First shot towards a separate HITL target (#2062)

* First shot towards a separate HITL target * Changes in HITL - still doesn't compile * Added makefile selection * HITL target works for fixedwing and rotorcraft - still needs cleanup and TLC * Removed info messages from compilation process
paparazzi · Jun 13, 2017 · 74f8b74 · 74f8b74
1 parent 9d1e71b
commit 74f8b74
Show file tree

Hide file tree

Showing 43 changed files with 163 additions and 137 deletions.
diff --git a/conf/Makefile.hitl b/conf/Makefile.hitl
@@ -0,0 +1,4 @@
+$(TARGET).CFLAGS += $(nps.CFLAGS)
+$(TARGET).srcs 	+= $(nps.srcs)
+$(TARGET).LDFLAGS += $(nps.LDFLAGS)
+include $(PAPARAZZI_SRC)/conf/Makefile.nps
diff --git a/conf/Makefile.nps b/conf/Makefile.nps
@@ -23,7 +23,6 @@
 #
 # This is the common Makefile for the nps target.
 #
-
 SRC_ARCH = arch/sim
 
 OPT ?= 2

diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
@@ -24,7 +24,12 @@ Aggie Air ARK
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="radio_control" type="spektrum"/>
-      <!--configure name="USE_HITL" value="1"/-->
+    </target>
+
+    <target name="hitl" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="imu" type="nps"/>
+      <module name="radio_control" type="spektrum"/>
       <configure name="INS_DEV" value="/dev/ttyUSB1"/>
       <configure name="INS_BAUD" value="B921600"/>
       <configure name="AP_DEV" value="/dev/ttyUSB2"/>
@@ -61,13 +66,13 @@ Aggie Air ARK
     <module name="lidar_sf11">
       <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
     </module>
-    <module name="battery_monitor.xml">
+    <!--module name="battery_monitor.xml">
       <define name="BATMON_REV4" value="0"/>
       <define name="BATMON_CURRENT_OFFSET" value="-120"/>
       <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
-    </module>
+    </module-->
   </modules>
 
   <!--These values are set for the Castle Creations HV Lite 60A ESCs-->

diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -3,11 +3,11 @@
    name="Ark_Hexa_1.8"
    ac_id="4"
    airframe="airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml"
-   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   radio="radios/AGGIEAIR/aggieair_sbus_fakerator.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
+   settings_modules="modules/lidar_sf11.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -58,7 +58,7 @@
    name="Minion_RP3"
    ac_id="1"
    airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
-   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   radio="radios/AGGIEAIR/aggieair_sbus_fakerator.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"

diff --git a/conf/airframes/AGGIEAIR/aggieair_control_panel.xml b/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
@@ -189,6 +189,7 @@
       <arg flag="-f" constant="127.0.0.1"/>
       <arg flag="-b" constant="127.255.255.255"/>
       <arg flag="--fg_fdm" constant=""/>
+      <arg flag="-t" constant="hitl"/>
      </program>
      <program name="Sbus Fakerator">
        <arg flag="-p" constant="/dev/ttyUSB3"/>
@@ -210,6 +211,7 @@
       <arg flag="-f" constant="127.0.0.1"/>
       <arg flag="-b" constant="127.255.255.255"/>
       <arg flag="--fg_fdm" constant=""/>
+      <arg flag="-t" constant="hitl"/>
      </program>
      <program name="Sbus Fakerator">
        <arg flag="-p" constant="/dev/ttyUSB3"/>

diff --git a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
@@ -25,7 +25,11 @@ AggieAir RP3 Minion
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="radio_control" type="spektrum"/>
-      <configure name="USE_HITL" value="1"/>
+    </target>
+
+    <target name="hitl" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
       <configure name="INS_DEV" value="/dev/ttyUSB1"/>
       <configure name="INS_BAUD" value="B921600"/>
       <configure name="AP_DEV" value="/dev/ttyUSB2"/>

diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
@@ -218,6 +218,10 @@ fbw.srcs 		+= $(ns_srcs)
 ##
 ## include firmware independent nps makefile and add rotorcraft specifics
 ##
-include $(CFG_SHARED)/nps.makefile
-nps.srcs += nps/nps_autopilot_rotorcraft.c
+ifneq ($(TARGET), hitl)
+  include $(CFG_SHARED)/nps.makefile
+else
+  include $(CFG_SHARED)/hitl.makefile
+endif
 
+nps.srcs += nps/nps_autopilot_rotorcraft.c
diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
@@ -247,7 +247,11 @@ ap.srcs 		+= $(ap_srcs) $(ns_srcs)
 ##
 ## include firmware independent nps makefile and add fixedwing specifics
 ##
-include $(CFG_SHARED)/nps.makefile
+ifneq ($(TARGET), hitl)
+  include $(CFG_SHARED)/nps.makefile
+else
+  include $(CFG_SHARED)/hitl.makefile
+endif
 nps.srcs += nps/nps_autopilot_fixedwing.c
 
 # add normal ap and fbw sources

diff --git a/conf/firmwares/subsystems/shared/baro_board.makefile b/conf/firmwares/subsystems/shared/baro_board.makefile
@@ -281,11 +281,15 @@ endif
 ap.CFLAGS += $(BARO_BOARD_CFLAGS)
 ap.srcs += $(BARO_BOARD_SRCS)
 
-# don't use for NPS
+# don't use for NPS or HITL
 ifeq ($(TARGET),nps)
 $(TARGET).CFLAGS += -DUSE_BARO_BOARD=FALSE
 endif
 
+ifeq ($(TARGET),hitl)
+$(TARGET).CFLAGS += -DUSE_BARO_BOARD=FALSE
+endif
+
 else # USE_BARO_BOARD is not TRUE, was explicitly disabled
 
 ap.CFLAGS += -DUSE_BARO_BOARD=FALSE

diff --git a/...wares/subsystems/shared/nps_hitl.makefile → ...firmwares/subsystems/shared/hitl.makefile b/...wares/subsystems/shared/nps_hitl.makefile → ...firmwares/subsystems/shared/hitl.makefile
@@ -5,17 +5,17 @@
 #
 # HITL specific makefile
 #
+# include Makefile.nps instead of Makefile.sim
+hitl.MAKEFILE = hitl
+
+include $(CFG_SHARED)/nps_common.makefile
 
 nps.srcs += $(NPSDIR)/nps_main_hitl.c
 
 # TODO: have this in ins_vectornav.xml
 # will hopefully work better once nps and HITL are separate targets
 nps.srcs += $(NPSDIR)/nps_ins_vectornav.c
 
-# glib is still needed for some components (such as radio input)
-nps.CFLAGS  += $(shell pkg-config glib-2.0 --cflags)
-nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs)
-
 INS_DEV ?= \"/dev/ttyUSB1\"
 INS_BAUD ?= B921600
 
@@ -26,3 +26,4 @@ nps.CFLAGS += -DAP_DEV=\"$(AP_DEV)\"
 nps.CFLAGS += -DAP_BAUD=$(AP_BAUD)
 nps.CFLAGS += -DINS_DEV=\"$(INS_DEV)\"
 nps.CFLAGS += -DINS_BAUD=$(INS_BAUD)
+
diff --git a/conf/firmwares/subsystems/shared/nps.makefile b/conf/firmwares/subsystems/shared/nps.makefile
@@ -1,71 +1,11 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 #
-# NPS Simulator
+# NPS SITL Simulator
 #
-# Common makefile for both SITL/HITL simulation
+# SITL specific makefile
 #
-# still needs a FDM backend to be specified, e.g.
-# <subsystem name="fdm" type="jsbsim"/>
-#
-
-USE_HITL ?= 0
-
-nps.ARCHDIR = sim
-
 # include Makefile.nps instead of Makefile.sim
 nps.MAKEFILE = nps
-
-nps.CFLAGS  += -DSITL -DUSE_NPS
-nps.LDFLAGS += -lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas
-
-# detect system arch and include rt and pthread library only on linux
-UNAME_S := $(shell uname -s)
-ifeq ($(UNAME_S),Linux)
-  nps.LDFLAGS += -lrt -pthread
-endif
-
-nps.CFLAGS  += -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I$(PAPARAZZI_SRC)/sw/simulator -I$(PAPARAZZI_SRC)/sw/simulator/nps -I$(PAPARAZZI_HOME)/conf/simulator/nps
-
-# sdl needed for joystick input
-nps.LDFLAGS += $(shell sdl-config --libs)
-
-
-#
-# add the simulator directory to the make searchpath
-#
-VPATH += $(PAPARAZZI_SRC)/sw/simulator
-
-NPSDIR = nps
-nps.srcs +=                                      \
-       $(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_sensor_airspeed.c           \
-       $(NPSDIR)/nps_sensor_temperature.c        \
-       $(NPSDIR)/nps_sensor_aoa.c                \
-       $(NPSDIR)/nps_sensor_sideslip.c           \
-       $(NPSDIR)/nps_electrical.c                \
-       $(NPSDIR)/nps_atmosphere.c                \
-       $(NPSDIR)/nps_ivy.c                       \
-       $(NPSDIR)/nps_flightgear.c                \
-       $(NPSDIR)/nps_radio_control.c             \
-       $(NPSDIR)/nps_radio_control_joystick.c    \
-       $(NPSDIR)/nps_radio_control_spektrum.c    \
-       $(NPSDIR)/nps_main_common.c
-
-ifeq ($(USE_HITL),1)
-include $(CFG_SHARED)/nps_hitl.makefile
-else
-include $(CFG_SHARED)/nps_sitl.makefile
-endif
-
-# for geo mag calculation
-nps.srcs += math/pprz_geodetic_wmm2015.c
-
+include $(CFG_SHARED)/nps_common.makefile
+nps.srcs += $(NPSDIR)/nps_main_sitl.c
diff --git a/conf/firmwares/subsystems/shared/nps_common.makefile b/conf/firmwares/subsystems/shared/nps_common.makefile
@@ -0,0 +1,63 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+#
+# NPS Simulator
+#
+# Common makefile for both SITL/HITL simulation
+#
+# still needs a FDM backend to be specified, e.g.
+# <subsystem name="fdm" type="jsbsim"/>
+#
+
+nps.ARCHDIR = sim
+
+nps.CFLAGS  += -DSITL -DUSE_NPS
+nps.LDFLAGS += -lm -livy $(shell pcre-config --libs) -lgsl -lgslcblas
+
+# detect system arch and include rt and pthread library only on linux
+UNAME_S := $(shell uname -s)
+ifeq ($(UNAME_S),Linux)
+  nps.LDFLAGS += -lrt -pthread
+endif
+
+nps.CFLAGS  += -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I$(PAPARAZZI_SRC)/sw/simulator -I$(PAPARAZZI_SRC)/sw/simulator/nps -I$(PAPARAZZI_HOME)/conf/simulator/nps
+
+# sdl needed for joystick input
+nps.LDFLAGS += $(shell sdl-config --libs)
+
+# glib is still needed for some components (such as radio input)
+nps.CFLAGS  += $(shell pkg-config glib-2.0 --cflags)
+nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs)
+
+#
+# add the simulator directory to the make searchpath
+#
+VPATH += $(PAPARAZZI_SRC)/sw/simulator
+
+NPSDIR = nps
+nps.srcs +=                                      \
+       $(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_sensor_airspeed.c           \
+       $(NPSDIR)/nps_sensor_temperature.c        \
+       $(NPSDIR)/nps_sensor_aoa.c                \
+       $(NPSDIR)/nps_sensor_sideslip.c           \
+       $(NPSDIR)/nps_electrical.c                \
+       $(NPSDIR)/nps_atmosphere.c                \
+       $(NPSDIR)/nps_ivy.c                       \
+       $(NPSDIR)/nps_flightgear.c                \
+       $(NPSDIR)/nps_radio_control.c             \
+       $(NPSDIR)/nps_radio_control_joystick.c    \
+       $(NPSDIR)/nps_radio_control_spektrum.c    \
+       $(NPSDIR)/nps_main_common.c
+
+# for geo mag calculation
+nps.srcs += math/pprz_geodetic_wmm2015.c
+
diff --git a/conf/firmwares/subsystems/shared/nps_sitl.makefile b/conf/firmwares/subsystems/shared/nps_sitl.makefile
diff --git a/conf/firmwares/subsystems/shared/uart.makefile b/conf/firmwares/subsystems/shared/uart.makefile
@@ -12,6 +12,10 @@ ifeq ($(TARGET), nps)
 UART_CFLAGS += -Iarch/linux
 UART_SRCS += arch/linux/serial_port.c
 endif
+ifeq ($(TARGET), hitl)
+UART_CFLAGS += -Iarch/linux
+UART_SRCS += arch/linux/serial_port.c
+endif
 ifeq ($(TARGET), sim)
 UART_CFLAGS += -Iarch/linux
 UART_SRCS += arch/linux/serial_port.c

diff --git a/conf/firmwares/subsystems/shared/udp.makefile b/conf/firmwares/subsystems/shared/udp.makefile
@@ -13,6 +13,10 @@ ifeq ($(TARGET), nps)
 UDP_CFLAGS += -Iarch/linux
 UDP_SRCS += arch/linux/udp_socket.c
 endif
+ifeq ($(TARGET), hitl)
+UDP_CFLAGS += -Iarch/linux
+UDP_SRCS += arch/linux/udp_socket.c
+endif
 
 $(TARGET).CFLAGS += $(UDP_CFLAGS)
 $(TARGET).srcs += $(UDP_SRCS)

diff --git a/conf/modules/fdm_jsbsim.xml b/conf/modules/fdm_jsbsim.xml
@@ -14,7 +14,7 @@
     <configure name="JSBSIM_ROOT" value="/opt/jsbsim" description="set root directory for JSBSim library when auto-detection (see FIND_JSBSIM_VIA_PKG_CONFIG) is not used (default path: /opt/jsbsim)"/>
   </doc>
   <header/>
-  <makefile target="nps">
+  <makefile target="nps|hitl">
     <configure name="JSBSIM_ROOT" default="/opt/jsbsim"/>
     <configure name="JSBSIM_INC" value="$(JSBSIM_ROOT)/include/JSBSim"/>
     <configure name="JSBSIM_LIB" value="$(JSBSIM_ROOT)/lib"/>

diff --git a/conf/modules/gps_nps.xml b/conf/modules/gps_nps.xml
@@ -14,7 +14,7 @@
   </header>
   <init fun="gps_nps_init()"/>
   <periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
-  <makefile target="nps">
+  <makefile target="nps|hitl">
     <file name="gps_sim_nps.c" dir="subsystems/gps"/>
     <define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
   </makefile>

diff --git a/conf/modules/guidance_basic_fw.xml b/conf/modules/guidance_basic_fw.xml
@@ -50,7 +50,7 @@
     <file name="guidance_h.h"/>
   </header>
   <init fun="v_ctl_init()"/>
-  <makefile target="ap|sim|nps" firmware="fixedwing">
+  <makefile target="ap|sim|nps|hitl" firmware="fixedwing">
     <file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
     <file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
     <define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>

diff --git a/conf/modules/guidance_rotorcraft.xml b/conf/modules/guidance_rotorcraft.xml
@@ -56,7 +56,7 @@
   </header>
   <init fun="guidance_h_init()"/>
   <init fun="guidance_v_init()"/>
-  <makefile target="ap|nps" firmware="rotorcraft">
+  <makefile target="ap|nps|hitl" firmware="rotorcraft">
     <file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
     <file name="guidance_h_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
     <file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>

diff --git a/conf/modules/imu_aspirin_v2.2.xml b/conf/modules/imu_aspirin_v2.2.xml
@@ -11,7 +11,7 @@
     </description>
   </doc>
   <autoload name="imu_aspirin_v2_common"/>
-  <makefile target="!sim|nps|fbw">
+  <makefile target="!sim|nps|fbw|hitl">
     <!-- SLAVE3 is on PC13, which is the baro CS -->
     <define name="DUSE_SPI_SLAVE3"/>
   </makefile>

diff --git a/conf/modules/imu_aspirin_v2_common.xml b/conf/modules/imu_aspirin_v2_common.xml
@@ -28,7 +28,7 @@
   <init fun="imu_aspirin2_init()"/>
   <periodic fun="imu_aspirin2_periodic()"/>
   <event fun="imu_aspirin2_event()"/>
-  <makefile target="!sim|nps|fbw">
+  <makefile target="!sim|nps|fbw|hitl">
     <!-- default for stm32, do we want to provide i2c0,spi1,SPI_SLAVE0 defaults for lpc again?-->
     <configure name="ASPIRIN_2_SPI_DEV" default="spi2" case="lower|upper"/>
     <configure name="ASPIRIN_2_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>