.com/paparazzi/paparazzi/pull/1811) +- try to prevent speech spam in GCS + [#1842] (https://github.com/paparazzi/paparazzi/pull/1842) Airborne -------- @@ -104,11 +111,14 @@ Airborne [#1648] (https://github.com/paparazzi/paparazzi/pull/1648) [#1735] (https://github.com/paparazzi/paparazzi/pull/1735) [#1764] (https://github.com/paparazzi/paparazzi/pull/1764) + [#1806] (https://github.com/paparazzi/paparazzi/pull/1806) - computer vision: optical flow landing module [#1611] (https://github.com/paparazzi/paparazzi/pull/1611) - computer vision: openCV examples [#1663] (https://github.com/paparazzi/paparazzi/pull/1663) [#1789] (https://github.com/paparazzi/paparazzi/pull/1789) + [#1798] (https://github.com/paparazzi/paparazzi/pull/1798) + [#1824] (https://github.com/paparazzi/paparazzi/pull/1824) - computer vision: image appearance representation using texton distribution [#1692] (https://github.com/paparazzi/paparazzi/pull/1692) - UTM handling upgrades @@ -124,6 +134,11 @@ Airborne [#1625] (https://github.com/paparazzi/paparazzi/pull/1625) [#1638] (https://github.com/paparazzi/paparazzi/pull/1638) [#1740] (https://github.com/paparazzi/paparazzi/pull/1740) + [#1788] (https://github.com/paparazzi/paparazzi/pull/1788) +- telemetry over intermcu + [#1821] (https://github.com/paparazzi/paparazzi/pull/1821) +- unified sys_mon and rtos_mon modules + [#1846] (https://github.com/paparazzi/paparazzi/pull/1846) Rotorcraft firmware ------------------- @@ -149,6 +164,15 @@ Rotorcraft firmware - guidance for hybrid drones [#1769] (https://github.com/paparazzi/paparazzi/pull/1769) +Fixed-wing firmware +------------------- + +- split AP and FBW taks when using ChibiOS + [#1767] (https://github.com/paparazzi/paparazzi/pull/1767) +- Hard-fault recovery wen using ChibiOS + [#1815] (https://github.com/paparazzi/paparazzi/pull/1815) + + Drivers/HW support ------------------ @@ -167,8 +191,14 @@ Drivers/HW support [#1562] (https://github.com/paparazzi/paparazzi/pull/1562) - Parrot Bebop: fix for firmware 3.2.0 [#1745] (https://github.com/paparazzi/paparazzi/pull/1745) + [#1828] (https://github.com/paparazzi/paparazzi/pull/1828) - Parrot Bebop: camera upgrade [#1750] (https://github.com/paparazzi/paparazzi/pull/1750) + [#1766] (https://github.com/paparazzi/paparazzi/pull/1766) + [#1818] (https://github.com/paparazzi/paparazzi/pull/1818) + [#1825] (https://github.com/paparazzi/paparazzi/pull/1825) + [#1826] (https://github.com/paparazzi/paparazzi/pull/1826) + [#1834] (https://github.com/paparazzi/paparazzi/pull/1834) - Parrot ARDrone2/Bebop: startup fixes [#1571] (https://github.com/paparazzi/paparazzi/pull/1571) [#1588] (https://github.com/paparazzi/paparazzi/pull/1588) diff --git a/Doxyfile b/Doxyfile index 71883fb6342..a80e1a7f986 100644 --- a/Doxyfile +++ b/Doxyfile @@ -1964,7 +1964,9 @@ PREDEFINED = USE_GPS \ RADIO_CONTROL \ GUIDANCE_V_C \ DATALINK \ + DOWNLINK \ USE_PERIODIC_TELEMETRY_REPORT \ + PERIODIC_TELEMETRY \ __attribute__(x)= # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml b/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml index 320c7eeb7ce..3086b7767d0 100644 --- a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml +++ b/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml @@ -35,6 +35,7 @@ + diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml index ceb8bf1cfc0..4a479ce003c 100644 --- a/conf/airframes/BR/conf.xml +++ b/conf/airframes/BR/conf.xml @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_survey.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" /> @@ -28,7 +28,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" /> @@ -39,7 +39,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_survey.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_colorfilter.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml" gui_color="green" /> @@ -105,7 +105,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml " settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml" gui_color="blue" /> diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml index 7ce94eb0b0a..7d9dc606b00 100644 --- a/conf/airframes/CDW/cdw_conf.xml +++ b/conf/airframes/CDW/cdw_conf.xml @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" /> diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml index 71307e0118b..b9314ca17f4 100644 --- a/conf/airframes/ENAC/conf_enac.xml +++ b/conf/airframes/ENAC/conf_enac.xml @@ -6,7 +6,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic_safety.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml] settings/estimation/ahrs_float_invariant.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml] " gui_color="red" settings_modules="" /> @@ -39,7 +39,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_int_cmpl_quat.xml] [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]" + settings="settings/rotorcraft_basic.xml [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]" settings_modules="" gui_color="#ffff00000000" /> @@ -61,7 +61,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml " settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml" gui_color="#3cf2d51335a7" /> diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml index f3674c2d2fe..b0548d69571 100644 --- a/conf/airframes/ENAC/fixed-wing/apogee.xml +++ b/conf/airframes/ENAC/fixed-wing/apogee.xml @@ -39,7 +39,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml index 1d66ef51969..ca73462a39e 100644 --- a/conf/airframes/ENAC/fixed-wing/jp.xml +++ b/conf/airframes/ENAC/fixed-wing/jp.xml @@ -69,7 +69,7 @@ - + diff --git a/conf/airframes/ESDEN/esden_conf.xml b/conf/airframes/ESDEN/esden_conf.xml index 3417ed29796..639928d201a 100644 --- a/conf/airframes/ESDEN/esden_conf.xml +++ b/conf/airframes/ESDEN/esden_conf.xml @@ -138,7 +138,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="white" /> @@ -149,7 +149,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> @@ -160,7 +160,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="white" /> diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml index daaa91b9af0..7e347030d6e 100644 --- a/conf/airframes/FLIXR/flixr_conf.xml +++ b/conf/airframes/FLIXR/flixr_conf.xml @@ -6,7 +6,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml" + settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml" gui_color="blue" /> @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml" settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> @@ -28,7 +28,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/demo.xml" flight_plan="flight_plans/dummy.xml" - settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/test_actuators_pwm.xml" + settings=" settings/test_actuators_pwm.xml" settings_modules="modules/imu_common.xml" gui_color="blue" /> @@ -50,7 +50,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_int_cmpl_quat.xml [settings/estimation/ahrs_float_mlkf.xml] settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml" + settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> @@ -61,7 +61,7 @@ radio="radios/TGY9x_jeti.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml " settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml" gui_color="blue" /> @@ -72,7 +72,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml " settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml" gui_color="blue" /> @@ -83,7 +83,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/dummy.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml " settings_modules="" gui_color="blue" /> @@ -94,7 +94,7 @@ radio="radios/TGY9x_jeti.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml " settings_modules="modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml" gui_color="blue" /> @@ -116,7 +116,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_float_mlkf.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml " settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> diff --git a/conf/airframes/HOOPERFLY/hooperfly_conf.xml b/conf/airframes/HOOPERFLY/hooperfly_conf.xml index 60ab4c492e4..48ea4a13c6a 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_conf.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_conf.xml @@ -6,7 +6,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="blue" /> @@ -17,7 +17,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="purple" /> @@ -28,7 +28,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="green" /> @@ -39,7 +39,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="red" /> @@ -50,7 +50,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="lime" /> @@ -61,7 +61,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="cyan" /> @@ -72,7 +72,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="yellow" /> @@ -83,7 +83,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="orange" /> @@ -94,7 +94,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml" gui_color="orangered" /> diff --git a/conf/airframes/LS/ls_conf.xml b/conf/airframes/LS/ls_conf.xml index b396eaa8653..8c07daa9e87 100644 --- a/conf/airframes/LS/ls_conf.xml +++ b/conf/airframes/LS/ls_conf.xml @@ -17,7 +17,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_optitrack.xml" - settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml" + settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_guidance.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> diff --git a/conf/airframes/OPENUAS/openuas_conf.xml b/conf/airframes/OPENUAS/openuas_conf.xml index 2d00ce29725..f9d349e2884 100644 --- a/conf/airframes/OPENUAS/openuas_conf.xml +++ b/conf/airframes/OPENUAS/openuas_conf.xml @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_survey.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml" gui_color="#ffffe8b36503" /> @@ -50,7 +50,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml" gui_color="#fffffe72b9fd" /> @@ -61,7 +61,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml" gui_color="#ffffffffffff" /> diff --git a/conf/airframes/TUDELFT/tudelft_KM_conf.xml b/conf/airframes/TUDELFT/tudelft_KM_conf.xml index 58699f8871e..605c5d9e4aa 100644 --- a/conf/airframes/TUDELFT/tudelft_KM_conf.xml +++ b/conf/airframes/TUDELFT/tudelft_KM_conf.xml @@ -6,7 +6,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml " settings_modules="modules/gps_ubx_ucenter.xml modules/video_thread.xml modules/cv_opticflow.xml" gui_color="red" /> diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml index 28ce1ec6209..43af767324a 100644 --- a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml +++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml @@ -23,8 +23,8 @@ - - + diff --git a/conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml b/conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml new file mode 100644 index 00000000000..97911bc1fa4 --- /dev/null +++ b/conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml @@ -0,0 +1,208 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ diff --git a/conf/airframes/TUDELFT/tudelft_bebop_indi.xml b/conf/airframes/TUDELFT/tudelft_bebop_indi.xml index 8c9663be577..09e8bdfad8b 100644 --- a/conf/airframes/TUDELFT/tudelft_bebop_indi.xml +++ b/conf/airframes/TUDELFT/tudelft_bebop_indi.xml @@ -26,7 +26,9 @@ - + + + diff --git a/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml b/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml index 3b7e5513ed3..6d8f5997970 100644 --- a/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml +++ b/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml @@ -35,13 +35,13 @@ - - - + + + @@ -144,19 +144,11 @@
- - - - - + + + + + diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml index e0e7e9818d0..0dc976e781f 100644 --- a/conf/airframes/TUDELFT/tudelft_conf.xml +++ b/conf/airframes/TUDELFT/tudelft_conf.xml @@ -6,7 +6,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml " settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml" gui_color="#ffffd633d633" /> @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/air_data.xml" gui_color="#ffffcd49cd49" /> @@ -28,7 +28,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml" gui_color="#ffffc457c457" /> @@ -39,7 +39,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml " settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/video_capture.xml" gui_color="#ffffccc2ccc2" /> @@ -50,7 +50,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_optitrack.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml" gui_color="#fffff996b847" /> @@ -94,7 +94,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft_mavlink.xml" flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] modules/video_capture.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" /> @@ -270,7 +270,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/control/stabilization_rate.xml] settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/control/stabilization_rate.xml] settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml" gui_color="#f1d3c1b7ffff" /> @@ -362,6 +362,17 @@ settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml" gui_color="#f6d5baaaffff" /> + diff --git a/conf/boards/opa_ap_1.0.makefile b/conf/boards/opa_ap_1.0.makefile index 7648433c5ba..131c5874740 100644 --- a/conf/boards/opa_ap_1.0.makefile +++ b/conf/boards/opa_ap_1.0.makefile @@ -42,7 +42,7 @@ GPS_PORT ?= UART1 GPS_BAUD ?= B57600 INTERMCU_PORT ?= UART3 -INTERMCU_BAUD ?= B230400 +INTERMCU_BAUD ?= B460800 # # default IMU configuration diff --git a/conf/boards/opa_ftd_1.0.makefile b/conf/boards/opa_ftd_1.0.makefile index e2b9abea6e2..f396daff0cb 100644 --- a/conf/boards/opa_ftd_1.0.makefile +++ b/conf/boards/opa_ftd_1.0.makefile @@ -40,7 +40,10 @@ MODEM_PORT ?= UART3 MODEM_BAUD ?= B19200 INTERMCU_PORT ?= UART2 -INTERMCU_BAUD ?= B230400 +INTERMCU_BAUD ?= B460800 + +GPS_PORT ?= UART4 +GPS_BAUD ?= B57600 # # default actuator configuration diff --git a/conf/conf_example.xml b/conf/conf_example.xml index d3ac8ec8d44..1340c1f156d 100644 --- a/conf/conf_example.xml +++ b/conf/conf_example.xml @@ -18,7 +18,7 @@ telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/dummy.xml" settings="settings/rotorcraft_basic.xml" - settings_modules="modules/imu_common.xml modules/gps.xml" + settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_euler.xml" gui_color="white" /> diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml index 721b138bfcb..d582da49f5c 100644 --- a/conf/conf_tests_coverity.xml +++ b/conf/conf_tests_coverity.xml @@ -226,7 +226,7 @@ radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="white" /> @@ -248,7 +248,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> @@ -259,7 +259,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml" gui_color="white" /> @@ -281,7 +281,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml settings/control/stabilization_indi.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml settings/control/stabilization_indi.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml" gui_color="#710080" /> @@ -369,7 +369,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml" settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml" gui_color="red" /> @@ -391,7 +391,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml" settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml" gui_color="red" /> diff --git a/conf/control_panel_example.xml b/conf/control_panel_example.xml index 57090eb27fd..370bab42472 100644 --- a/conf/control_panel_example.xml +++ b/conf/control_panel_example.xml @@ -64,6 +64,7 @@ +
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile deleted file mode 100644 index d8e29177bdb..00000000000 --- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile +++ /dev/null @@ -1,32 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -# for fixedwings disable mag by default -USE_MAGNETOMETER ?= 0 - - -include $(CFG_SHARED)/ahrs_float_cmpl_quat.makefile - -# add some fixedwing specific flags -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN -ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) -$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING -endif -endif - -# -# Simple simulation of the AHRS result -# -ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -ahrssim_CFLAGS += -DUSE_AHRS - -ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c -ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -sim.CFLAGS += $(ahrssim_CFLAGS) -sim.srcs += $(ahrssim_srcs) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile deleted file mode 100644 index d24e5218146..00000000000 --- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile +++ /dev/null @@ -1,32 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -# for fixedwings disable mag by default -USE_MAGNETOMETER ?= 0 - - -include $(CFG_SHARED)/ahrs_float_cmpl_rmat.makefile - -# add some fixedwing specific flags -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN -ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) -$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING -endif -endif - -# -# Simple simulation of the AHRS result -# -ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -ahrssim_CFLAGS += -DUSE_AHRS - -ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c -ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -sim.CFLAGS += $(ahrssim_CFLAGS) -sim.srcs += $(ahrssim_srcs) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile deleted file mode 100644 index d7f4d2bb819..00000000000 --- a/conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile +++ /dev/null @@ -1 +0,0 @@ -$(error The ahrs_infrared subsystem has converted to a module, please remove it and add to your module section.) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile deleted file mode 100644 index d354c659f8f..00000000000 --- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile +++ /dev/null @@ -1,33 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -# for fixedwings disable mag by default -USE_MAGNETOMETER ?= 0 - - -include $(CFG_SHARED)/ahrs_int_cmpl_quat.makefile - -# add some fixedwing specific flags -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN -ifneq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) -$(TARGET).CFLAGS += -DAHRS_USE_GPS_HEADING -endif -endif - -# -# Simple simulation of the AHRS result -# -ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -ahrssim_CFLAGS += -DUSE_AHRS - -ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c -ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -sim.CFLAGS += $(ahrssim_CFLAGS) -sim.srcs += $(ahrssim_srcs) - diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_invariant.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_invariant.makefile deleted file mode 100644 index ce4cadb62ae..00000000000 --- a/conf/firmwares/subsystems/rotorcraft/ahrs_float_invariant.makefile +++ /dev/null @@ -1,46 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -USE_MAGNETOMETER ?= 1 -AHRS_ALIGNER_LED ?= none - -AHRS_FINV_CFLAGS = -DUSE_AHRS -AHRS_FINV_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_FINV_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_FINV_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat)) -# this is the secondary AHRS -AHRS_FINV_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\" -AHRS_FINV_CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant -else -# this is the primary AHRS -AHRS_FINV_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\" -AHRS_FINV_CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant -endif -else -# plain old single AHRS usage -AHRS_FINV_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\" -endif - -AHRS_FINV_SRCS += subsystems/ahrs.c -AHRS_FINV_SRCS += subsystems/ahrs/ahrs_float_invariant.c -AHRS_FINV_SRCS += subsystems/ahrs/ahrs_float_invariant_wrapper.c -AHRS_FINV_SRCS += subsystems/ahrs/ahrs_aligner.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_FINV_CFLAGS) -$(TARGET).srcs += $(AHRS_FINV_SRCS) -endif diff --git a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile deleted file mode 100644 index a98395b1079..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile +++ /dev/null @@ -1,47 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -USE_MAGNETOMETER ?= 1 -AHRS_ALIGNER_LED ?= none - -AHRS_FC_CFLAGS = -DUSE_AHRS -AHRS_FC_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_FC_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_FC_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat)) -# this is the secondary AHRS -AHRS_FC_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -AHRS_FC_CFLAGS += -DSECONDARY_AHRS=ahrs_fc -else -# this is the primary AHRS -AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -AHRS_FC_CFLAGS += -DPRIMARY_AHRS=ahrs_fc -endif -else -# plain old single AHRS usage -AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -endif - -AHRS_FC_CFLAGS += -DAHRS_PROPAGATE_QUAT -AHRS_FC_SRCS += subsystems/ahrs.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS) -$(TARGET).srcs += $(AHRS_FC_SRCS) -endif diff --git a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile deleted file mode 100644 index 3b742585f15..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile +++ /dev/null @@ -1,47 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -USE_MAGNETOMETER ?= 1 - -AHRS_FC_CFLAGS = -DUSE_AHRS -AHRS_FC_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_FC_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_FC_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), fcr float_cmpl_rmat)) -# this is the secondary AHRS -AHRS_FC_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -AHRS_FC_CFLAGS += -DSECONDARY_AHRS=ahrs_fc -else -# this is the primary AHRS -AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -AHRS_FC_CFLAGS += -DPRIMARY_AHRS=ahrs_fc -endif -else -# plain old single AHRS usage -AHRS_FC_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\" -endif - -AHRS_FC_CFLAGS += -DAHRS_PROPAGATE_RMAT -AHRS_FC_SRCS += subsystems/ahrs.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c -AHRS_FC_SRCS += subsystems/ahrs/ahrs_aligner.c - - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_FC_CFLAGS) -$(TARGET).srcs += $(AHRS_FC_SRCS) -endif diff --git a/conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile deleted file mode 100644 index 9629a3ae6f4..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile +++ /dev/null @@ -1,57 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- - -# attitude estimation for fixedwings via dcm algorithm - -USE_MAGNETOMETER ?= 0 -AHRS_ALIGNER_LED ?= none - -AHRS_DCM_CFLAGS = -DUSE_AHRS -AHRS_DCM_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_DCM_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_DCM_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm)) -# this is the secondary AHRS -AHRS_DCM_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\" -AHRS_DCM_CFLAGS += -DSECONDARY_AHRS=ahrs_dcm -else -# this is the primary AHRS -AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\" -AHRS_DCM_CFLAGS += -DPRIMARY_AHRS=ahrs_dcm -endif -else -# plain old single AHRS usage -AHRS_DCM_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\" -endif - -AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c -AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c -AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c -AHRS_DCM_SRCS += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm_wrapper.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_DCM_CFLAGS) -$(TARGET).srcs += $(AHRS_DCM_SRCS) -endif - - -# -# Simple simulation of the AHRS result -# -ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -ahrssim_CFLAGS += -DUSE_AHRS - -ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c -ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -sim.CFLAGS += $(ahrssim_CFLAGS) -sim.srcs += $(ahrssim_srcs) - diff --git a/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile b/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile deleted file mode 100644 index b55c467a5f3..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile +++ /dev/null @@ -1,45 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# - -USE_MAGNETOMETER ?= 1 -AHRS_ALIGNER_LED ?= none - -AHRS_MLKF_CFLAGS = -DUSE_AHRS -AHRS_MLKF_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_MLKF_CFLAGS += -DUSE_MAGNETOMETER -else -$(error ahrs_float_mlkf needs a magnetometer) -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_MLKF_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), mlkf)) -# this is the secondary AHRS -AHRS_MLKF_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\" -AHRS_MLKF_CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf -else -# this is the primary AHRS -AHRS_MLKF_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\" -AHRS_MLKF_CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf -endif -else -# plain old single AHRS usage -AHRS_MLKF_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\" -endif - -AHRS_MLKF_SRCS += subsystems/ahrs.c -AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf.c -AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_float_mlkf_wrapper.c -AHRS_MLKF_SRCS += subsystems/ahrs/ahrs_aligner.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_MLKF_CFLAGS) -$(TARGET).srcs += $(AHRS_MLKF_SRCS) -endif diff --git a/conf/firmwares/subsystems/shared/ahrs_gx3.makefile b/conf/firmwares/subsystems/shared/ahrs_gx3.makefile deleted file mode 100644 index 6223239c8c2..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_gx3.makefile +++ /dev/null @@ -1,20 +0,0 @@ -# AHRS subsystem for GX3 -# 2013, Utah State University, http://aggieair.usu.edu/ - -GX3_PORT ?= UART3 -GX3_BAUD ?= B921600 - -AHRS_CFLAGS = -DUSE_AHRS -AHRS_CFLAGS += -DUSE_IMU - -AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_gx3.h\" -AHRS_SRCS += $(SRC_SUBSYSTEMS)/ahrs.c -AHRS_SRCS += $(SRC_SUBSYSTEMS)/imu.c -AHRS_SRCS += subsystems/ahrs/ahrs_gx3.c - -GX3_PORT_LOWER=$(shell echo $(GX3_PORT) | tr A-Z a-z) -AHRS_CFLAGS += -DUSE_$(GX3_PORT) -D$(GX3_PORT)_BAUD=$(GX3_BAUD) -AHRS_CFLAGS += -DGX3_PORT=$(GX3_PORT_LOWER) - -ap.CFLAGS += $(AHRS_CFLAGS) -ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile deleted file mode 100644 index 8c3fcc6b380..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile +++ /dev/null @@ -1,57 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# Fixed point complementary filter using euler angles for attitude estimation -# - -USE_MAGNETOMETER ?= 1 -AHRS_ALIGNER_LED ?= none - -AHRS_ICE_CFLAGS = -DUSE_AHRS -AHRS_ICE_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_ICE_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_ICE_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS), ice int_cmpl_euler)) -# this is the secondary AHRS -AHRS_ICE_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\" -AHRS_ICE_CFLAGS += -DSECONDARY_AHRS=ahrs_ice -else -# this is the primary AHRS -AHRS_ICE_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\" -AHRS_ICE_CFLAGS += -DPRIMARY_AHRS=ahrs_ice -endif -else -# plain old single AHRS usage -AHRS_ICE_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\" -endif - -AHRS_ICE_SRCS += subsystems/ahrs.c -AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c -AHRS_ICE_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c -AHRS_ICE_SRCS += subsystems/ahrs/ahrs_aligner.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_ICE_CFLAGS) -$(TARGET).srcs += $(AHRS_ICE_SRCS) -endif - - -# -# Simple simulation of the AHRS result -# -ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -ahrssim_CFLAGS += -DUSE_AHRS - -ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c -ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -sim.CFLAGS += $(ahrssim_CFLAGS) -sim.srcs += $(ahrssim_srcs) diff --git a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile deleted file mode 100644 index 3e4a1442fda..00000000000 --- a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile +++ /dev/null @@ -1,46 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# AHRS_H_X -# AHRS_H_Y -# AHRS_H_Z -# - -USE_MAGNETOMETER ?= 1 -AHRS_ALIGNER_LED ?= none - -AHRS_ICQ_CFLAGS = -DUSE_AHRS -AHRS_ICQ_CFLAGS += -DUSE_AHRS_ALIGNER - -ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE)) - AHRS_ICQ_CFLAGS += -DUSE_MAGNETOMETER -endif - -ifneq ($(AHRS_ALIGNER_LED),none) - AHRS_ICQ_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -endif - -ifdef SECONDARY_AHRS -ifneq (,$(findstring $(SECONDARY_AHRS),ahrs_icq int_cmpl_quat)) -# this is the secondary AHRS -AHRS_ICQ_CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\" -AHRS_ICQ_CFLAGS += -DSECONDARY_AHRS=ahrs_icq -else -# this is the primary AHRS -AHRS_ICQ_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\" -AHRS_ICQ_CFLAGS += -DPRIMARY_AHRS=ahrs_icq -endif -else -# plain old single AHRS usage -AHRS_ICQ_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\" -endif - -AHRS_ICQ_SRCS += subsystems/ahrs.c -AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c -AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c -AHRS_ICQ_SRCS += subsystems/ahrs/ahrs_aligner.c - -# add it for all targets except sim and fbw -ifeq (,$(findstring $(TARGET),sim fbw)) -$(TARGET).CFLAGS += $(AHRS_ICQ_CFLAGS) -$(TARGET).srcs += $(AHRS_ICQ_SRCS) -endif diff --git a/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile index 9ae81994293..3b3a152067a 100644 --- a/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile +++ b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile @@ -1,6 +1,7 @@ # # Makefile for shared radio_control spektrum susbsytem # +# Define USE_DSMX on STM32 microcontrollers to bind in DSMX instead of DSM2 RADIO_CONTROL_LED ?= none diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile index 1813b07a925..d88a435ec85 100644 --- a/conf/firmwares/test_progs.makefile +++ b/conf/firmwares/test_progs.makefile @@ -86,6 +86,24 @@ COMMON_TELEMETRY_CFLAGS += -D$(MODEM_DEV)_BROADCAST=$(MODEM_BROADCAST) -D$(MODEM COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(UDP_MODEM_PORT_LOWER) COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER) else +ifneq (,$(findstring usb, $(MODEM_DEV))) +# via USB +COMMON_TELEMETRY_CFLAGS += -DUSE_USB_SERIAL +COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=usb_serial +COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=usb_serial +ifeq ($(ARCH), lpc21) +COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c +COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c +else +ifeq ($(ARCH), stm32) +COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/usb_ser_hw.c +else +ifneq ($(ARCH), sim) +$(error telemetry_transparent_usb currently only implemented for the lpc21 and stm32) +endif +endif +endif +else # via UART #ifeq ($(MODEM_PORT),) #$(error MODEM_PORT not defined) @@ -99,6 +117,7 @@ COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c ifeq ($(ARCH), linux) COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/serial_port.c endif +endif endif #UART #COMMON_TEST_SRCS += math/pprz_trig_int.c diff --git a/conf/flight_plans/mission_fw.xml b/conf/flight_plans/mission_fw.xml index 5c53485f747..e7dc6195724 100644 --- a/conf/flight_plans/mission_fw.xml +++ b/conf/flight_plans/mission_fw.xml @@ -10,6 +10,9 @@ + + + diff --git a/conf/joystick/n64_gamepad.xml b/conf/joystick/n64_gamepad.xml new file mode 100644 index 00000000000..082045c46e9 --- /dev/null +++ b/conf/joystick/n64_gamepad.xml @@ -0,0 +1,163 @@ + + + + + + + + +