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[paparazzi-commits] [5616] rotorcraft sim is building again - not tested
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5616] rotorcraft sim is building again - not tested runtime |
|
Date: |
Mon, 23 Aug 2010 14:49:10 +0000 |
Revision: 5616
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5616
Author: poine
Date: 2010-08-23 14:49:09 +0000 (Mon, 23 Aug 2010)
Log Message:
-----------
rotorcraft sim is building again - not tested runtime
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
paparazzi3/trunk/conf/boards/pc.makefile
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
paparazzi3/trunk/sw/airborne/booz/booz_fms.h
paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile
paparazzi3/trunk/sw/airborne/boards/pc/
paparazzi3/trunk/sw/airborne/boards/pc/baro_board.c
paparazzi3/trunk/sw/airborne/boards/pc/baro_board.h
Removed Paths:
-------------
paparazzi3/trunk/conf/autopilot/booz2_simulator_nps.makefile
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-08-23 14:45:21 UTC
(rev 5615)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-08-23 14:49:09 UTC
(rev 5616)
@@ -209,8 +209,8 @@
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but
putting it here as example-->
</target>
- <target name="sim" board="pc">
- </target>
+ <target name="sim" board="pc"/>
+ <subsystem name="simulator" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
@@ -231,7 +231,7 @@
# FIXME: make fms a module
#include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
#include $(CFG_BOOZ)/booz2_test_progs.makefile
-#include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator_nps.makefile
</makefile>
-->
Deleted: paparazzi3/trunk/conf/autopilot/booz2_simulator_nps.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz2_simulator_nps.makefile
2010-08-23 14:45:21 UTC (rev 5615)
+++ paparazzi3/trunk/conf/autopilot/booz2_simulator_nps.makefile
2010-08-23 14:49:09 UTC (rev 5616)
@@ -1,155 +0,0 @@
-#
-# SITL Simulator
-#
-
-SIM_TYPE = JSBSIM
-
-JSBSIM_ROOT = /opt/jsbsim
-JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
-JSBSIM_LIB = $(JSBSIM_ROOT)/lib
-
-SRC_BOOZ=booz
-SRC_BOOZ_SIM = $(SRC_BOOZ)/arch/sim
-
-NPSDIR = $(SIMDIR)/nps
-
-
-sim.ARCHDIR = $(ARCHI)
-sim.ARCH = sitl
-sim.TARGET = sim
-sim.TARGETDIR = sim
-
-sim.CFLAGS += -DSITL
-sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
-sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
-sim.CFLAGS += -I$(NPSDIR) -I/usr/local/include -I$(JSBSIM_INC)
-sim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
-
-sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I../simulator
-I$(PAPARAZZI_HOME)/conf/simulator/nps
-
-sim.srcs = $(NPSDIR)/nps_main.c \
- $(NPSDIR)/nps_fdm_jsbsim.c \
- $(NPSDIR)/nps_random.c \
- $(NPSDIR)/nps_sensors.c \
- $(NPSDIR)/nps_sensors_utils.c \
- $(NPSDIR)/nps_sensor_gyro.c \
- $(NPSDIR)/nps_sensor_accel.c \
- $(NPSDIR)/nps_sensor_mag.c \
- $(NPSDIR)/nps_sensor_baro.c \
- $(NPSDIR)/nps_sensor_gps.c \
- $(NPSDIR)/nps_radio_control.c \
- $(NPSDIR)/nps_radio_control_joystick.c \
- $(NPSDIR)/nps_radio_control_spektrum.c \
- $(NPSDIR)/nps_autopilot_booz.c \
- $(NPSDIR)/nps_ivy.c \
- $(NPSDIR)/nps_flightgear.c \
-
-
-sim.srcs += math/pprz_trig_int.c \
- math/pprz_geodetic_float.c \
- math/pprz_geodetic_double.c \
-
-
-
-sim.CFLAGS += -DBOARD_CONFIG=\"boards/booz2_v1_0.h\"
-
-sim.srcs += $(SRC_BOOZ_SIM)/booz2_unsimulated_peripherals.c
-sim.srcs += $(SRC_BOOZ)/booz2_main.c
-
-sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-# -DTIME_LED=1
-#sim.CFLAGS += -DLED
-sim.srcs += sys_time.c
-
-
-sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
-sim.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
- downlink.c \
- $(SRC_ARCH)/ivy_transport.c
-
-sim.srcs += $(SRC_BOOZ)/booz2_commands.c
-
-sim.srcs += $(SRC_BOOZ)/booz2_datalink.c
-
-#
-#
-#
-
-
-sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2
-DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
-sim.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
-
-sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
-sim.srcs += $(SRC_BOOZ)/booz2_battery.c
-
-sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
-
-
-
-
-sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
-
-#
-# in makefile section of airframe xml
-# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
-# or
-# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-#
-
-sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
-sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
-
-NUM_TYPE=integer
-#NUM_TYPE=float
-
-STAB_TYPE=euler
-#STAB_TYPE=quaternion
-
-ifeq ($(NUM_TYPE), integer)
- sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
- ifeq ($(STAB_TYPE), euler)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
- else ifeq ($(STAB_TYPE), quaternion)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_int.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_int.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_int.c
- endif
-else ifeq ($(NUM_TYPE), float)
- sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_float.h\"
- ifeq ($(STAB_TYPE), euler)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_float.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_float.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_float.c
- else ifeq ($(STAB_TYPE), quaternion)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_float.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_float.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_float.c
- endif
-endif
-
-sim.CFLAGS += -DUSE_NAVIGATION
-sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
-sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
-sim.srcs += math/pprz_geodetic_int.c
-sim.srcs += $(SRC_BOOZ)/booz2_ins.c
-
-# vertical filter float version
-sim.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
-sim.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
-
-#
-# INS choice
-#
-# include booz2_ins_hff.makefile
-# or
-# nothing
-#
-
-
-sim.srcs += $(SRC_BOOZ)/booz2_navigation.c
-
-
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile
(from rev 5598, paparazzi3/trunk/conf/autopilot/booz2_simulator_nps.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile
2010-08-23 14:49:09 UTC (rev 5616)
@@ -0,0 +1,157 @@
+#
+# SITL Simulator
+#
+
+SIM_TYPE = JSBSIM
+
+JSBSIM_ROOT = /opt/jsbsim
+JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
+JSBSIM_LIB = $(JSBSIM_ROOT)/lib
+
+SRC_BOOZ=booz
+SRC_BOOZ_SIM = $(SRC_BOOZ)/arch/sim
+
+SRC_BOARD=boards/$(BOARD)
+
+NPSDIR = $(SIMDIR)/nps
+
+
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = sim
+sim.TARGETDIR = sim
+
+sim.CFLAGS += -DSITL
+sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
+sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
+sim.CFLAGS += -I$(NPSDIR) -I/usr/local/include -I$(JSBSIM_INC)
+sim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
+
+sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I$(SRC_BOARD) -I../simulator
-I$(PAPARAZZI_HOME)/conf/simulator/nps
+
+sim.srcs = $(NPSDIR)/nps_main.c \
+ $(NPSDIR)/nps_fdm_jsbsim.c \
+ $(NPSDIR)/nps_random.c \
+ $(NPSDIR)/nps_sensors.c \
+ $(NPSDIR)/nps_sensors_utils.c \
+ $(NPSDIR)/nps_sensor_gyro.c \
+ $(NPSDIR)/nps_sensor_accel.c \
+ $(NPSDIR)/nps_sensor_mag.c \
+ $(NPSDIR)/nps_sensor_baro.c \
+ $(NPSDIR)/nps_sensor_gps.c \
+ $(NPSDIR)/nps_radio_control.c \
+ $(NPSDIR)/nps_radio_control_joystick.c \
+ $(NPSDIR)/nps_radio_control_spektrum.c \
+ $(NPSDIR)/nps_autopilot_booz.c \
+ $(NPSDIR)/nps_ivy.c \
+ $(NPSDIR)/nps_flightgear.c \
+
+
+sim.srcs += math/pprz_trig_int.c \
+ math/pprz_geodetic_float.c \
+ math/pprz_geodetic_double.c \
+
+
+
+sim.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+
+sim.srcs += $(SRC_BOOZ_SIM)/booz2_unsimulated_peripherals.c
+sim.srcs += firmwares/rotorcraft/main.c
+
+sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+# -DTIME_LED=1
+#sim.CFLAGS += -DLED
+sim.srcs += sys_time.c
+
+
+sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+sim.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
+ downlink.c \
+ $(SRC_ARCH)/ivy_transport.c
+
+sim.srcs += $(SRC_BOOZ)/booz2_commands.c
+
+sim.srcs += $(SRC_BOOZ)/booz2_datalink.c
+
+#
+#
+#
+
+
+sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2
-DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+sim.srcs += $(SRC_BOARD)/baro_board.c
+
+sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+sim.srcs += $(SRC_BOOZ)/booz2_battery.c
+
+sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
+
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_1
+
+sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
+
+#
+# in makefile section of airframe xml
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
+# or
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+#
+
+sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
+sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
+
+NUM_TYPE=integer
+#NUM_TYPE=float
+
+STAB_TYPE=euler
+#STAB_TYPE=quaternion
+
+ifeq ($(NUM_TYPE), integer)
+ sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
+ ifeq ($(STAB_TYPE), euler)
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
+ else ifeq ($(STAB_TYPE), quaternion)
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_int.h\"
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_int.c
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_int.c
+ endif
+else ifeq ($(NUM_TYPE), float)
+ sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_float.h\"
+ ifeq ($(STAB_TYPE), euler)
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_float.h\"
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_float.c
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_float.c
+ else ifeq ($(STAB_TYPE), quaternion)
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_float.h\"
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_float.c
+ sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_float.c
+ endif
+endif
+
+sim.CFLAGS += -DUSE_NAVIGATION
+sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
+sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
+sim.srcs += math/pprz_geodetic_int.c
+sim.srcs += $(SRC_BOOZ)/booz2_ins.c
+
+# vertical filter float version
+sim.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
+sim.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
+
+#
+# INS choice
+#
+# include booz2_ins_hff.makefile
+# or
+# nothing
+#
+
+
+sim.srcs += $(SRC_BOOZ)/booz2_navigation.c
+
+
Modified: paparazzi3/trunk/conf/boards/pc.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/pc.makefile 2010-08-23 14:45:21 UTC (rev
5615)
+++ paparazzi3/trunk/conf/boards/pc.makefile 2010-08-23 14:49:09 UTC (rev
5616)
@@ -6,6 +6,7 @@
ARCH=sim
ARCHI=sim
+BOARD = pc
BOARD_CFG = \"tiny.h\"
Modified: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-08-23
14:45:21 UTC (rev 5615)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-08-23
14:49:09 UTC (rev 5616)
@@ -1,3 +1,9 @@
+
+/*
+ * board specific fonctions for the lisa_l board
+ *
+ */
+
#ifndef BOARDS_LISA_L_BARO_H
#define BOARDS_LISA_L_BARO_H
Added: paparazzi3/trunk/sw/airborne/boards/pc/baro_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/pc/baro_board.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/pc/baro_board.c 2010-08-23 14:49:09 UTC
(rev 5616)
@@ -0,0 +1,16 @@
+
+
+#include "firmwares/rotorcraft/baro.h"
+
+struct Baro baro;
+
+bool_t baro_pc_available;
+
+void baro_init(void) {baro_pc_available=FALSE;}
+
+void baro_periodic(void) {}
+
+void baro_feed_value(double value) {
+ baro.absolute = value;
+ baro_pc_available = TRUE;
+}
Added: paparazzi3/trunk/sw/airborne/boards/pc/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/pc/baro_board.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/pc/baro_board.h 2010-08-23 14:49:09 UTC
(rev 5616)
@@ -0,0 +1,21 @@
+/*
+ * board specific fonction for the PC board ( simulator )
+ *
+ */
+
+#ifndef BOARDS_PC_BARO_H
+#define BOARDS_PC_BARO_H
+
+#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
+ if (baro_pc_available) { \
+ _b_abs_handler(); \
+ baro_pc_available = FALSE; \
+ } \
+ }
+
+
+extern bool_t baro_pc_available;
+
+extern void baro_feed_value(double value);
+
+#endif /* BOARDS_PC_BARO_H */
Modified: paparazzi3/trunk/sw/airborne/booz/booz_fms.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_fms.h 2010-08-23 14:45:21 UTC
(rev 5615)
+++ paparazzi3/trunk/sw/airborne/booz/booz_fms.h 2010-08-23 14:49:09 UTC
(rev 5616)
@@ -94,6 +94,7 @@
#define BOOZ_FMS_TYPE_DATALINK 0
#define BOOZ_FMS_TYPE_TEST_SIGNAL 1
+#define BOOZ_FMS_TYPE_OVERO_LINK 2
#if defined BOOZ_FMS_TYPE
#if BOOZ_FMS_TYPE == BOOZ_FMS_TYPE_DATALINK
Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-08-23
14:45:21 UTC (rev 5615)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-08-23
14:49:09 UTC (rev 5616)
@@ -1,11 +1,11 @@
#include "nps_autopilot_booz.h"
-#include "booz2_main.h"
+#include "firmwares/rotorcraft/main.h"
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "booz_radio_control.h"
-#include "booz_imu.h"
-#include "booz2_analog_baro.h"
+#include "booz/booz_imu.h"
+#include "firmwares/rotorcraft/baro.h"
#include "actuators/booz_supervision.h"
@@ -45,7 +45,7 @@
}
if (nps_sensors_baro_available()) {
- Booz2BaroISRHandler(sensors.baro.value);
+ baro_feed_value(sensors.baro.value);
booz2_main_event();
}
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- [paparazzi-commits] [5616] rotorcraft sim is building again - not tested runtime,
antoine drouin <=