[paparazzi-commits] [5492] ap - tunnel - sim

[Christophe De Wagter]

Revision: 5492
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5492
Author:   dewagter
Date:     2010-08-19 18:50:39 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
ap - tunnel - sim

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

Modified: paparazzi3/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_example.xml        2010-08-19 
18:47:18 UTC (rev 5491)
+++ paparazzi3/trunk/conf/airframes/microjet_example.xml        2010-08-19 
18:50:39 UTC (rev 5492)
@@ -6,12 +6,8 @@
      Xbee modem in API mode
 -->
 
-<airframe name="Microjet Tiny 1.1">
+<airframe name="Microjet Tiny 2.11">
 
-  <target name="fixedwing" board="tiny_1.1">
-    <subsystem name="radio_control" type="ppm"/>
-  </target>
-
   <servos>
     <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
     <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
@@ -163,45 +159,44 @@
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
 
-  <makefile>
-BOARD_CFG = \"tiny_1_1.h\"
+  <firmware name="fixedwing">
+    <target name="sim"                         board="pc" >
+      <define name="TRAFFIC_INFO" />
+    </target>
+    <target name="ap"                  board="tiny_2.11">
+      <param name="FLASH_MODE"                 value="IAP" />
+      <define name="AGR_CLIMB" />
+      <define name="LOITER_TRIM" />
+      <define name="WIND_INFO" />
+      <define name="TRAFFIC_INFO" />
+      <define name="ALT_KALMAN" />
+    </target>
 
-FLASH_MODE=IAP
+    <subsystem name="radio_control"    type="ppm"/>
 
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+    <!-- Communication -->
+    <subsystem name="telemetry"        type="transparent">
+      <param name="MODEM_BAUD"                 value="9600"/>
+    </subsystem>
 
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing.makefile
-include $(CFG_FIXEDWING)/autopilot.makefile
-include $(CFG_FIXEDWING)/navigation.makefile
+    <!-- Actuators -->
+    <subsystem name="actuators"        type="4017"/>
 
-# IO Options
-include $(CFG_FIXEDWING)/actuators_4015.makefile
+    <!-- Sensors -->
+    <subsystem name="gyro"/>
+    <subsystem name="attitude"                 type="infrared"/>
+    <subsystem name="gps"              type="ublox_lea4p"/>
+    <subsystem name="navigation"/>
 
-# Sensors
-include $(CFG_FIXEDWING)/attitude_infrared.makefile
-include $(CFG_FIXEDWING)/gyro.makefile
+    <modules>
+    </modules>
 
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment 
if needed
-#GPS_UART_NR   = 0
-#GPS_BAUD      = 38400
-include $(CFG_FIXEDWING)/gps_ublox_lea5h.makefile
+  </firmware>
 
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if 
needed
-#MODEM_UART_NR = 1
-#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/telemetry_xbee_api.makefile
 
+  <firmware name="setup">
+    <target name="tunnel"              board="tiny_2.11" />
+    <target name="setup_actuators"     board="tiny_2.11" />
+  </firmware>
 
-# Special options
-ap.CFLAGS += -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DAGR_CLIMB
-
-
-######################################
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DAGR_CLIMB
-
-  </makefile>
 </airframe>