First shot towards a separate HITL target

[podhrmic]

@gautierhattenberger I am trying to add HITL as a separate target so it is easier to use.

The idea is that hitl is de facto nps target, except it has a different name (and uses a few different files). So I want to have nps_common.makefile and then nps.makefile and hitl.makefile (see below).

Then I have to have a toplevel Makefile.hitl that only calls Makefile.nps and that should be it - right?

I can'get it to compile, I suspect there is some change with generators that I have to add the target to?

[gautierhattenberger]

at least you need to add hitl to the list of default possible targets in sw/lib/ocaml/env.ml

[podhrmic]

@gautierhattenberger thanks for the pointer. I changed it, but I am still not seeing hitl.makefile being called - if I run HITL target I see:

...
make[1]: Leaving directory '/home/podhrad/Documents/Paparazzi/paparazzi'
make[1]: Entering directory '/home/podhrad/Documents/Paparazzi/paparazzi'
>>>Calling nps.makefile
>>>Calling nps_common.makefile
GENERATE /home/podhrad/Documents/Paparazzi/paparazzi/var/aircrafts/Minion_RP3/hitl/generated/airframe.h from airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
...

even though the target is hitl , not nps

Then indeed the compilation fails.

Any ideas? I added the hitl target to env.ml

[gautierhattenberger]

correct makefile selection is coming from this line: https://github.com/paparazzi/paparazzi/blob/master/conf/firmwares/subsystems/shared/nps.makefile#L17

[podhrmic]

I specify it in hitl.makefile (see https://github.com/paparazzi/paparazzi/blob/hitl_updates/conf/firmwares/subsystems/shared/hitl.makefile#L13 ) but the problem is that hitl.makefile is never called in the first place.

[podhrmic]

$(info >>>Calling hilt.makefile) never shows up in the console, instead I can see $(info >>>Calling nps.makefile) even when I call hitl target

[podhrmic]

@gautierhattenberger do you have an idea why compiling hitl target would still call conf/firmwares/subsystems/shared/nps.makefile first?

[flixr]

@podhrmic nps.makefile is always included from rotorcraft.makefile...

[flixr]

Use the --debug option of make to find what makefiles are parsed, etc...
e.g. make --debug=v AIRCRAFT=Ark_Hexa_1.8 hitl.compile

[podhrmic]

Thanks for help, I figured it out. Have to do some cleanup still, but it works now.

[podhrmic]

@flixr @gautierhattenberger would you be OK with merging this as-is, so I can update the wiki page about HITL and have a separete hitl target which makes the whole setup more user-friendly?

It needs some polishing, but it doesn't break anything and works just fine for what it is - unfortunately I won't have time to sit down and properly finish it for a couple of weeks, and I would like to avoid merge conflicts (plus I would like to have the wiki page updated).

[flixr]

Can you at least take out the "calling xx makefile" infos?

[podhrmic]

OK, never mind - probably better to merge it once it is clean.