[fixedwing] ahrs and ins subsystems for nps target

paparazzi · Jul 15, 2013 · 62cf74f · 62cf74f
1 parent eddc778
commit 62cf74f
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Showing 7 changed files with 41 additions and 22 deletions.
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -36,6 +36,11 @@ ap.srcs += $(AHRS_SRCS)
 #ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
 #endif
 
+#
+# NPS uses the real algorithm
+#
+nps.CFLAGS += $(AHRS_CFLAGS)
+nps.srcs += $(AHRS_SRCS)
 
 #
 # Simple simulation of the AHRS result

diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -27,6 +27,8 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
+nps.CFLAGS += $(AHRS_CFLAGS)
+nps.srcs += $(AHRS_SRCS)
 
 #
 # Simple simulation of the AHRS result

diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -4,26 +4,29 @@
 
 USE_MAGNETOMETER ?= 0
 
-ifeq ($(TARGET), ap)
-
-ap.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-ap.CFLAGS += -DUSE_AHRS_ALIGNER
-ap.CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
+AHRS_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 
 ifneq ($(USE_MAGNETOMETER),0)
-ap.CFLAGS += -DUSE_MAGNETOMETER
+AHRS_CFLAGS += -DUSE_MAGNETOMETER
 endif
 
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
+AHRS_SRCS   += $(SRC_SUBSYSTEMS)/ahrs.c
+AHRS_SRCS   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+AHRS_SRCS   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
 
 
 ifneq ($(AHRS_ALIGNER_LED),none)
-  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
 
-endif
+
+ap.CFLAGS += $(AHRS_CFLAGS)
+ap.srcs += $(AHRS_SRCS)
+
+nps.CFLAGS += $(AHRS_CFLAGS)
+nps.srcs += $(AHRS_SRCS)
 
 
 #

diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -22,6 +22,8 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
+nps.CFLAGS += $(AHRS_CFLAGS)
+nps.srcs += $(AHRS_SRCS)
 
 #
 # Simple simulation of the AHRS result

diff --git a/conf/firmwares/subsystems/fixedwing/ins_alt_float.makefile b/conf/firmwares/subsystems/fixedwing/ins_alt_float.makefile
@@ -3,3 +3,7 @@
 ap_CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_alt_float.h\"
 ap_srcs   += $(SRC_FIXEDWING)/subsystems/ins.c
 ap_srcs   += $(SRC_FIXEDWING)/subsystems/ins/ins_alt_float.c
+
+nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_alt_float.h\"
+nps.srcs   += $(SRC_FIXEDWING)/subsystems/ins.c
+nps.srcs   += $(SRC_FIXEDWING)/subsystems/ins/ins_alt_float.c
diff --git a/conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile b/conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile
@@ -2,3 +2,5 @@
 ap.srcs   += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough.c
 
 sim.srcs  += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough.c
+
+nps.srcs  += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough.c
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
@@ -46,21 +46,22 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 #########################################
 ## Simulator
+SIM_TARGETS = sim jsbsim nps
 
-sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-sim.CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ifneq (,$(findstring $(TARGET),$(SIM_TARGETS))
 
-sim.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-sim.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
-
-sim.srcs   += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough.c
-
-sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
+$(TARGET).CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 
+$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
 
+$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough.c
 
+$(TARGET).CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
 
+endif