From e060c38d8d3f5765a76d7637449e3a958c9075d3 Mon Sep 17 00:00:00 2001
From: dewagter <dewagter@gmail.com>
Date: Fri, 23 May 2014 18:12:17 +0200
Subject: [PATCH] [airframes] two times same, one not compiling

---
 conf/airframes/CDW/DualBoardApFbw.xml       | 305 --------------------
 conf/airframes/examples/separate_fbw_ap.xml |  90 +++---
 conf/conf_tests.xml                         |   2 +-
 3 files changed, 42 insertions(+), 355 deletions(-)
 delete mode 100644 conf/airframes/CDW/DualBoardApFbw.xml

diff --git a/conf/airframes/CDW/DualBoardApFbw.xml b/conf/airframes/CDW/DualBoardApFbw.xml
deleted file mode 100644
index 9379be87818..00000000000
--- a/conf/airframes/CDW/DualBoardApFbw.xml
+++ /dev/null
@@ -1,305 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-	Lisa + Aspirin v2 using SPI only
--->
-
-<airframe name="LisaAspirin2">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
-    <servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="FORCECRASH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-<!--    <set command="FORCECRASH" value="@FLAPS"/> -->
-  </rc_commands>
-
-  <command_laws>
-    <set servo="AILEVON_LEFT" value="@ROLL"/>
-    <set servo="AILEVON_RIGHT" value="-@ROLL"/>
-    <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW"/>
-  </command_laws>
-
-  <!-- Local magnetic field -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value="0.85490967783446"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Calibration Neutral -->
-    <define name="GYRO_P_NEUTRAL" value="0"/>
-    <define name="GYRO_Q_NEUTRAL" value="0"/>
-    <define name="GYRO_R_NEUTRAL" value="0"/>
-
-    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
-    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.359" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
-    <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-
-    <define name="MAG_X_SENS" value="1" integer="16"/>
-    <define name="MAG_Y_SENS" value="1" integer="16"/>
-    <define name="MAG_Z_SENS" value="1" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0"/>
-    <define name="BODY_TO_IMU_THETA" value="0"/>
-    <define name="BODY_TO_IMU_PSI" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.0" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0.103000000119" unit="rad"/>
-  </section>
-
-  <section name="TRIM" prefix="COMMAND_">
-    <define name="ROLL_TRIM" value="0"/>
-    <define name="PITCH_TRIM" value="788."/>
-  </section>
-
-
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.8"/>
-    <define name="MAX_PITCH" value="0.8"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
-  </section>
-
-  <section name="CATAPULT" prefix="NAV_CATAPULT_" >
-    <define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
-    <define name="HEADING_DELAY" value="3.0" unit="seconds"/>
-    <define name="ACCELERATION_THRESHOLD" value="1.75"/>
-    <define name="INITIAL_PITCH" value="15" unit="deg"/>
-    <define name="INITIAL_THROTTLE" value="1.0" />
-  </section>
-
-  <section name="GLS_APPROACH" prefix="APP_" >
-    <define name="ANGLE" value="5" unit="deg"/>
-    <define name="INTERCEPT_AF_SD" value="10" unit="m"/>
-    <define name="TARGET_SPEED" value="13" unit="m/s"/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.104999996722"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-    <define name="ALTITUDE_PRE_CLIMB_CORRECTION" value="0.0960000008345"/>
-<!--
-    <define name="AUTO_PITCH_PGAIN" value="-0.00"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.00"/>
--->
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.518000006676" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.00"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.16600000858"/>
-    <define name="COURSE_DGAIN" value="0.324999988079"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.889999985695"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.586000025272" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="12587.4130859"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
-
-    <define name="ROLL_SLEW" value="1."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
-  </section>
-
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="70"/>
-    <define name="BLEND_END" value="60"/>
-    <define name="CLIMB_THROTTLE" value="0.949999988079"/>
-    <define name="CLIMB_PITCH" value="0.352999985218"/>
-    <define name="DESCENT_THROTTLE" value="0."/>
-    <define name="DESCENT_PITCH" value="-0.252000004053"/>
-    <define name="CLIMB_NAV_RATIO" value="0.8"/>
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-  </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
-    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <load name="gps_ubx_ucenter.xml"/>
-<!--
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2" />
-    </load>
--->
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="2"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </load>
-
-<!--    <load name="digital_cam_i2c.xml"/>  -->
-    <load name="digital_cam.xml">
-      <define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
-    </load>
-
-    <load name="nav_catapult.xml"/>
-    <load name="nav_line.xml"/>
-
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="lisa_m_2.0">
-      <define name="LISA_M_LONGITUDINAL_X"/>
-
-      <configure name="SEPARATE_FBW" value="1"/>
-
-      <configure name="PERIODIC_FREQUENCY" value="120"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-
-      <configure name="AHRS_ALIGNER_LED" value="1"/>
-      <configure name="CPU_LED" value="1"/>
-      <define name="LINK_MCU_LED" value="4"/>
-
-      <!-- split of ap/fbw specific subsystems for ap -->
-      <subsystem name="actuators" type="dummy"/>
-      <subsystem name="intermcu" type="uart">
-        <configure name="INTERMCU_PORT_NR" value="5"/>
-      </subsystem>
-
-      <subsystem name="control"/>
-      <subsystem name="navigation"/>
-    </target>
-
-    <target name="fbw" board="lisa_m_2.0">
-      <configure name="SYS_TIME_LED" value="2"/>
-      <define name="RADIO_CONTROL_LED" value="4"/>
-      <define name="LINK_MCU_LED" value="3"/>
-
-      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
-      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
-
-      <subsystem name="radio_control" type="ppm"/>
-
-      <!-- split of ap/fbw specific subsystems for fbw -->
-      <subsystem name="actuators" type="pwm"/>
-      <subsystem name="intermcu" type="uart">
-        <configure name="INTERMCU_PORT_NR" value="2"/>
-      </subsystem>
-    </target>
-
-    <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="control"/>
-      <subsystem name="navigation"/>
-    </target>
-
-    <configure name="FLASH_MODE" value="JTAG"/>
-
-    <define name="AGR_CLIMB"/>
-    <define name="LOITER_TRIM"/>
-    <define name="TUNE_AGRESSIVE_CLIMB"/>
-    <define name="STRONG_WIND"/>
-    <define name="WIND_INFO"/>
-    <define name="WIND_INFO_RET"/>
-    <define name="RADIO_CONTROL_AUTO1"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="transparent">
-      <configure name="MODEM_BAUD" value="B9600"/>
-      <configure name="MODEM_PORT" value="UART2"/>
-    </subsystem>
-
-    <!-- Sensors -->
-    <subsystem name="imu" type="aspirin_v2.1"/>
-    <subsystem name="gps" type="ublox">
-      <configure name="GPS_PORT" value="UART1"/>
-    </subsystem>
-
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="ins" type="alt_float"/>
-
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/examples/separate_fbw_ap.xml b/conf/airframes/examples/separate_fbw_ap.xml
index abb0185263d..9379be87818 100644
--- a/conf/airframes/examples/separate_fbw_ap.xml
+++ b/conf/airframes/examples/separate_fbw_ap.xml
@@ -106,7 +106,6 @@
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
 
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
@@ -223,32 +222,10 @@
     </load>
 
     <load name="nav_catapult.xml"/>
+    <load name="nav_line.xml"/>
 
   </modules>
 
-  <firmware name="fixedwing">
-
-    <target name="fbw" board="lisa_m_2.0">
-      <configure name="SYS_TIME_LED" value="2" />
-      <define name="RADIO_CONTROL_LED" value="4"/>
-
-      <configure name="FLASH_MODE" value="JTAG" />
-<!--      <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
-
-      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1" />
-      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1" />
-
-    </target>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators" type="direct"/>
-    <subsystem name="intermcu" type="uart">
-      <configure name="INTERMCU_PORT_NR" value="2" />
-    </subsystem>
-
-
-  </firmware>
-
   <firmware name="fixedwing">
 
     <target name="ap" board="lisa_m_2.0">
@@ -259,16 +236,46 @@
       <configure name="PERIODIC_FREQUENCY" value="120"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-
-      <configure name="FLASH_MODE" value="JTAG" />
- <!--     <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
-
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
 
       <configure name="AHRS_ALIGNER_LED" value="1"/>
       <configure name="CPU_LED" value="1"/>
+      <define name="LINK_MCU_LED" value="4"/>
+
+      <!-- split of ap/fbw specific subsystems for ap -->
+      <subsystem name="actuators" type="dummy"/>
+      <subsystem name="intermcu" type="uart">
+        <configure name="INTERMCU_PORT_NR" value="5"/>
+      </subsystem>
+
+      <subsystem name="control"/>
+      <subsystem name="navigation"/>
+    </target>
+
+    <target name="fbw" board="lisa_m_2.0">
+      <configure name="SYS_TIME_LED" value="2"/>
+      <define name="RADIO_CONTROL_LED" value="4"/>
+      <define name="LINK_MCU_LED" value="3"/>
+
+      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
+      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
+
+      <subsystem name="radio_control" type="ppm"/>
+
+      <!-- split of ap/fbw specific subsystems for fbw -->
+      <subsystem name="actuators" type="pwm"/>
+      <subsystem name="intermcu" type="uart">
+        <configure name="INTERMCU_PORT_NR" value="2"/>
+      </subsystem>
+    </target>
+
+    <target name="sim" board="pc">
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="control"/>
+      <subsystem name="navigation"/>
     </target>
-    <target name="sim" board="pc"/>
+
+    <configure name="FLASH_MODE" value="JTAG"/>
 
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
@@ -278,36 +285,21 @@
     <define name="WIND_INFO_RET"/>
     <define name="RADIO_CONTROL_AUTO1"/>
 
-
-    <subsystem name="imu" type="aspirin_v2.1"/>
-    <subsystem name="ahrs" type="float_dcm" />
-
     <!-- Communication -->
-<!--    <subsystem name="telemetry" type="xbee_api"> -->
     <subsystem name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B9600"/>
       <configure name="MODEM_PORT" value="UART2"/>
     </subsystem>
 
-    <!-- Actuators -->
-    <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="navigation"/>
+    <subsystem name="imu" type="aspirin_v2.1"/>
     <subsystem name="gps" type="ublox">
       <configure name="GPS_PORT" value="UART1"/>
     </subsystem>
 
-    <subsystem name="actuators" type="dummy"/>
-
-    <subsystem name="intermcu" type="uart">
-      <configure name="INTERMCU_PORT_NR" value="5" />
-    </subsystem>
+    <subsystem name="ahrs" type="float_dcm"/>
+    <subsystem name="ins" type="alt_float"/>
 
-</firmware>
-
-<makefile>
-
-
-</makefile>
+  </firmware>
 
 </airframe>
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index f6126618f9b..d56f0f8dc58 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -32,7 +32,7 @@
   <aircraft
    name="DualBoard_AP_FBW"
    ac_id="31"
-   airframe="airframes/CDW/DualBoardApFbw.xml"
+   airframe="airframes/examples/separate_fbw_ap.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"