[paparazzi-commits] [5315] update mentor airframe for subsystem makefiles

[Felix Ruess]

Revision: 5315
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5315
Author:   flixr
Date:     2010-08-11 18:46:33 +0000 (Wed, 11 Aug 2010)
Log Message:
-----------
update mentor airframe for subsystem makefiles

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/mentor_tum.xml

Modified: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-08-11 18:46:27 UTC 
(rev 5314)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-08-11 18:46:33 UTC 
(rev 5315)
@@ -72,12 +72,6 @@
     <define name="MAX_PITCH" value="RadOfDeg(35)"/>
   </section>
 
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-  </section>
 
   <section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="511"/>
@@ -209,80 +203,44 @@
 
 
   <makefile>
-CONFIG = \"tiny_2_1_1.h\"
+BOARD_CFG      = \"tiny_2_1_1.h\"
+FLASH_MODE     = IAP
 
+# Board Specifics
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
-FLASH_MODE=IAP
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
-# main autopilot control
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c 
main_ap.c main.c commands.c
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
 
-# servo stuff
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+# default GPS parameters
+#GPS_UART_NR   = 0
+#GPS_BAUD      = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
 
-# radio control
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+# default modem parameters
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
+
+
 #### set FBW debug messages (for PPM message)
 #ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-############# MODEM BAUD RATE AND UART SETTINGS ##################
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600
-
-# XBEE_MODEM
-# For XBEE_MODEM uncomment the below two lines otherwise use the TRANSPARENT 
mode.
-#ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 
-DDATALINK=XBEE
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-# TRANSPARENT MODE
-# For TRANSPARENT mode uncomment the below two lines otherwise use the XBEE 
mode above.
-ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=Uart1 
-DDATALINK=PPRZ -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-############# GPS BAUD RATE AND UART SETTINGS ####################
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 
-DGPS_LED=2
-
-# For LEA 5H Gps module uncomment the below definition.
-ap.CFLAGS += -DGPS_USE_LATLONG
-
-#Use the below line for a UBLOX gps unit
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-#Use the below line for a NMEA gps unit
-#ap.srcs += gps_nmea.c gps.c latlong.c
-
-
-####################### INFRARED #################################
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-
-
-
-###### Strong Wind compensation, use on windy areas and days.
+#### Strong Wind compensation, use on windy areas and days.
 #ap.CFLAGS += -DSTRONG_WIND
 
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
-ap.srcs += nav.c fw_v_ctl.c fw_h_ctl.c
+### Special options
+ap.CFLAGS      += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
 
-##### navigation routines
-ap.srcs += nav_line.c discsurvey.c nav_survey_rectangle.c nav_cube.c
-ap.srcs += snav.c
-ap.srcs += OSAMNav.c
+### additional navigation routines
+#ap.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
 
 ### Use Modules
 ap.CFLAGS += -DUSE_MODULES
@@ -295,12 +253,9 @@
 #
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN 
-DTRAFFIC_INFO
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
-sim.srcs += discsurvey.c nav_cube.c
-sim.srcs += snav.c
-sim.srcs += OSAMNav.c
+sim.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
 
 sim.CFLAGS += -DUSE_MODULES
 
@@ -317,11 +272,10 @@
 jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
 
 jsbsim.srcs += nav_line.c nav_survey_rectangle.c
-jsbsim.srcs += discsurvey.c nav_cube.c
-jsbsim.srcs += snav.c
-jsbsim.srcs += OSAMNav.c
+jsbsim.srcs += discsurvey.c nav_cube.c snav.c OSAMNav.c
 
 jsbsim.CFLAGS += -DUSE_MODULES
 
+
   </makefile>
 </airframe>