merge dev

FlyTheThings · Mar 5, 2012 · 55dda79 · 55dda79
2 parents cf2dca2 + 258d93a
commit 55dda79
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Showing 868 changed files with 11,586 additions and 20,452 deletions.
diff --git a/.gitignore b/.gitignore
@@ -55,7 +55,6 @@
 /conf/conf.xml.20*
 /conf/control_panel.xml
 /conf/%gconf.xml
-/conf/srtm_data/*
 /conf/maps_data/*
 /conf/maps.xml
 /conf/gps/ublox_conf
@@ -166,3 +165,8 @@
 /sw/airborne/test/test_algebra
 /sw/airborne/test/test_matrix
 /sw/airborne/test/test_att
+
+/sw/airborne/test/ahrs/run_ahrs_on_synth
+
+# Mac OS X
+.DS_Store
diff --git a/Makefile b/Makefile
@@ -251,22 +251,19 @@ dist_clean :
 	@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
 
 dist_clean_irreversible: clean
-	rm -rf conf/srtm_data
 	rm -rf conf/maps_data conf/maps.xml
 	rm -rf conf/conf.xml conf/controlpanel.xml
 	rm -rf var
 
 ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
 
-test_all_example_airframes:
-	$(MAKE) AIRCRAFT=BOOZ2_A1 clean_ac ap sim
-	$(MAKE) AIRCRAFT=Microjet clean_ac ap sim
-	$(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap
-	$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
+test_all_example_airframes: replace_current_conf_xml
+	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/".*//'`; do for airframe in `grep $$ap conf/conf.xml.example | sed -e 's/.*airframe=\"//' | sed -e 's/".*//'`; do for target in `grep target conf/$$airframe | grep name | sed -e 's/.*name=\"//' | sed -e 's/\".*//'`; do echo "Making $$ap $$target"; make -C ./ AIRCRAFT=$$ap clean_ac $$target.compile || exit 1; done; done; done
 
-test_all_example_airframes2:
-	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile;   done
+replace_current_conf_xml:
+	test conf/conf.xml || mv conf/conf.xml conf/conf.xml.backup.`date +%Y%m%d-%H%M%s`
+	cp conf/conf.xml.example conf/conf.xml
 
 commands: paparazzi sw/simulator/launchsitl
 
@@ -278,8 +275,4 @@ sw/simulator/launchsitl:
 	cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
 	chmod a+x $@
 
-#.SUFFIXES: .hgt.zip
-
-%.hgt.zip:
-	cd data/srtm; $(MAKE) $(@)
 
diff --git a/Makefile.sys b/Makefile.sys
diff --git a/conf/Makefile.lpc21 b/conf/Makefile.lpc21
@@ -115,7 +115,7 @@ OPT = s
 
 CSTANDARD = -std=gnu99
 
-CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
+CINCS = $(INCLUDES) -I$(SRC_ARCH)/include
 
 # Compiler flags.
 CFLAGS = $(CINCS)

diff --git a/conf/Makefile.sim b/conf/Makefile.sim
@@ -51,22 +51,17 @@ ifneq ($(SIM_TYPE),JSBSIM)
 INCLUDES += -I `ocamlc -where`
 endif
 
-CFLAGS		=						\
-	-W -Wall 						\
-	$(INCLUDES)					  	\
-	$($(TARGET).CFLAGS)					\
-	$(LOCAL_CFLAGS)						\
-	-O2							\
-
-# meschach prototypes trigger numerous warnings
-ifneq ($(SIM_TYPE),BOOZ)
+CFLAGS  = -W -Wall
+CFLAGS += $(INCLUDES)
+CFLAGS += $($(TARGET).CFLAGS)
+CFLAGS += $(LOCAL_CFLAGS)
+CFLAGS += -O2
+
 ifneq ($(SIM_TYPE),JSBSIM)
-CFLAGS	+= -Wstrict-prototypes
-endif
+CFLAGS += -std=gnu99
 endif
 
-
-LDFLAGS		=	-lm					\
+LDFLAGS		=	-lm
 
 ifeq ($(SIM_TYPE),BOOZ)
 LDFLAGS		+= $($(TARGET).LDFLAGS)

diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
@@ -52,6 +52,7 @@ CP   = $(GCC_BIN_PREFIX)-objcopy
 DMP  = $(GCC_BIN_PREFIX)-objdump
 NM   = $(GCC_BIN_PREFIX)-nm
 SIZE = $(GCC_BIN_PREFIX)-size
+GDB  = $(GCC_BIN_PREFIX)-gdb
 RM   = rm
 
 # If we can't find the toolchain then try picking up the compilers from the path
@@ -62,8 +63,10 @@ CP   = $(shell which arm-none-eabi-objcopy)
 DMP  = $(shell which arm-none-eabi-objdump)
 NM   = $(shell which arm-none-eabi-nm)
 SIZE = $(shell which arm-none-eabi-size)
+GDB  = $(shell which arm-none-eabi-gdb)
 RM   = rm
-GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
+TOOLCHAIN_DIR=$(shell dirname `which arm-none-eabi-gcc`)
+GCC_LIB_DIR=$(TOOLCHAIN_DIR)/../arm-none-eabi/lib
 endif
 
 # Detect if we are using the new libopencm3 or the old libopenstm32
@@ -250,19 +253,30 @@ ifeq ($(FLASH_MODE),SERIAL)
 upload: $(OBJDIR)/$(TARGET).bin
 	$(LOADER) -p /dev/ttyUSB0  -b 115200 -e -w -v $^
 else ifeq ($(FLASH_MODE),JTAG)
-upload:  $(OBJDIR)/$(TARGET).elf
+ifeq ($(BMP_PORT),)
+upload: $(OBJDIR)/$(TARGET).elf
 	@echo "Using OOCD = $(OOCD)"
 	@echo "  OOCD\t$<"
 	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
 		-f board/$(OOCD_BOARD).cfg \
 		-c init \
 		-c "reset halt" \
 		-c "reset init" \
-		-c "stm32x mass_erase 0" \
+		-c "stm32f1x mass_erase 0" \
 		-c "flash write_image $<" \
 		-c reset \
 		-c shutdown
 else
+upload: $(OBJDIR)/$(TARGET).elf
+	@echo "Using Black Magic Probe"
+	@echo "Using GDB = $(GDB)"
+	@echo "  BMP\t$<"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(BMP_PORT)' \
+		   -x $(TOOLCHAIN_DIR)/arm-none-eabi/share/libopencm3/scripts/black_magic_probe_flash.scr \
+		   $<
+endif
+else
 upload:
 	@echo unknown flash_mode $(FLASH_MODE)
 endif

diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -44,37 +44,6 @@
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="2048"/>
-    <define name="ADC_IR2_NEUTRAL" value="2048"/>
-    <define name="ADC_TOP_NEUTRAL" value="2048"/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-  </section>
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/>
-  </section>
-
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
 
@@ -92,9 +61,6 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -121,9 +87,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
@@ -156,8 +122,8 @@
 
   <section name="SIMU">
     <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
+    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
   </section>
 
   <section name="INS" prefix="INS_">
@@ -188,8 +154,7 @@
     </subsystem>
 
     <subsystem name="control"/>
-    <!-- Sensors
-    <subsystem name="gyro"          type="roll"/> -->
+    <!-- Sensors -->
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 

diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -85,9 +85,6 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -116,9 +113,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0"/>

diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -85,9 +85,6 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -116,9 +113,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0"/>

diff --git a/conf/airframes/CDW/LisaAspirin2.xml b/conf/airframes/CDW/LisaAspirin2.xml
@@ -206,7 +206,7 @@
       <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" />
+       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" /> 
 
       <configure name="AHRS_ALIGNER_LED" value="1"/>
       <configure name="CPU_LED" value="1"/>