####################### FBW DEBUG MODE OPTION IN TELEMETRY ########################### ############################## 0=default 1=debug ##################################### # ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 ########################### FLIGHT MODE CONFIGURATION ################################ CONFIG = \"tiny_2_1_1.h\" include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES 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 ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c ####################### MODEM BAUD RATE AND UART SETTINGS ############################ # For Maxstream API protocol (XBee) uncomment the below two lines otherwise use TRANSPARENT serial (pprz). # ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c # For TRANSPARENT serial (pprz) uncomment the below two lines otherwise use Maxstream API protocol. ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600 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 ###################### VARIOUS SUBSYSTEMS AND PERIPHERALS ############################ ########## 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_h_ctl.c fw_v_ctl.c nav_line.c nav_survey_rectangle.c ########## Bomb Drop ap.srcs += bomb.c ########## OSAM functions (poly survey etc. ) #ap.srcs += OSAMNav.c #ap.CFLAGS += -DGYRO -DADXRS150 #ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c ########## Current sensor #ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16 #ap.srcs += adc_generic.c ########## Barometer SCP1000 (SPI) #ap.CFLAGS += -DUSE_BARO_SCP #ap.srcs += baro_scp.c ########## Chemo sensor (I2C) #ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c #ap.CFLAGS += -DUSE_I2C -DENOSE ########## video camera #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH #ap.srcs += point.c cam.c ########## EagleTree sensors Airspeed and Altimeter (ETS) #ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_I2C0 # Uncomment the below line if you use the EagleTree altimeter sensor also. #ap.CFLAGS += -DUSE_BARO_ETS #ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c ########## Digital camera #Shutter: I2C SCL #Zoom: I2C SDA #ap.CFLAGS += -DDIGITAL_CAM #ap.srcs += dc.c ########## Configuration for Hardware In The Loop # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 ######################## Config for SITL simulation ##################################### include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DUSE_MODULES sim.CFLAGS += -DSTRONG_WIND sim.srcs += nav_line.c nav_survey_rectangle.c traffic_info.c ########## Bomb Drop sim.srcs += bomb.c ########## OSAM functions (poly survey etc. ) #sim.srcs += OSAMNav.c ########## video camera #sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH #sim.srcs += point.c cam.c ########## Digital camera #sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4 #sim.srcs += dc.c ########## EagleTree sensors Airspeed and Altimeter (ETS) #sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 # Uncomment the below line if you use the EagleTree altimeter sensor also. #sim.CFLAGS += -DUSE_BARO_ETS #sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.ARCH = arm7tdmi setup_actuators.TARGET = setup_actuators setup_actuators.TARGETDIR = setup_actuators setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c