Merge remote-tracking branch 'paparazzi/master' into state_interface

Conflicts:
	sw/airborne/subsystems/nav.h

.gitignore

@@ -143,6 +143,7 @@
 # /sw/tools/
 /sw/tools/fp_parser.ml
 /sw/tools/wiki_gen/wiki_gen
+/sw/tools/mergelogs
 
 # /sw/ground_segment/misc
 /sw/ground_segment/misc/davis2ivy

CHANGELOG.md

@@ -0,0 +1,110 @@
+Paparazzi 4.1 - development branch
+==================================
+
+- STM libs completely replaced by libopencm3
+- Input2ivy uses SDL for joysticks (cross-platform, works on OSX as well now)
+  [#220] (https://github.com/paparazzi/paparazzi/pull/220)
+- Option to change text papget color using a combobox
+  [#194] (https://github.com/paparazzi/paparazzi/pull/194)
+
+Paparazzi 4.0
+=============
+
+Changes since old_master tag
+
+General
+-------
+
+- Settings for the telemetry modes are automatically generated from the XML file
+  [#118] (https://github.com/paparazzi/paparazzi/pull/118)
+- Documentation node for modules
+  [#182] (https://github.com/paparazzi/paparazzi/pull/182)
+- Automatic conversion of units in airframe file, settings and messages.
+  See http://paparazzi.enac.fr/wiki/Units
+- Fix rc_settings: this enables you to change some settings in flight
+  directly from the RC, is useful if you are alone or don't have a GCS.
+- Prefer compiler found in PATH over /opt/paparazzi/arm-multilib
+  [#231] (https://github.com/paparazzi/paparazzi/issues/231)
+- Usability improvements for calibration scripts and
+  added 3D view of magnetometer data with fitted ellipsoid
+
+New hardware support
+--------------------
+
+- Support for new autopilot boards
+    - [Umarim] (http://paparazzi.enac.fr/wiki/Umarim_v10)
+    - [Umarim Lite] (http://paparazzi.enac.fr/wiki/Umarim_Lite_v2)
+    - [NavGo] (http://paparazzi.enac.fr/wiki/NavGo_v3)
+    - [Lisa/M 2.0] (http://paparazzi.enac.fr/wiki/Lisa/M_v20)
+- IMU Aspirin 2.1 support
+- BlackMagicProbe JTAG support
+
+Airborne
+--------
+
+- All control gains are now positive
+  [#127] (https://github.com/paparazzi/paparazzi/pull/127)
+- RC input follows sign conventions
+  [#124] (https://github.com/paparazzi/paparazzi/issues/124)
+- A modification of the transport layer (pprz and xbee)
+  in order to allow to select the device at the message level.
+- New modules:
+    - xtend_rssi
+      [#88] (https://github.com/paparazzi/paparazzi/pull/88)
+    - open_log
+      [#82] (https://github.com/paparazzi/paparazzi/pull/82)
+- Subsystem for new ahrs estimation algorithms: float_cmpl_rmat
+- Improvements for AHRS int_cmpl_quat and float_cmpl_rmat
+    - Correction of centrifugal acceleration
+    - Proper handling of BODY_TO_IMU rotations
+- All status LEDs configurable (with sensible defaults for the boards):
+  SYS_TIME_LED, AHRS_ALIGNER_LED, BARO_LED, GPS_LED, RADIO_CONTROL_LED
+- Possibility to use two 2-way switches for the mode instead of one 3-way switch
+- GPS NMEA parser usable for basic position and fix
+  [#120] (https://github.com/paparazzi/paparazzi/issues/120)
+
+Rotorcraft firmware specific
+----------------------------
+
+- Stabilization/supervision commands with standard PPRZ range
+  [#169] (https://github.com/paparazzi/paparazzi/pull/169)
+- Additional motor arming options
+  [#174] (https://github.com/paparazzi/paparazzi/pull/174)
+- Replaced INV_M with NOMINAL_HOVER_THROTTLE (in %)
+  To use a fixed value instead of the adaptive vertical filter
+  [#177] (https://github.com/paparazzi/paparazzi/pull/177)
+- Some fixes when changing vertical guidance modes
+- Same behaviour (gains) for AP_MODE_HOVER and NAV when holding position
+  [#82] (https://github.com/paparazzi/paparazzi/pull/82)
+
+Fixedwing firmware specific
+---------------------------
+
+- Using a gyro (with IR sensors) is done via imu subsystem now as well
+
+Simulator
+---------
+
+- JSBSim interface updated for new FGAccelerations class
+- FlightGear interface defaults to version 2.6, define FG_2_4 for 2.4
+- NPS simulator [#205] (https://github.com/paparazzi/paparazzi/pull/205)
+    - has it's own nps target (instead of sim)
+    - fdm type renamed from nps to jsbsim
+    - waypoint altitude fixed
+    - Improved ground interaction for JSBSim, can now initialize on ground
+      [#222] (https://github.com/paparazzi/paparazzi/pull/222)
+    - Radio control via joystick now uses SDL (so works on OSX as well)
+      [#232] (https://github.com/paparazzi/paparazzi/pull/232)
+
+
+STM32 architecture
+------------------
+
+- Luftboot USB bootloader
+- Updated ADC defines for lisa/m
+  You should now be able to use ADC_1, ADC_2, ADC_3 for the ADCs on the ANALOG1
+  [#159] (https://github.com/paparazzi/paparazzi/issues/159)
+- Enable second spektrum receiver via
+  ```<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>```
+- Enable new I2C driver via
+  ```<configure name="USE_NEW_I2C_DRIVER"/>```

Makefile

@@ -66,21 +66,6 @@ OCAML=$(shell which ocaml)
 OCAMLRUN=$(shell which ocamlrun)
 BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
 
-# try to find the paparazzi multilib toolchain
-TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
-ifneq ($(TOOLCHAIN),)
-TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
-#found the compiler from the paparazzi multilib package
-ARMGCC=$(TOOLCHAIN_DIR)/bin/arm-none-eabi-gcc
-else
-#try picking up the arm-none-eabi compiler from the path, otherwise use arm-elf
-HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
-ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
-ARMGCC=$(shell which arm-elf-gcc)
-else
-ARMGCC=$(HAVE_ARM_NONE_EABI_GCC)
-endif
-endif
 
 all: conf commands static
 
@@ -127,7 +112,7 @@ multimon:
 static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
 
 usb_lib:
-	@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
+	@[ -d sw/airborne/arch/lpc21/lpcusb ] && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE)) || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
 
 ext:
 	$(MAKE) -C$(EXT) all

conf/Makefile.arm-common

@@ -0,0 +1,82 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+#   Copyright (C) 2012 Felix Ruess <felix.ruess@gmail.com>
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, see
+# <http://www.gnu.org/licenses/>.
+#
+
+#
+# This is the common Makefile for finding the arm compiler and OpenOcd
+#
+
+#
+# try to pick up the compiler from the path
+#
+CC   = $(shell which arm-none-eabi-gcc)
+LD   = $(shell which arm-none-eabi-gcc)
+AR   = $(shell which arm-none-eabi-ar)
+CP   = $(shell which arm-none-eabi-objcopy)
+DMP  = $(shell which arm-none-eabi-objdump)
+NM   = $(shell which arm-none-eabi-nm)
+SIZE = $(shell which arm-none-eabi-size)
+GDB  = $(shell which arm-none-eabi-gdb)
+TOOLCHAIN_DIR=$(shell dirname `which arm-none-eabi-gcc`)
+GCC_LIB_DIR=$(TOOLCHAIN_DIR)/../arm-none-eabi/lib
+
+#
+# if not found in path, try the paparazzi toolchain in /opt
+#
+ifeq ($(CC),)
+TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
+ifneq ($(TOOLCHAIN),)
+TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
+GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
+GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
+
+# Define programs and commands.
+GCC_BIN_PREFIX=$(GCC_BIN_DIR)/arm-none-eabi
+CC   = $(GCC_BIN_PREFIX)-gcc
+LD   = $(GCC_BIN_PREFIX)-gcc
+AR   = $(GCC_BIN_PREFIX)-ar
+CP   = $(GCC_BIN_PREFIX)-objcopy
+DMP  = $(GCC_BIN_PREFIX)-objdump
+NM   = $(GCC_BIN_PREFIX)-nm
+SIZE = $(GCC_BIN_PREFIX)-size
+GDB  = $(GCC_BIN_PREFIX)-gdb
+else
+# toolchain not found...
+endif
+endif
+
+MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
+
+# some general commands
+RM = rm
+
+
+
+#
+# Find OpenOCD
+#
+# first try in the path
+OOCD = $(shell which openocd)
+#if OpenOCD could not be found in the path, try the toolchain dir (for backwards compatibility)
+ifeq ($(OOCD),)
+ifneq ($(TOOLCHAIN),)
+OOCD = $(shell if test -e $(TOOLCHAIN_DIR)/bin/openocd ; then echo $(TOOLCHAIN_DIR)/bin/openocd ; else echo "Warning: OpenOCD not found"; fi)
+endif
+endif