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[paparazzi-commits] [4085] original commit :)
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From: |
Anton K. |
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Subject: |
[paparazzi-commits] [4085] original commit :) |
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Date: |
Sat, 05 Sep 2009 00:32:16 +0000 |
Revision: 4085
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4085
Author: antonk
Date: 2009-09-05 00:32:16 +0000 (Sat, 05 Sep 2009)
Log Message:
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original commit :)
Added Paths:
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paparazzi3/branches/nova/
paparazzi3/branches/nova/AUTHORS
paparazzi3/branches/nova/BUGS
paparazzi3/branches/nova/COPYING
paparazzi3/branches/nova/Doxyfile
paparazzi3/branches/nova/Makefile
paparazzi3/branches/nova/Makefile.ac
paparazzi3/branches/nova/Makefile.install
paparazzi3/branches/nova/Makefile.sys
paparazzi3/branches/nova/README
paparazzi3/branches/nova/TODO
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paparazzi3/branches/nova/conf/Makefile.arm7
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paparazzi3/branches/nova/conf/Makefile.local
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paparazzi3/branches/nova/conf/airframes/
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paparazzi3/branches/nova/sw/airborne/anemotaxis.c
paparazzi3/branches/nova/sw/airborne/anemotaxis.h
paparazzi3/branches/nova/sw/airborne/ap_downlink.h
paparazzi3/branches/nova/sw/airborne/arm-linux/
paparazzi3/branches/nova/sw/airborne/arm-linux/arm-linux_bootlog.txt
paparazzi3/branches/nova/sw/airborne/arm7/
paparazzi3/branches/nova/sw/airborne/arm7/ADS8344.c
paparazzi3/branches/nova/sw/airborne/arm7/ADS8344.h
paparazzi3/branches/nova/sw/airborne/arm7/LPC2148-ROM-bl.ld
paparazzi3/branches/nova/sw/airborne/arm7/LPC2148-ROM.ld
paparazzi3/branches/nova/sw/airborne/arm7/actuators_buss_twi_blmc_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/actuators_buss_twi_blmc_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/adc_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/adc_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/armVIC.c
paparazzi3/branches/nova/sw/airborne/arm7/armVIC.h
paparazzi3/branches/nova/sw/airborne/arm7/baro_MS5534A.c
paparazzi3/branches/nova/sw/airborne/arm7/baro_MS5534A.h
paparazzi3/branches/nova/sw/airborne/arm7/booz2_imu_crista_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/booz2_imu_crista_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/booz_imu_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/booz_imu_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/booz_link_mcu_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/booz_link_mcu_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/booz_test_gyros.c
paparazzi3/branches/nova/sw/airborne/arm7/booz_test_micromag.c
paparazzi3/branches/nova/sw/airborne/arm7/booz_test_scp.c
paparazzi3/branches/nova/sw/airborne/arm7/crt0.S
paparazzi3/branches/nova/sw/airborne/arm7/gpio.c
paparazzi3/branches/nova/sw/airborne/arm7/gpio.h
paparazzi3/branches/nova/sw/airborne/arm7/i2c_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/i2c_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/icp_scale.h
paparazzi3/branches/nova/sw/airborne/arm7/include/
paparazzi3/branches/nova/sw/airborne/arm7/include/LPC21xx.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcADC.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcEMC.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcGPIO.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcI2C.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcPIN.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcRTC.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcSCB.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcSPI.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcTMR.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcUART.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcVIC.h
paparazzi3/branches/nova/sw/airborne/arm7/include/lpcWD.h
paparazzi3/branches/nova/sw/airborne/arm7/include/types.h
paparazzi3/branches/nova/sw/airborne/arm7/init_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/interrupt_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/inttypes.h
paparazzi3/branches/nova/sw/airborne/arm7/led_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/link_mcu_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/CHANGELOG
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/Doxyfile
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/Makefile
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/type.h
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbapi.h
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbcontrol.c
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbdebug.h
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbhw_lpc.c
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbhw_lpc.h
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbinit.c
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbstdreq.c
paparazzi3/branches/nova/sw/airborne/arm7/lpcusb/usbstruct.h
paparazzi3/branches/nova/sw/airborne/arm7/main_test_i2c.c
paparazzi3/branches/nova/sw/airborne/arm7/max1167_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/max1167_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_buss_twi_controller.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_buss_twi_controller.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_current.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_current.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_modes.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_modes.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_scale.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_scale.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_servo.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_servo.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_tacho.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_tacho.h
paparazzi3/branches/nova/sw/airborne/arm7/mb_twi_controller.c
paparazzi3/branches/nova/sw/airborne/arm7/mb_twi_controller.h
paparazzi3/branches/nova/sw/airborne/arm7/micromag_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/micromag_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/modem_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/modem_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/ppm_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/ppm_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/scp1000_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/scp1000_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/servos_4015_MAT_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/servos_4015_MAT_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/servos_4015_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/servos_4015_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/servos_4015_hw_new.c
paparazzi3/branches/nova/sw/airborne/arm7/servos_4017_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/servos_4017_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/servos_direct_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/servos_direct_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/spi_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/spi_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/sys_time_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/sys_time_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/tacho_mb.c
paparazzi3/branches/nova/sw/airborne/arm7/tacho_mb.h
paparazzi3/branches/nova/sw/airborne/arm7/test/
paparazzi3/branches/nova/sw/airborne/arm7/test/LPC2138-ROM-bl.ld
paparazzi3/branches/nova/sw/airborne/arm7/test/LPC2138-ROM.ld
paparazzi3/branches/nova/sw/airborne/arm7/test/Makefile
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/Makefile
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/bootloader.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/console.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/console.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/crt.S
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/flash.sh
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/lpc2148-ram.ld
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/lpc2148-rom-hi.ld
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/lpc2148-rom.ld
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/lpc21iap.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/printf.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/startup.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/startup.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/type.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbapi.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbcontrol.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbdebug.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbdescrip.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbhw_lpc.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbhw_lpc.h
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbinit.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbstdreq.c
paparazzi3/branches/nova/sw/airborne/arm7/test/bootloader/usbstruct.h
paparazzi3/branches/nova/sw/airborne/arm7/test/crt0.S
paparazzi3/branches/nova/sw/airborne/arm7/test/dev_board.h
paparazzi3/branches/nova/sw/airborne/arm7/test/inttypes.h
paparazzi3/branches/nova/sw/airborne/arm7/test/ledswitch.c
paparazzi3/branches/nova/sw/airborne/arm7/test/lpc2138.h
paparazzi3/branches/nova/sw/airborne/arm7/test/lpc21xx.h
paparazzi3/branches/nova/sw/airborne/arm7/test/timer.c
paparazzi3/branches/nova/sw/airborne/arm7/test/uart.c
paparazzi3/branches/nova/sw/airborne/arm7/test/uart_tunnel.c
paparazzi3/branches/nova/sw/airborne/arm7/test/welcome.h
paparazzi3/branches/nova/sw/airborne/arm7/tl_baro.c
paparazzi3/branches/nova/sw/airborne/arm7/tl_baro.h
paparazzi3/branches/nova/sw/airborne/arm7/tl_imu.c
paparazzi3/branches/nova/sw/airborne/arm7/tl_imu.h
paparazzi3/branches/nova/sw/airborne/arm7/tl_test_imu_main.c
paparazzi3/branches/nova/sw/airborne/arm7/tl_test_mm_main.c
paparazzi3/branches/nova/sw/airborne/arm7/uart_hw.c
paparazzi3/branches/nova/sw/airborne/arm7/uart_hw.h
paparazzi3/branches/nova/sw/airborne/arm7/uart_tunnel.c
paparazzi3/branches/nova/sw/airborne/arm7/usb_ser_hw.c
paparazzi3/branches/nova/sw/airborne/arm9/
paparazzi3/branches/nova/sw/airborne/arm9/include/
paparazzi3/branches/nova/sw/airborne/arm9/include/lpc318x.h
paparazzi3/branches/nova/sw/airborne/autopilot/
paparazzi3/branches/nova/sw/airborne/autopilot/test/
paparazzi3/branches/nova/sw/airborne/autopilot.h
paparazzi3/branches/nova/sw/airborne/avr/
paparazzi3/branches/nova/sw/airborne/avr/adc_hw.c
paparazzi3/branches/nova/sw/airborne/avr/adc_hw.h
paparazzi3/branches/nova/sw/airborne/avr/ahrs_asm.S
paparazzi3/branches/nova/sw/airborne/avr/ant_h_bridge.c
paparazzi3/branches/nova/sw/airborne/avr/ant_h_bridge.h
paparazzi3/branches/nova/sw/airborne/avr/ant_servo.c
paparazzi3/branches/nova/sw/airborne/avr/ant_servo.h
paparazzi3/branches/nova/sw/airborne/avr/ant_spi.c
paparazzi3/branches/nova/sw/airborne/avr/ant_spi.h
paparazzi3/branches/nova/sw/airborne/avr/ant_tracker.c
paparazzi3/branches/nova/sw/airborne/avr/ant_tracker.h
paparazzi3/branches/nova/sw/airborne/avr/ant_v2x.c
paparazzi3/branches/nova/sw/airborne/avr/ant_v2x.h
paparazzi3/branches/nova/sw/airborne/avr/dc_mc_link.c
paparazzi3/branches/nova/sw/airborne/avr/dc_mc_link.h
paparazzi3/branches/nova/sw/airborne/avr/dc_mc_power.c
paparazzi3/branches/nova/sw/airborne/avr/dc_mc_power.h
paparazzi3/branches/nova/sw/airborne/avr/gpio.h
paparazzi3/branches/nova/sw/airborne/avr/i2c_ap.c
paparazzi3/branches/nova/sw/airborne/avr/i2c_ap.h
paparazzi3/branches/nova/sw/airborne/avr/init_hw.h
paparazzi3/branches/nova/sw/airborne/avr/interrupt_hw.h
paparazzi3/branches/nova/sw/airborne/avr/led_hw.h
paparazzi3/branches/nova/sw/airborne/avr/link_mcu_hw.h
paparazzi3/branches/nova/sw/airborne/avr/modem_hw.c
paparazzi3/branches/nova/sw/airborne/avr/modem_hw.h
paparazzi3/branches/nova/sw/airborne/avr/ppm_hw.c
paparazzi3/branches/nova/sw/airborne/avr/ppm_hw.h
paparazzi3/branches/nova/sw/airborne/avr/servos_4017.c
paparazzi3/branches/nova/sw/airborne/avr/servos_4017.h
paparazzi3/branches/nova/sw/airborne/avr/servos_direct_hw.c
paparazzi3/branches/nova/sw/airborne/avr/servos_direct_hw.h
paparazzi3/branches/nova/sw/airborne/avr/servos_esc_hw.c
paparazzi3/branches/nova/sw/airborne/avr/servos_esc_hw.h
paparazzi3/branches/nova/sw/airborne/avr/spi_hw.c
paparazzi3/branches/nova/sw/airborne/avr/spi_hw.h
paparazzi3/branches/nova/sw/airborne/avr/sys_time_hw.c
paparazzi3/branches/nova/sw/airborne/avr/sys_time_hw.h
paparazzi3/branches/nova/sw/airborne/avr/uart_hw.c
paparazzi3/branches/nova/sw/airborne/avr/uart_hw.h
paparazzi3/branches/nova/sw/airborne/avr/uart_tunnel.c
paparazzi3/branches/nova/sw/airborne/baro_scp.c
paparazzi3/branches/nova/sw/airborne/baro_scp.h
paparazzi3/branches/nova/sw/airborne/bomb.c
paparazzi3/branches/nova/sw/airborne/bomb.h
paparazzi3/branches/nova/sw/airborne/bootloader/
paparazzi3/branches/nova/sw/airborne/booz/
paparazzi3/branches/nova/sw/airborne/booz/arm7/
paparazzi3/branches/nova/sw/airborne/booz2_debug.c
paparazzi3/branches/nova/sw/airborne/booz2_debug.h
paparazzi3/branches/nova/sw/airborne/booz2_imu_crista.c
paparazzi3/branches/nova/sw/airborne/booz2_imu_crista.h
paparazzi3/branches/nova/sw/airborne/booz2_supervision.h
paparazzi3/branches/nova/sw/airborne/booz2_test_crista.c
paparazzi3/branches/nova/sw/airborne/booz_ahrs.c
paparazzi3/branches/nova/sw/airborne/booz_ahrs.h
paparazzi3/branches/nova/sw/airborne/booz_autopilot.c
paparazzi3/branches/nova/sw/airborne/booz_autopilot.h
paparazzi3/branches/nova/sw/airborne/booz_control.c
paparazzi3/branches/nova/sw/airborne/booz_control.h
paparazzi3/branches/nova/sw/airborne/booz_controller_main.c
paparazzi3/branches/nova/sw/airborne/booz_controller_main.h
paparazzi3/branches/nova/sw/airborne/booz_controller_telemetry.c
paparazzi3/branches/nova/sw/airborne/booz_controller_telemetry.h
paparazzi3/branches/nova/sw/airborne/booz_datalink.c
paparazzi3/branches/nova/sw/airborne/booz_debug.c
paparazzi3/branches/nova/sw/airborne/booz_debug.h
paparazzi3/branches/nova/sw/airborne/booz_estimator.c
paparazzi3/branches/nova/sw/airborne/booz_estimator.h
paparazzi3/branches/nova/sw/airborne/booz_filter_main.c
paparazzi3/branches/nova/sw/airborne/booz_filter_main.h
paparazzi3/branches/nova/sw/airborne/booz_filter_telemetry.c
paparazzi3/branches/nova/sw/airborne/booz_filter_telemetry.h
paparazzi3/branches/nova/sw/airborne/booz_imu.c
paparazzi3/branches/nova/sw/airborne/booz_imu.h
paparazzi3/branches/nova/sw/airborne/booz_inter_mcu.c
paparazzi3/branches/nova/sw/airborne/booz_inter_mcu.h
paparazzi3/branches/nova/sw/airborne/booz_link_mcu.c
paparazzi3/branches/nova/sw/airborne/booz_link_mcu.h
paparazzi3/branches/nova/sw/airborne/booz_nav.c
paparazzi3/branches/nova/sw/airborne/booz_nav.h
paparazzi3/branches/nova/sw/airborne/booz_nav_hover.c
paparazzi3/branches/nova/sw/airborne/booz_nav_hover.h
paparazzi3/branches/nova/sw/airborne/booz_still_detection.c
paparazzi3/branches/nova/sw/airborne/booz_still_detection.h
paparazzi3/branches/nova/sw/airborne/booz_test_imu.c
paparazzi3/branches/nova/sw/airborne/booz_test_still_detection.c
paparazzi3/branches/nova/sw/airborne/booz_test_vfilter.c
paparazzi3/branches/nova/sw/airborne/cam.c
paparazzi3/branches/nova/sw/airborne/cam.h
paparazzi3/branches/nova/sw/airborne/cam_roll.c
paparazzi3/branches/nova/sw/airborne/cam_roll.h
paparazzi3/branches/nova/sw/airborne/chemo_detect.c
paparazzi3/branches/nova/sw/airborne/chemo_detect.h
paparazzi3/branches/nova/sw/airborne/chemotaxis.c
paparazzi3/branches/nova/sw/airborne/chemotaxis.h
paparazzi3/branches/nova/sw/airborne/commands.c
paparazzi3/branches/nova/sw/airborne/commands.h
paparazzi3/branches/nova/sw/airborne/common_nav.c
paparazzi3/branches/nova/sw/airborne/common_nav.h
paparazzi3/branches/nova/sw/airborne/datalink.c
paparazzi3/branches/nova/sw/airborne/datalink.h
paparazzi3/branches/nova/sw/airborne/dc.c
paparazzi3/branches/nova/sw/airborne/dc.h
paparazzi3/branches/nova/sw/airborne/discsurvey.c
paparazzi3/branches/nova/sw/airborne/discsurvey.h
paparazzi3/branches/nova/sw/airborne/downlink.c
paparazzi3/branches/nova/sw/airborne/downlink.h
paparazzi3/branches/nova/sw/airborne/dpicco.c
paparazzi3/branches/nova/sw/airborne/dpicco.h
paparazzi3/branches/nova/sw/airborne/enose.c
paparazzi3/branches/nova/sw/airborne/enose.h
paparazzi3/branches/nova/sw/airborne/estimator.c
paparazzi3/branches/nova/sw/airborne/estimator.h
paparazzi3/branches/nova/sw/airborne/fbw_downlink.h
paparazzi3/branches/nova/sw/airborne/flightzone.c
paparazzi3/branches/nova/sw/airborne/flightzone.h
paparazzi3/branches/nova/sw/airborne/fly_by_wire/
paparazzi3/branches/nova/sw/airborne/fly_by_wire/test/
paparazzi3/branches/nova/sw/airborne/fw_h_ctl.c
paparazzi3/branches/nova/sw/airborne/fw_h_ctl.h
paparazzi3/branches/nova/sw/airborne/fw_v_ctl.c
paparazzi3/branches/nova/sw/airborne/fw_v_ctl.h
paparazzi3/branches/nova/sw/airborne/gps.c
paparazzi3/branches/nova/sw/airborne/gps.h
paparazzi3/branches/nova/sw/airborne/gps_ubx.c
paparazzi3/branches/nova/sw/airborne/gps_ubx.h
paparazzi3/branches/nova/sw/airborne/gyro.c
paparazzi3/branches/nova/sw/airborne/gyro.h
paparazzi3/branches/nova/sw/airborne/humid_sht.c
paparazzi3/branches/nova/sw/airborne/humid_sht.h
paparazzi3/branches/nova/sw/airborne/i2c.c
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paparazzi3/branches/nova/sw/airborne/infrared.c
paparazzi3/branches/nova/sw/airborne/infrared.h
paparazzi3/branches/nova/sw/airborne/inter_mcu.c
paparazzi3/branches/nova/sw/airborne/inter_mcu.h
paparazzi3/branches/nova/sw/airborne/kalman_tilt.c
paparazzi3/branches/nova/sw/airborne/kalman_tilt.h
paparazzi3/branches/nova/sw/airborne/latlong.c
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paparazzi3/branches/nova/sw/airborne/led.h
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paparazzi3/branches/nova/sw/airborne/link_mcu.c
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paparazzi3/branches/nova/sw/airborne/main.c
paparazzi3/branches/nova/sw/airborne/main_antenna.c
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paparazzi3/branches/nova/sw/airborne/main_fbw.c
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paparazzi3/branches/nova/sw/airborne/main_imu.c
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paparazzi3/branches/nova/sw/airborne/main_pan_tilt_antenna.c
paparazzi3/branches/nova/sw/airborne/max1167.c
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paparazzi3/branches/nova/sw/airborne/micromag.c
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paparazzi3/branches/nova/sw/airborne/modem.h
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paparazzi3/branches/nova/sw/airborne/nav_survey_rectangle.c
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paparazzi3/branches/nova/sw/airborne/nova_analog_imu.c
paparazzi3/branches/nova/sw/airborne/nova_analog_imu.h
paparazzi3/branches/nova/sw/airborne/nova_autopilot.c
paparazzi3/branches/nova/sw/airborne/nova_autopilot.h
paparazzi3/branches/nova/sw/airborne/nova_bat.c
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paparazzi3/branches/nova/sw/airborne/nova_control.c
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paparazzi3/branches/nova/sw/airborne/nova_estimator.c
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paparazzi3/branches/nova/sw/airborne/nova_kalman_filter.c
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paparazzi3/branches/nova/sw/airborne/nova_test_imu.c
paparazzi3/branches/nova/sw/airborne/nova_vertical.c
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paparazzi3/branches/nova/sw/airborne/quadrirotor_autopilot/
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paparazzi3/branches/nova/sw/airborne/scp1000.c
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paparazzi3/branches/nova/sw/airborne/setup_actuators.c
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paparazzi3/branches/nova/sw/airborne/sim/baro_MS5534A.h
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paparazzi3/branches/nova/sw/airborne/sim/ivy_transport.c
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paparazzi3/branches/nova/sw/airborne/sim/max1167_hw.c
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paparazzi3/branches/nova/sw/airborne/test_adcs.c
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paparazzi3/branches/nova/sw/airborne/tl_autopilot.c
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paparazzi3/branches/nova/sw/airborne/tl_datalink.c
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paparazzi3/branches/nova/sw/airborne/tl_gps_configure.h
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paparazzi3/branches/nova/sw/airborne/tl_vfilter.c
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paparazzi3/branches/nova/sw/airborne/traffic_info.c
paparazzi3/branches/nova/sw/airborne/traffic_info.h
paparazzi3/branches/nova/sw/airborne/uart.h
paparazzi3/branches/nova/sw/airborne/ultrasonic_altimeter.c
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paparazzi3/branches/nova/sw/airborne/usb_serial.h
paparazzi3/branches/nova/sw/airborne/wavecard.c
paparazzi3/branches/nova/sw/airborne/wavecard.h
paparazzi3/branches/nova/sw/airborne/xbee.c
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paparazzi3/branches/nova/sw/cgi/
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paparazzi3/branches/nova/sw/ground_segment/multimon/
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paparazzi3/branches/nova/sw/lib/ocaml/gtkgl_Hack.ml
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paparazzi3/branches/nova/sw/lib/ocaml/http.ml
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paparazzi3/branches/nova/sw/lib/ocaml/mapWaypoints.mli
paparazzi3/branches/nova/sw/lib/ocaml/ml_gtk_drag.c
paparazzi3/branches/nova/sw/lib/ocaml/ml_gtkgl_hack.c
paparazzi3/branches/nova/sw/lib/ocaml/ocaml_tools.ml
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paparazzi3/branches/nova/sw/lib/ocaml/platform.ml
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paparazzi3/branches/nova/sw/lib/ocaml/pprz.ml
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paparazzi3/branches/nova/sw/lib/ocaml/serial.ml
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paparazzi3/branches/nova/sw/lib/ocaml/utm_of.ml
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paparazzi3/branches/nova/sw/lib/ocaml/xml_get.ml
paparazzi3/branches/nova/sw/lib/perl/
paparazzi3/branches/nova/sw/lib/perl/Paparazzi/
paparazzi3/branches/nova/sw/logalizer/
paparazzi3/branches/nova/sw/logalizer/Makefile
paparazzi3/branches/nova/sw/logalizer/PPlog3_GUI_help.jpg
paparazzi3/branches/nova/sw/logalizer/README
paparazzi3/branches/nova/sw/logalizer/ahrs2fg.c
paparazzi3/branches/nova/sw/logalizer/ahrs_utils.h
paparazzi3/branches/nova/sw/logalizer/ahrsview.c
paparazzi3/branches/nova/sw/logalizer/dialog.fig
paparazzi3/branches/nova/sw/logalizer/dialog.m
paparazzi3/branches/nova/sw/logalizer/disp3d.c
paparazzi3/branches/nova/sw/logalizer/flight_gear.c
paparazzi3/branches/nova/sw/logalizer/flight_gear.h
paparazzi3/branches/nova/sw/logalizer/imuview.c
paparazzi3/branches/nova/sw/logalizer/ivy_example.c
paparazzi3/branches/nova/sw/logalizer/log_file.ml
paparazzi3/branches/nova/sw/logalizer/matlab/
paparazzi3/branches/nova/sw/logalizer/matlab/Makefile
paparazzi3/branches/nova/sw/logalizer/matlab/ahrs.m
paparazzi3/branches/nova/sw/logalizer/matlab/compute_inertia_matrix.m
paparazzi3/branches/nova/sw/logalizer/matlab/data/
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paparazzi3/branches/nova/sw/logalizer/matlab/data/log_ahrs_roll
paparazzi3/branches/nova/sw/logalizer/matlab/data/log_ahrs_still
paparazzi3/branches/nova/sw/logalizer/matlab/data/log_ahrs_yaw
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paparazzi3/branches/nova/sw/logalizer/matlab/dcm_of_eulers.m
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paparazzi3/branches/nova/sw/logalizer/matlab/newton_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/normalize_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/phi_of_accel.m
paparazzi3/branches/nova/sw/logalizer/matlab/phi_of_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/plot_prop.m
paparazzi3/branches/nova/sw/logalizer/matlab/psi_of_mag.m
paparazzi3/branches/nova/sw/logalizer/matlab/psi_of_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/quad_sim.mdl
paparazzi3/branches/nova/sw/logalizer/matlab/quat_of_eulers.m
paparazzi3/branches/nova/sw/logalizer/matlab/range_meter_accel_kalman.m
paparazzi3/branches/nova/sw/logalizer/matlab/read_imu_log.m
paparazzi3/branches/nova/sw/logalizer/matlab/run_ahrs_on_log.m
paparazzi3/branches/nova/sw/logalizer/matlab/run_ahrs_on_synthetic_2.m
paparazzi3/branches/nova/sw/logalizer/matlab/run_eulers_ahrs.m
paparazzi3/branches/nova/sw/logalizer/matlab/run_tilt.m
paparazzi3/branches/nova/sw/logalizer/matlab/sensor_noise.m
paparazzi3/branches/nova/sw/logalizer/matlab/sfun_ahrs.m
paparazzi3/branches/nova/sw/logalizer/matlab/sim_accel.m
paparazzi3/branches/nova/sw/logalizer/matlab/sim_gyro_2.m
paparazzi3/branches/nova/sw/logalizer/matlab/sim_mag.m
paparazzi3/branches/nova/sw/logalizer/matlab/synth_data.m
paparazzi3/branches/nova/sw/logalizer/matlab/synth_imu.m
paparazzi3/branches/nova/sw/logalizer/matlab/test_meas_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/test_newton_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/theta_of_accel.m
paparazzi3/branches/nova/sw/logalizer/matlab/theta_of_quat.m
paparazzi3/branches/nova/sw/logalizer/matlab/tilt.m
paparazzi3/branches/nova/sw/logalizer/motor_bench.c
paparazzi3/branches/nova/sw/logalizer/network.c
paparazzi3/branches/nova/sw/logalizer/network.h
paparazzi3/branches/nova/sw/logalizer/play.ml
paparazzi3/branches/nova/sw/logalizer/plot.ml
paparazzi3/branches/nova/sw/logalizer/plot.pl
paparazzi3/branches/nova/sw/logalizer/plot3dparse.c
paparazzi3/branches/nova/sw/logalizer/plot_roll_loop.c
paparazzi3/branches/nova/sw/logalizer/plotter.ml
paparazzi3/branches/nova/sw/logalizer/sliding_plot.c
paparazzi3/branches/nova/sw/logalizer/sliding_plot.h
paparazzi3/branches/nova/sw/logalizer/test_2.c
paparazzi3/branches/nova/sw/logalizer/tmclient.c
paparazzi3/branches/nova/sw/logalizer/tmdata.c
paparazzi3/branches/nova/sw/logalizer/tmserver.c
paparazzi3/branches/nova/sw/logalizer/utils.c
paparazzi3/branches/nova/sw/logalizer/utils.h
paparazzi3/branches/nova/sw/simulator/
paparazzi3/branches/nova/sw/simulator/Makefile
paparazzi3/branches/nova/sw/simulator/booz_flight_model.c
paparazzi3/branches/nova/sw/simulator/booz_flight_model.h
paparazzi3/branches/nova/sw/simulator/booz_flight_model_params.h
paparazzi3/branches/nova/sw/simulator/booz_flight_model_utils.c
paparazzi3/branches/nova/sw/simulator/booz_flight_model_utils.h
paparazzi3/branches/nova/sw/simulator/booz_flightgear.c
paparazzi3/branches/nova/sw/simulator/booz_flightgear.h
paparazzi3/branches/nova/sw/simulator/booz_joystick.c
paparazzi3/branches/nova/sw/simulator/booz_joystick.h
paparazzi3/branches/nova/sw/simulator/booz_joystick_fake.h
paparazzi3/branches/nova/sw/simulator/booz_sensors_model.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model.h
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_accel.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_baro.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_gps.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_gyro.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_mag.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_params.h
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_rangemeter.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_utils.c
paparazzi3/branches/nova/sw/simulator/booz_sensors_model_utils.h
paparazzi3/branches/nova/sw/simulator/booz_wind_model.c
paparazzi3/branches/nova/sw/simulator/booz_wind_model.h
paparazzi3/branches/nova/sw/simulator/data.ml
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paparazzi3/branches/nova/sw/simulator/diffusion.ml
paparazzi3/branches/nova/sw/simulator/fg.c
paparazzi3/branches/nova/sw/simulator/flightModel.ml
paparazzi3/branches/nova/sw/simulator/flightModel.mli
paparazzi3/branches/nova/sw/simulator/flight_gear.h
paparazzi3/branches/nova/sw/simulator/gaia.ml
paparazzi3/branches/nova/sw/simulator/gps.ml
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paparazzi3/branches/nova/sw/simulator/hitl.ml
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paparazzi3/branches/nova/sw/simulator/stdlib.mli
paparazzi3/branches/nova/sw/supervision/
paparazzi3/branches/nova/sw/supervision/Makefile
paparazzi3/branches/nova/sw/supervision/Paparazzi/
paparazzi3/branches/nova/sw/supervision/Paparazzi/CpGui.pm
paparazzi3/branches/nova/sw/supervision/Paparazzi/CpPgmMgr.pm
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paparazzi3/branches/nova/sw/supervision/paparazzicenter.glade
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paparazzi3/branches/nova/sw/supervision/pc_aircraft.ml
paparazzi3/branches/nova/sw/supervision/pc_common.ml
paparazzi3/branches/nova/sw/supervision/pc_control_panel.ml
paparazzi3/branches/nova/sw/tools/
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paparazzi3/branches/nova/sw/tools/extract_makefile.ml
paparazzi3/branches/nova/sw/tools/fp_lexer.mll
paparazzi3/branches/nova/sw/tools/fp_parser.mly
paparazzi3/branches/nova/sw/tools/fp_proc.ml
paparazzi3/branches/nova/sw/tools/fp_syntax.ml
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paparazzi3/branches/nova/sw/tools/gen_airframe.ml
paparazzi3/branches/nova/sw/tools/gen_flight_plan.ml
paparazzi3/branches/nova/sw/tools/gen_messages.ml
paparazzi3/branches/nova/sw/tools/gen_periodic.ml
paparazzi3/branches/nova/sw/tools/gen_radio.ml
paparazzi3/branches/nova/sw/tools/gen_settings.ml
paparazzi3/branches/nova/sw/tools/gen_tuning.ml
paparazzi3/branches/nova/sw/tools/gen_ubx.ml
paparazzi3/branches/nova/var/
paparazzi3/branches/nova/var/boa.conf
paparazzi3/branches/nova/var/include/
paparazzi3/branches/nova/var/include/basic.h
paparazzi3/branches/nova/var/include/quad_tuning.h
paparazzi3/branches/nova/var/include/xsens_protocol.h
paparazzi3/branches/nova/var/logs/
paparazzi3/branches/nova/var/maps/
Added: paparazzi3/branches/nova/AUTHORS
===================================================================
--- paparazzi3/branches/nova/AUTHORS (rev 0)
+++ paparazzi3/branches/nova/AUTHORS 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,5 @@
+Pascal Brisset <pascal_dot_brisset_at_free_dot_fr>
+Antoine Drouin <antoine_dot_drouin_at_free_dot_fr>
+Louis Dugrain <disciple_at_melix_dot_net>
+Pierre Selim Huard <pierre-selim_at_huard_dot_info>
+Martin Mueller <Ma_dot_Mueller_at_tu-bs_dot_de>
Added: paparazzi3/branches/nova/BUGS
===================================================================
--- paparazzi3/branches/nova/BUGS (rev 0)
+++ paparazzi3/branches/nova/BUGS 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,16 @@
+twinjet1
+ plus de commandes en auto1
+ manuel ok - les gouvernes bougent quand on passe la main en auto1
+ reboot de ap seul retabli la situation???
+apres ca je peux reproduire le bug etrange de lundi en mettant les aileroins
en but\xE9
+
+
+receive
+ne cree pas son repertoire de log et meurt
+
+
+
+
+
+visu3D
+ne trouve pas son fichier d'aide. a mettre dans conf ??
Added: paparazzi3/branches/nova/COPYING
===================================================================
--- paparazzi3/branches/nova/COPYING (rev 0)
+++ paparazzi3/branches/nova/COPYING 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,339 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+ To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have. You must make sure that they, too, receive or can get the
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+rights.
+
+ We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+ Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software. If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
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+
+ Finally, any free program is threatened constantly by software
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+patent must be licensed for everyone's free use or not licensed at all.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License. The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
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+the term "modification".) Each licensee is addressed as "you".
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+Activities other than copying, distribution and modification are not
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+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
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+ 2. You may modify your copy or copies of the Program or any portion
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+
+ a) You must cause the modified files to carry prominent notices
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+
+ b) You must cause any work that you distribute or publish, that in
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+
+ c) If the modified program normally reads commands interactively
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+ a warranty) and that users may redistribute the program under
+ these conditions, and telling the user how to view a copy of this
+ License. (Exception: if the Program itself is interactive but
+ does not normally print such an announcement, your work based on
+ the Program is not required to print an announcement.)
+
+These requirements apply to the modified work as a whole. If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works. But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+ 3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+ a) Accompany it with the complete corresponding machine-readable
+ source code, which must be distributed under the terms of Sections
+ 1 and 2 above on a medium customarily used for software interchange; or,
+
+ b) Accompany it with a written offer, valid for at least three
+ years, to give any third party, for a charge no more than your
+ cost of physically performing source distribution, a complete
+ machine-readable copy of the corresponding source code, to be
+ distributed under the terms of Sections 1 and 2 above on a medium
+ customarily used for software interchange; or,
+
+ c) Accompany it with the information you received as to the offer
+ to distribute corresponding source code. (This alternative is
+ allowed only for noncommercial distribution and only if you
+ received the program in object code or executable form with such
+ an offer, in accord with Subsection b above.)
+
+The source code for a work means the preferred form of the work for
+making modifications to it. For an executable work, complete source
+code means all the source code for all modules it contains, plus any
+associated interface definition files, plus the scripts used to
+control compilation and installation of the executable. However, as a
+special exception, the source code distributed need not include
+anything that is normally distributed (in either source or binary
+form) with the major components (compiler, kernel, and so on) of the
+operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering
+access to copy from a designated place, then offering equivalent
+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+
+ 4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License. Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+
+ 5. You are not required to accept this License, since you have not
+signed it. However, nothing else grants you permission to modify or
+distribute the Program or its derivative works. These actions are
+prohibited by law if you do not accept this License. Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+ 6. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
+these terms and conditions. You may not impose any further
+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+
+ 7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot
+distribute so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you
+may not distribute the Program at all. For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
+apply and the section as a whole is intended to apply in other
+circumstances.
+
+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices. Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+ 8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded. In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+ 9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation. If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+ 10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission. For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this. Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+ NO WARRANTY
+
+ 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+ 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+ END OF TERMS AND CONDITIONS
+
+ Appendix: How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) 19yy <name of author>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ Gnomovision version 69, Copyright (C) 19yy name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Library General
+Public License instead of this License.
Added: paparazzi3/branches/nova/Doxyfile
===================================================================
--- paparazzi3/branches/nova/Doxyfile (rev 0)
+++ paparazzi3/branches/nova/Doxyfile 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,1218 @@
+# Doxyfile 1.4.2
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME = Paparazzi
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER = 3
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = dox
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish,
+# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese,
+# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish,
+# Swedish, and Ukrainian.
+
+OUTPUT_LANGUAGE = English
+
+# This tag can be used to specify the encoding used in the generated output.
+# The encoding is not always determined by the language that is chosen,
+# but also whether or not the output is meant for Windows or non-Windows
users.
+# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES
+# forces the Windows encoding (this is the default for the Windows binary),
+# whereas setting the tag to NO uses a Unix-style encoding (the default for
+# all platforms other than Windows).
+
+USE_WINDOWS_ENCODING = NO
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed
description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and
assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = YES
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like the Qt-style comments (thus requiring an
+# explicit @brief command for a brief description.
+
+JAVADOC_AUTOBRIEF = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the DETAILS_AT_TOP tag is set to YES then Doxygen
+# will output the detailed description near the top, like JavaDoc.
+# If set to NO, the detailed description appears after the member
+# documentation.
+
+DETAILS_AT_TOP = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 2
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = YES
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
sources
+# only. Doxygen will then generate output that is more tailored for Java.
+# For instance, namespaces will be presented as packages, qualified scopes
+# will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING = YES
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the
documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory
hierarchy
+# in the documentation.
+
+SHOW_DIRECTORIES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically
from the
+# version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the progam writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be abled to get warnings for
+# functions that are documented, but have no documentation for their
parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that
contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = var/include var/Twin1 sw/airborne/avr sw/airborne
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
*.hxx
+# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = NO
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT
tag.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
+# directories that are symbolic links (a Unix filesystem feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+
+EXCLUDE_PATTERNS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output. If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
+# is applied to all files.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these
sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES (the default)
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES (the default)
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = YES
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
+# generated containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
+# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
+# probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = NO
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = NO
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader. This is useful
+# if you want to understand what is going on. On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_PREDEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be
expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse
+# the parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with
base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option is superseded by the HAVE_DOT option below. This is only a
+# fallback. It is recommended to install and use dot, since it yields more
+# powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph
visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will
+# generate a call dependency graph for every global function or class method.
+# Note that enabling this option will significantly increase the time of a
run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command.
+
+CALL_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_WIDTH = 1024
+
+# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_HEIGHT = 1024
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that a graph may be further truncated if the graph's
+# image dimensions are not sufficient to fit the graph (see
MAX_DOT_GRAPH_WIDTH
+# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default),
+# the graph is not depth-constrained.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, which results in a white
background.
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+
+DOT_TRANSPARENT = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS = NO
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be
+# used. If set to NO the values of all tags below this one will be ignored.
+
+SEARCHENGINE = NO
Added: paparazzi3/branches/nova/Makefile
===================================================================
--- paparazzi3/branches/nova/Makefile (rev 0)
+++ paparazzi3/branches/nova/Makefile 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,187 @@
+# Paparazzi main $Id: Makefile,v 1.77 2008/01/03 12:56:01 hecto Exp $
+# Copyright (C) 2004 Pascal Brisset Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# The default is to produce a quiet echo of compilation commands
+# Launch with "make Q=''" to get full echo
+Q=@
+
+ifeq ($(Q),@)
+MAKEFLAGS += --no-print-directory
+endif
+
+PAPARAZZI_SRC=$(shell pwd)
+ifeq ($(PAPARAZZI_HOME),)
+PAPARAZZI_HOME=$(PAPARAZZI_SRC)
+endif
+
+
+LIB=sw/lib
+AIRBORNE=sw/airborne
+COCKPIT=sw/ground_segment/cockpit
+TMTC=sw/ground_segment/tmtc
+MULTIMON=sw/ground_segment/multimon
+LOGALIZER=sw/logalizer
+SIMULATOR=sw/simulator
+MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
+CONF=$(PAPARAZZI_SRC)/conf
+STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
+MESSAGES_H=$(STATICINCLUDE)/messages.h
+MESSAGES_FBW_H=$(STATICINCLUDE)/messages_fbw.h
+UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
+DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
+MESSAGES_XML = $(CONF)/messages.xml
+UBX_XML = $(CONF)/ubx.xml
+TOOLS=$(PAPARAZZI_SRC)/sw/tools
+ARMGCC=/usr/bin/arm-elf-gcc
+
+
+all: static conf
+
+static : lib center tools cockpit multimon tmtc logalizer lpc21iap sim_static
static_h usb_lib
+
+conf: conf/conf.xml conf/control_panel.xml
+
+conf/%.xml :conf/%.xml.example
+ [ -L $@ ] || [ -f $@ ] || cp $< $@
+
+
+lib:
+ cd $(LIB)/ocaml; $(MAKE)
+
+center: lib
+ cd sw/supervision; make
+
+tools: lib
+ cd $(TOOLS); make
+
+logalizer: lib
+ cd $(LOGALIZER); $(MAKE)
+
+sim_static :
+ cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
+
+cockpit: lib
+ cd $(COCKPIT); $(MAKE) all
+
+tmtc: lib
+ cd $(TMTC); $(MAKE) all
+
+multimon:
+ cd $(MULTIMON); $(MAKE)
+
+static_h: $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
+
+usb_lib:
+ @[ -d sw/airborne/arm7/lpcusb ] && ((test -x $(ARMGCC) && (cd
sw/airborne/arm7/lpcusb; $(MAKE))) || echo "Not building usb_lib:
ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib:
sw/airborne/arm7/lpcusb directory missing"
+
+$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) $(TOOLS)/gen_messages.out
+ $(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
+ @echo BUILD $@
+ $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $<
telemetry > /tmp/msg.h
+ $(Q)mv /tmp/msg.h $@
+ $(Q)chmod a+r $@
+
+$(UBX_PROTOCOL_H) : $(UBX_XML) $(TOOLS)/gen_ubx.out
+ @echo BUILD $@
+ $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
+ $(Q)mv /tmp/ubx.h $@
+
+$(DL_PROTOCOL_H) : $(MESSAGES_XML) $(TOOLS)/gen_messages.out
+ @echo BUILD $@
+ $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages.out $<
datalink > /tmp/dl.h
+ $(Q)mv /tmp/dl.h $@
+
+include Makefile.ac
+
+sim : sim_static
+ac_h ac1 ac2 ac3 ac fbw ap: static conf
+
+##### preliminary hard wired arm7 bootloader rules
+#
+#
+# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
+bl:
+ cd $(AIRBORNE)/arm7/test/bootloader; make clean; make
+
+BOOTLOADER_DEV=/dev/ttyUSB0
+upload_bl bl.upload: bl
+ lpc21isp -control $(AIRBORNE)/arm7/test/bootloader/bl.hex
$(BOOTLOADER_DEV) 38400 12000
+
+lpc21iap:
+ cd sw/ground_segment/lpc21iap; make
+
+####
+# temporary hack for BOOZ simulator
+#
+booz_sim:
+ make AIRCRAFT=BOOZ flt.compile
+ make AIRCRAFT=BOOZ ctl.compile
+ cd sw/simulator; make booz_sim
+
+#####
+#####
+
+doxygen:
+ mkdir -p dox
+ doxygen Doxyfile
+
+run_sitl :
+ $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
+
+install :
+ make -f Makefile.install PREFIX=$(PREFIX)
+
+uninstall :
+ make -f Makefile.install PREFIX=$(PREFIX) uninstall
+
+DISTRO=etch
+deb :
+ chmod u+x debian/rules
+ cp debian/control.$(DISTRO) debian/control
+ cp debian/changelog.$(DISTRO) debian/changelog
+ dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
+
+fast_deb:
+ make deb OCAMLC=ocamlc.opt DEBFLAGS=-b
+
+clean:
+ rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files
debian/paparazzi-arm7 debian/paparazzi-avr debian/paparazzi-base
debian/paparazzi-bin debian/paparazzi-dev
+ rm -f $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
+ find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}`
$@' \;
+ find . -name '*~' -exec rm -f {} \;
+
+dist_clean : clean
+
+
+test_all_example_airframes:
+ $(MAKE) AIRCRAFT=MI1 clean_ac ap sim
+ $(MAKE) AIRCRAFT=MI2 clean_ac ap sim
+ $(MAKE) AIRCRAFT=MI3 clean_ac ap sim
+ $(MAKE) AIRCRAFT=FS clean_ac ap sim
+ $(MAKE) AIRCRAFT=FJ1 clean_ac ap sim
+ $(MAKE) AIRCRAFT=MJ6 clean_ac ap sim
+ $(MAKE) AIRCRAFT=MM1 clean_ac ap sim
+ $(MAKE) AIRCRAFT=S2 clean_ac ap sim
+ $(MAKE) AIRCRAFT=TINY2 clean_ac ap
+ $(MAKE) AIRCRAFT=TJ1 clean_ac fbw ap sim
+ $(MAKE) AIRCRAFT=TS6 clean_ac fbw ap sim
+
+
+
Added: paparazzi3/branches/nova/Makefile.ac
===================================================================
--- paparazzi3/branches/nova/Makefile.ac (rev 0)
+++ paparazzi3/branches/nova/Makefile.ac 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,150 @@
+# Hey Emacs, this is a -*- makefile -*-
+# Paparazzi main $Id: Makefile.ac,v 1.28 2008/03/01 06:07:56 hecto Exp $
+# Copyright (C) 2004 Pascal Brisset Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# Preprocessing of XML configuration files
+
+PAPARAZZI_SRC=$(shell pwd)
+
+include conf/Makefile.local
+
+CONF=$(PAPARAZZI_HOME)/conf
+CONF_XML=$(CONF)/conf.xml
+AIRBORNE=sw/airborne
+MESSAGES_XML = $(CONF)/messages.xml
+ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
+AIRFRAME_H=$(ACINCLUDE)/airframe.h
+PERIODIC_H=$(ACINCLUDE)/periodic.h
+RADIO_H=$(ACINCLUDE)/radio.h
+FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
+FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
+SETTINGS_H=$(ACINCLUDE)/settings.h
+SETTINGS_XMLS=$(patsubst %,$(CONF)/%,$(SETTINGS))
+SETTINGS_XML=$(ACINCLUDE)/settings.xml
+MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
+SETTINGS_FILE=$(SETTINGS:settings%=%)
+#TUNING_FILE=$(subst ,_,$(SETTINGS:settings/%.xml=%)).h
+TUNING_H=$(ACINCLUDE)/tuning.h
+TUNING_INC_H=$(PAPARAZZI_HOME)/var/include/"$(SETTINGS:settings/%.xml=%).h"
+SUPERVISION=./paparazzi
+MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
+
+
+# "make Q=''" to get full echo
+Q=@
+
+init:
+ @[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your
$(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf
$(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p
$(PAPARAZZI_HOME)/var/maps; mv $(PAPARAZZI_HOME)/data/maps/trtqtttqtsrrt*.jpg
$(PAPARAZZI_HOME)/var/maps)
+
+demo:
+ $(SUPERVISION)
+
+all_ac_h: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML)
$(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC) $(PERIODIC_H)
+
+$(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML)
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $< > /tmp/airframe.h
+ $(Q)mv /tmp/airframe.h $@
+
+$(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(TOOLS)/gen_radio.out
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_radio.out $< > /tmp/radio.h
+ $(Q)mv /tmp/radio.h $@
+
+$(PERIODIC_H) : $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY)
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_periodic.out $(MESSAGES_XML) $(CONF)/$(TELEMETRY) > $@
+ $(Q)chmod a+r $@
+
+$(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
$(TOOLS)/gen_flight_plan.out
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_flight_plan.out $< > $@
+ $(Q)chmod a+r $@
+
+$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
$(TOOLS)/gen_flight_plan.out
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $@
+ $(Q)chmod a+r $@
+
+$(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(TOOLS)/gen_settings.out
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_XMLS) > $@
+ $(Q)chmod a+r $@
+
+$(TUNING_H) : $(SETTINGS_XMLS) $(CONF_XML) $(TOOLS)/gen_tuning.out
+ @echo BUILD $@
+ $(Q)$(TOOLS)/gen_tuning.out $(SETTINGS_XMLS) > $@
+ $(Q)cp $@ $(TUNING_INC_H)
+ $(Q)chmod a+r $@ $(TUNING_INC_H)
+
+$(MAKEFILE_AC) : $(CONF)/$(AIRFRAME_XML)
+ @echo BUILD $@
+ $(Q)$(TOOLS)/extract_makefile.out $< > $@
+
+
+ac_h :
+ $(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined:
type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
+ @echo BUILD $(AIRCRAFT)
+ $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
Q=$(Q) $(TOOLS)/gen_aircraft.out $(AIRCRAFT)
+
+%.compile: ac_h
+ cd $(AIRBORNE); $(MAKE) TARGET=$* all
+
+%.wr_fuses: %.compile
+ cd $(AIRBORNE); $(MAKE) TARGET=$* wr_fuses
+
+%.rd_fuses: %.compile
+ cd $(AIRBORNE); $(MAKE) TARGET=$* rd_fuses
+
+%.check_fuses: %.compile
+ cd $(AIRBORNE); $(MAKE) TARGET=$* check_fuses
+
+%.erase: %.compile
+ cd $(AIRBORNE); $(MAKE) TARGET=$* erase
+
+%.upload: %.compile
+ cd $(AIRBORNE); $(MAKE) TARGET=$* upload
+
+# Copy from Makefile, to get it in the paparazzi-bin package
+BOOTLOADER_DEVICE=/dev/ttyUSB0
+tiny_bl.upload:
+ lpc21isp -control $(AIRBORNE)/arm7/test/bootloader/bl.hex
$(BOOTLOADER_DEVICE) 38400 12000
+
+sim: ac_h
+ cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim all
+
+# Rules for backward compatibility (old guys are used to !)
+fbw : fbw.compile
+ap: ap.compile
+upload_fbw: fbw.upload
+upload_ap: ap.upload
+erase_fbw: fbw.erase
+erase_ap: ap.erase
+wr_fuses_ap: ap.wr_fuses
+wr_fuses_fbw: fbw.wr_fuses
+rd_fuses_ap: ap.rd_fuses
+rd_fuses_fbw: fbw.rd_fuses
+check_fuses_ap: ap.check_fuses
+check_fuses_fbw: fbw.check_fuses
+hard_ac ac: ac_h fbw ap
+
+clean_ac :
+ $(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined:
type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
+ rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
Added: paparazzi3/branches/nova/Makefile.install
===================================================================
--- paparazzi3/branches/nova/Makefile.install (rev 0)
+++ paparazzi3/branches/nova/Makefile.install 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,140 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# Installation of the files in the system tree
+
+PREFIX=/
+DESTDIR=$(PREFIX)/usr/share/paparazzi
+INSTALL=install -o root
+INSTALLDATA=install -o root -m 644
+
+install : install_files post_install
+
+install_files: install_data install_conf install_bin install_libs
install_tools install_airborne_sources
+
+post_install :
+ debian/paparazzi-bin.postinst
+
+install_data:
+ $(INSTALL) -d $(DESTDIR)/data/maps
+ $(INSTALLDATA) data/maps/muret_UTM.xml data/maps/muret_UTM.gif
$(DESTDIR)/data/maps
+ $(INSTALL) -d $(DESTDIR)/data/pictures/gcs_icons
+ $(INSTALLDATA) var/maps/trtqtttqtsrrtstq*.jpg
var/maps/trtqtttqtsrrttsr*.jpg $(DESTDIR)/data/maps
+ $(INSTALLDATA) data/pictures/*.gif data/pictures/*.svg
data/pictures/*.jpg data/pictures/*.png $(DESTDIR)/data/pictures
+ $(INSTALLDATA) data/pictures/gcs_icons/*.png
$(DESTDIR)/data/pictures/gcs_icons
+ $(INSTALL) -d $(PREFIX)/usr/share/pixmaps
+ $(INSTALLDATA) data/pictures/penguin_icon.png
$(PREFIX)/usr/share/pixmaps/paparazzi.png
+ $(INSTALL) -d $(DESTDIR)/data/srtm
+ $(INSTALLDATA) data/srtm/N43E001.hgt.bz2 $(DESTDIR)/data/srtm
+
+
+install_conf:
+ $(INSTALL) -d $(DESTDIR)/conf
+ $(INSTALLDATA) conf/conf.xml.example $(DESTDIR)/conf/conf.xml
+ $(INSTALLDATA) conf/control_panel.xml.example
$(DESTDIR)/conf/control_panel.xml
+ $(INSTALLDATA) conf/messages.xml $(DESTDIR)/conf/
+ $(INSTALLDATA) conf/messages.dtd $(DESTDIR)/conf/
+ $(INSTALLDATA) conf/gui.xml $(DESTDIR)/conf/
+ $(INSTALL) -d $(DESTDIR)/conf/airframes
+ $(INSTALLDATA) conf/airframes/airframe.dtd $(DESTDIR)/conf/airframes
+ $(INSTALLDATA) conf/airframes/microjet5.xml $(DESTDIR)/conf/airframes
+ $(INSTALLDATA) conf/airframes/twinstar1.xml $(DESTDIR)/conf/airframes
+ $(INSTALLDATA) conf/airframes/twinjet1.xml $(DESTDIR)/conf/airframes
+ $(INSTALLDATA) conf/airframes/booz.xml $(DESTDIR)/conf/airframes
+ $(INSTALL) -d $(DESTDIR)/conf/autopilot
+ $(INSTALLDATA) conf/autopilot/*.makefile $(DESTDIR)/conf/autopilot
+ $(INSTALLDATA) conf/autopilot/*.h $(DESTDIR)/conf/autopilot
+ $(INSTALL) -d $(DESTDIR)/conf/flight_plans
+ $(INSTALLDATA) conf/flight_plans/*.dtd $(DESTDIR)/conf/flight_plans
+ $(INSTALLDATA) conf/flight_plans/*.xml $(DESTDIR)/conf/flight_plans
+ $(INSTALL) -d $(DESTDIR)/conf/gps
+ $(INSTALLDATA) conf/gps/Makefile $(DESTDIR)/conf/gps
+ $(INSTALLDATA) conf/gps/ublox_conf.c $(DESTDIR)/conf/gps
+ $(INSTALLDATA) conf/gps/README $(DESTDIR)/conf/gps
+ $(INSTALLDATA) conf/gps/*.inf $(DESTDIR)/conf/gps
+ $(INSTALLDATA) conf/gps/*.txt $(DESTDIR)/conf/gps
+ $(INSTALL) -d $(DESTDIR)/conf/radios
+ $(INSTALLDATA) conf/radios/radio.dtd $(DESTDIR)/conf/radios
+ $(INSTALLDATA) conf/radios/*.xml $(DESTDIR)/conf/radios
+ $(INSTALL) -d $(DESTDIR)/conf/telemetry
+ $(INSTALLDATA) conf/telemetry/telemetry.dtd $(DESTDIR)/conf/telemetry
+ $(INSTALLDATA) conf/telemetry/*.xml $(DESTDIR)/conf/telemetry
+ $(INSTALL) -d $(DESTDIR)/conf/settings
+ $(INSTALLDATA) conf/settings/settings.dtd $(DESTDIR)/conf/settings
+ $(INSTALLDATA) conf/settings/*.xml $(DESTDIR)/conf/settings
+ $(INSTALL) -d $(DESTDIR)/conf/gcs
+ $(INSTALLDATA) conf/gcs/layout.dtd $(DESTDIR)/conf/gcs
+ $(INSTALLDATA) conf/gcs/*.xml $(DESTDIR)/conf/gcs
+ $(INSTALL) -d $(PREFIX)/etc/udev/rules.d
+ $(INSTALLDATA) conf/system/udev/rules/*.rules $(PREFIX)/etc/udev/rules.d
+ $(INSTALL) -d $(PREFIX)/etc/modprobe.d
+ $(INSTALLDATA) conf/system/modprobe.d/paparazzi $(PREFIX)/etc/modprobe.d
+ $(INSTALL) -d $(PREFIX)/usr/share/applications
+ $(INSTALLDATA) debian/paparazzi.desktop $(PREFIX)/usr/share/applications
+
+
+install_bin:
+ $(INSTALL) -d $(PREFIX)/usr/bin/
+ $(INSTALL) -d $(DESTDIR)/sw/supervision
+ $(INSTALL) sw/supervision/paparazzicenter.glade
$(DESTDIR)/sw/supervision
+ $(INSTALL) sw/supervision/*.cmo $(DESTDIR)/sw/supervision
+ $(INSTALL) paparazzi-make $(PREFIX)/usr/bin/
+ $(INSTALLDATA) -d $(DESTDIR)/sw/simulator
+ $(INSTALL) sw/simulator/*.cmo $(DESTDIR)/sw/simulator
+ $(INSTALL) sw/simulator/launchsitl $(DESTDIR)/sw/simulator
+ $(INSTALL) -d $(DESTDIR)/sw/ground_segment/cockpit
+ $(INSTALL) -d $(DESTDIR)/sw/ground_segment/tmtc
+ $(INSTALL) -d $(DESTDIR)/sw/ground_segment/multimon
+ $(INSTALLDATA) sw/ground_segment/cockpit/*.cmo
$(DESTDIR)/sw/ground_segment/cockpit
+ $(INSTALLDATA) sw/ground_segment/cockpit/gcs.glade
$(DESTDIR)/sw/ground_segment/cockpit
+ $(INSTALLDATA) sw/ground_segment/tmtc/*.cmo
$(DESTDIR)/sw/ground_segment/tmtc
+ $(INSTALLDATA) sw/ground_segment/tmtc/boa
$(DESTDIR)/sw/ground_segment/tmtc
+ $(INSTALLDATA) sw/ground_segment/multimon/multimon.cma
$(DESTDIR)/sw/ground_segment/multimon
+ $(INSTALLDATA) sw/ground_segment/multimon/libmultimon.a
$(DESTDIR)/sw/ground_segment/multimon
+ $(INSTALLDATA) sw/ground_segment/multimon/dllmultimon.so
$(DESTDIR)/sw/ground_segment/multimon
+ $(INSTALL) -d $(DESTDIR)/sw/logalizer
+ $(INSTALLDATA) sw/logalizer/*.cm[ox] $(DESTDIR)/sw/logalizer
+ $(INSTALLDATA) sw/logalizer/*.o $(DESTDIR)/sw/logalizer
+ ln -sf ../share/paparazzi/sw/supervision/paparazzicenter
$(PREFIX)/usr/bin/paparazzi
+
+install_libs:
+ $(INSTALL) -d $(DESTDIR)/sw/lib/ocaml
+ $(INSTALLDATA) sw/lib/ocaml/*.cma $(DESTDIR)/sw/lib/ocaml
+ $(INSTALLDATA) sw/lib/ocaml/*.cmxa $(DESTDIR)/sw/lib/ocaml
+ $(INSTALLDATA) sw/lib/ocaml/*.so $(DESTDIR)/sw/lib/ocaml
+ $(INSTALLDATA) sw/lib/ocaml/*.a $(DESTDIR)/sw/lib/ocaml
+ $(INSTALLDATA) sw/lib/ocaml/*.cmi $(DESTDIR)/sw/lib/ocaml
+
+install_tools:
+ $(INSTALLDATA) Makefile.ac $(DESTDIR)
+ $(INSTALL) -d $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) conf/Makefile* $(DESTDIR)/conf
+ $(INSTALL) sw/tools/*.out $(DESTDIR)/sw/tools/
+ rm -f $(DESTDIR)/sw/tools/gen_flight_plan.out
+ $(INSTALLDATA) sw/tools/fp_syntax.cmo $(DESTDIR)/sw/tools
+ $(INSTALLDATA) sw/tools/fp_parser.cmo $(DESTDIR)/sw/tools
+ $(INSTALLDATA) sw/tools/fp_lexer.cmo $(DESTDIR)/sw/tools
+ $(INSTALLDATA) sw/tools/fp_proc.cmo $(DESTDIR)/sw/tools
+ $(INSTALLDATA) sw/tools/gen_flight_plan.cmo $(DESTDIR)/sw/tools
+ $(INSTALLDATA) sw/tools/extract_makefile.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_aircraft.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_airframe.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_messages.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_periodic.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_radio.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/
+ $(INSTALLDATA) sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/
+ $(INSTALL) -d $(DESTDIR)/sw/ground_segment/lpc21iap
+ $(INSTALL) sw/ground_segment/lpc21iap/lpc21iap
$(DESTDIR)/sw/ground_segment/lpc21iap/
+ $(INSTALL) -d $(DESTDIR)/sw/simulator
+ $(INSTALLDATA) sw/simulator/sitl.cma $(DESTDIR)/sw/simulator
+ $(INSTALLDATA) sw/simulator/simsitl.ml $(DESTDIR)/sw/simulator
+ $(INSTALLDATA) sw/simulator/sim.cmi $(DESTDIR)/sw/simulator
+ $(INSTALLDATA) sw/simulator/sitl.cmi $(DESTDIR)/sw/simulator
+ $(INSTALLDATA) sw/simulator/libsitl.a $(DESTDIR)/sw/simulator
+
+install_airborne_sources:
+ $(INSTALL) -d $(DESTDIR)/sw/
+ tar --exclude=CVS -cf - sw/airborne/ | tar -C $(DESTDIR) -xf -
+ $(INSTALL) -d $(DESTDIR)/sw/include
+ $(INSTALLDATA) sw/include/std.h $(DESTDIR)/sw/include
+ $(INSTALLDATA) var/include/*.h $(DESTDIR)/sw/include
Added: paparazzi3/branches/nova/Makefile.sys
===================================================================
--- paparazzi3/branches/nova/Makefile.sys (rev 0)
+++ paparazzi3/branches/nova/Makefile.sys 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,48 @@
+# Paparazzi main $Id: Makefile.sys,v 1.3 2006/06/15 00:58:56 poine Exp $
+# Copyright (C) 2004 Pascal Brisset Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+PAPARAZZI_DIR=/usr/share/paparazzi
+ifeq ($(PAPARAZZI_HOME),)
+PAPARAZZI_HOME=$(HOME)/paparazzi
+endif
+
+ac_h :
+ $(PAPARAZZI_DIR)/bin/gen_aircraft.out $(AIRCRAFT)
+
+sim_sitl :
+ cd $(PAPARAZZI_DIR)/sw/simulator; $(MAKE) sim_sitl AIRCRAFT=$(AIRCRAFT)
+
+clean_ac :
+ rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
+
+run_sitl :
+ $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
+
+ap:
+ cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) all
+
+fbw:
+ cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) all
+
+upload_ap:
+ cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) upload
+
+upload_fbw:
+ cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) upload
Added: paparazzi3/branches/nova/README
===================================================================
--- paparazzi3/branches/nova/README (rev 0)
+++ paparazzi3/branches/nova/README 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,96 @@
+# Paparazzi $Id: README,v 1.6 2007/12/06 06:45:48 hecto Exp $
+# Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+Intro
+-----
+
+Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
+Vehicle). As of today we have successfully flown autonomously several small
+electro powered fixed wing aircraft (Twinstar, Microjet, ...).
+
+Up to date informations are available from the wiki website
+
+ paparazzi.enac.fr
+
+and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
+and the IRC channel (freenode, #paparazzi).
+
+Directories quick and dirty description:
+---------------------------------------
+
+conf: the configuration directory (airframe, radio, ... descriptions).
+
+data: where to put read-only data (e.g. maps, terrain elevation files, icons)
+
+hw: hardware (electronic schemas, PCBs, ...)
+
+sw: software (onboard, ground station, simulation, ...)
+
+var: products of compilation, cache for the map tiles, ...
+
+debian: Debian packaging control files
+
+
+Required Software
+-----------------
+ - OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
+ - gcc, GTK2, Glib2, libgnomecanvas, libxml2
+ - ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
+ - ...
+
+For Debian users: Required packages are available at
+
+ http://www.recherche.enac.fr/paparazzi/debian
+
+Installation of the meta-package "paparazzi-dev" will install
+everything needed to compile this project (if something is missing,
+please ask) for simulation. "paparazzi-arm7" is required to compile
+the code for the ARM based boards.
+
+Compilation and demo simulation
+-------------------------------
+
+ 1) "make" in the top directory to compile all the tools.
+
+ 2) "./paparazzi" to run the Paparazzi Center
+
+ 3) Select the "MJ5" or the "TJ1" aircraft in the upper-left A/C
+combo box. Select "sim" from upper-middle "target" combo box. Click
+"Build". When the compilation is finished, select "Simulation" from
+the upper-right session combo box and click "Execute".
+
+ 4) In the GCS, wait about 10s for the aircraft to be in the "Holding
+point" navigation block. Switch to the "Takeoff" block (lower-left
+blue airway button in the strip). Takeoff with the green launch button.
+
+Uploading of the embedded software
+----------------------------------
+
+ 1) Power the flight controller board while it is connected to the PC with
+the USB cable.
+
+ 2) From the Paparazzi center, select the "ap" target, and click "Upload".
+
+
+Flight
+-------------------------------------
+
+ 1) From the Paparazzi Center, select the flight session and ... do
+the same than in simulation !
Added: paparazzi3/branches/nova/TODO
===================================================================
--- paparazzi3/branches/nova/TODO (rev 0)
+++ paparazzi3/branches/nova/TODO 2009-09-05 00:32:16 UTC (rev 4085)
@@ -0,0 +1,134 @@
+
+
+add date/time of generation in generated code
+
+##############################################################
+
+add an irc client to morphix - preconfigured for paparazzi channel
+
+
+
+make clean doesn't delete boa config
+
+make a "single node" mode where boa isn't needed and serve file:// URL
+force ivybus to 127 in single node
+default to that mode
+
+
+
+
+
+
+######################################## obsolete ? ##############
+
+dans flybywire
+chop servo ne depends pas du servo
+
+
+pour les missions
+possibilit\xE9 de "transformer" (rotation Z, translation XYZ) une mission
+
+possibilitite de faire la meme chose pour une partie des waypoints (on en a
une partie pour les evolutions et une partie pour le circuit d'atterissage. On
deplace ceux du circuit d'atterissage pour qu'il colle a la piste. et on
deplace ceux des evolution pour etre en face du jury :)
+
+
+On stocke la/les transformations et on peut avoir des missions communes
muret/ricou
+
+des declarations de points locales aux blocs et des transformations par blocs
+
+
+faire medit avec visu3d
+
+proposer d'ajouter un waypoint en relatif par rapport a un autre - et en
coordonnees polaires (dist, QDM)
+
+
+
+
+
+l'interface du captureur de video - c'est aussi visu3d . Il a une liste de
textures (photos) et on peut les transformer. La description est sauv\xE9es
dans un fichier xml et peut etre recharg\xE9e. les photos vont dans var/photos
+
+
+dans visu3d, il faudrait pouvoir pivoter en Z sur la position courante (en
tenant compte du zoom )
+
+
+######################
+
+logger les simus comme les vols - y penser en refaisant receive - code commun
+
+Pour les simus a plusieurs avions, il doit y avoir partage d'un certain nombre
d'informations entre les differentes instances des simu (par exemple le vent)
+
+Dans un circle, il faut afficher le QDR - calcul au sol??
+
+Pour les missions, il faudrait pouvoir dire . faire un cercle pendant 180\xB0
ou faire un cercle pendant n secondes. Il faudrait donc disposer du temps
depuis le block et du de l'angle parcouru depuis le debut du cercle.
+C'est pour faire un palier en haut de la mont\xE9. Pour laisser le terme
accumulateur se recaler avant la descente.
+
+###########################################
+
+Sujet : procedure automatique d'interuption de vol pour microdrone
+
+-identifier des scenarios:
+
+cause de l'interuption : autonomie, meteo, defaillance systeme
+
+-modeliser la zone d'evolution et les autres contraintres (systemes
defaillants, meteo)
+
+(dans un meeting, on veut a tout prix eviter le public, les routes etc...)
+
+- initialisation
+- iteratif ?
+
+#######################################
+
+integrer les gazs pour estimer l'autonomie restante
+
+
+###########################################
+
+
+Sujet Drone Thales
+
+Les eleves (1A ou 2A) construisent un avion et apprennent a le faire voler
d'ici juillet.
+
+commande PCB
+commande composants radiospare/melexys/coronis/ublox
+labo pour assembler (labo micro onde ?)
+
+commande garat (avion, moteur, servos, batteries, radiocommande etc....)
+achat de petit outillage (dremel, fer a souder etc...)
+assemblage au labo drone
+
+cours de pilotages sur le twinstar
+
+On leur donne les petits projets pendant l'ann\xE9e sur Paparazzi.
+
+
+
+############################################
+
+mettre les projets enac sur la page web enac
+
+############################################
+
+
+Pourquoi on ne laisse pas message.xml modifiable, pour les taux de telemesure
par exemple.
+
+on split les Makefiles
+
+
+###########
+
+manque gerbmerge dans les dependance??? ha non ca n'existe pas... a packager !
+
+
+>
+>
+> - Pitch should more be in degree than in radian in flight plan files.
+>It could be in the future version of Paparazzi.
+>
+>
+> - It's strange MIN_HEIGHT_CARROT and MAX_HEIGHT_CARROT are in the
+>code. Shouldn't it be in a conf file so as to change it ?
+>
+- In the same way, MIN_SPEED_FOR_TAKEOFF should be in the airframe
+conf file ?
+
+
Added: paparazzi3/branches/nova/conf/Makefile.arm7
===================================================================
--- paparazzi3/branches/nova/conf/Makefile.arm7 (rev 0)
+++ paparazzi3/branches/nova/conf/Makefile.arm7 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,286 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id: Makefile.arm7,v 1.24 2007/07/11 11:39:54 poine Exp $
+# Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+
+#
+# This is the common Makefile for the arm7-target.
+#
+
+SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/arm7
+
+# Define programs and commands.
+CC = arm-elf-gcc
+LD = $(CC)
+SHELL = sh
+OBJCOPY = arm-elf-objcopy
+OBJDUMP = arm-elf-objdump
+SIZE = arm-elf-size
+NM = arm-elf-nm
+REMOVE = rm -f
+COPY = cp
+
+
+# Launch with "make Q=''" to get full command display
+Q=@
+
+# MCU name and submodel
+MCU = $($(TARGET).ARCH)
+THUMB = -mthumb
+THUMB_IW = -mthumb-interwork
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+#FLASH_MODE=ISP
+
+$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
+SRCARM = $($(TARGET).srcsnd)
+
+ASRCARM = crt0.S
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+#OPT=3
+
+CSTANDARD = -std=gnu99
+
+CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
+
+# Compiler flags.
+CFLAGS = $(CINCS)
+CFLAGS += -O$(OPT)
+# CFLAGS += -malignment-traps
+CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
+CFLAGS += -Wpointer-arith -Wswitch
+CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
+CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+# flags only for C
+CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
+CFLAGS += -Wmissing-prototypes -Wnested-externs
+CFLAGS += $(CSTANDARD)
+CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
+
+# Assembler flags.
+ASFLAGS = -Wa,-adhlns=$(OBJDIR)/$(notdir $(<:.S=.lst))
+
+#Additional libraries.
+MATH_LIB = -lm
+
+# Linker flags.
+LDFLAGS = -n -nostartfiles -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref
+LDFLAGS += -lc
+LDFLAGS += $(NEWLIBLPC) $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+LDFLAGS += $(CPLUSPLUS_LIB)
+# -lusbstack -Larm7/lpcusb
+
+ifeq ($(FLASH_MODE),ISP)
+LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM.ld
+else
+LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM-bl.ld
+endif
+LDFLAGS +=-T$(LDSCRIPT)
+#endif
+
+
+
+# ---------------------------------------------------------------------------
+# Flash-Programming support using lpc21isp by Martin Maurer
+
+# Settings and variables:
+LPC21ISP = lpc21isp
+LPC21ISP_PORT = /dev/ttyS0
+LPC21ISP_FLASHFILE = $(OBJDIR)/$(TARGET).hex
+# verbose output:
+#LPC21ISP_DEBUG = -debug
+# enter bootloader via RS232 DTR/RTS (only if hardware supports this
+# feature - see Philips AppNote):
+LPC21ISP_CONTROL =
+# -control
+
+# ---------------------------------------------------------------------------
+# Flash-Programming support using lpc21iap by Martin Muller (usb bootloader)
+
+LPC21IAP = $(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap
+
+
+
+
+# Define all object files.
+COBJ = $(SRC:%.c=$(OBJDIR)/%.o)
+AOBJ = $(ASRC:%.S=$(OBJDIR)/%.o)
+COBJARM = $(SRCARM:%.c=$(OBJDIR)/%.o)
+AOBJARM = $(ASRCARM:%.S=$(OBJDIR)/%.o)
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(ASRCARM:.S=.lst) $(SRC:.c=.lst) $(SRCARM:.c=.lst)
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. $(CFLAGS)
+ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+# Default target.
+all: sizebefore build sizeafter
+
+build: elf hex lss sym
+
+elf: $(OBJDIR)/$(TARGET).elf
+hex: $(OBJDIR)/$(TARGET).hex
+lss: $(OBJDIR)/$(TARGET).lss
+sym: $(OBJDIR)/$(TARGET).sym
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(OBJDIR)/$(TARGET).hex
+ELFSIZE = $(SIZE) -A $(OBJDIR)/$(TARGET).elf
+sizebefore:
+ @if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+
+sizeafter:
+ @if [ -f $(OBJDIR)/$(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
+
+
+# Program the device.
+load upload program: $(OBJDIR)/$(TARGET).hex
+ifeq ($(FLASH_MODE),IAP)
+ $(SUDO) $(LPC21IAP) $(OBJDIR)/$(TARGET).elf
+else
+ @echo
+ $(LPC21ISP) $(LPC21ISP_CONTROL) $(LPC21ISP_DEBUG) $(LPC21ISP_FLASHFILE)
$(LPC21ISP_PORT) $(LPC21ISP_BAUD) $(LPC21ISP_XTAL)
+endif
+
+# Create final output files (.hex, .eep) from ELF output file.
+# TODO: handling the .eeprom-section should be redundant
+%.hex: %.elf
+ @echo OBJC $@
+ $(Q)$(OBJCOPY) -O $(FORMAT) $< $@
+
+
+# Create extended listing file from ELF output file.
+# testing: option -C
+%.lss: %.elf
+ @echo OBJD $@
+ $(Q)$(OBJDUMP) -h -S -C $< > $@
+
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo NM $@
+ $(Q)$(NM) -n $< > $@
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(OBJDIR)/$(TARGET).elf
+.PRECIOUS : $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
+%.elf: $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
+ @echo LD $@
+ $(Q)$(CC) $(THUMB) $(ALL_CFLAGS) $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
--output $@ $(LDFLAGS) $($(TARGET).LDFLAGS)
+
+
+# Compile: create object files from C source files. ARM-only
+$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
+ @echo CC $@
+ $(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+$(OBJDIR)/%.o : $(SRC_ARCH)/%.c $(OBJDIR)/../Makefile.ac
+ @echo CC $@
+ $(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+$(OBJDIR)/%.o : $(SRC_ARCH)/lpcusb/%.c $(OBJDIR)/../Makefile.ac
+ @echo CC $@
+ $(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+
+# grab files in var/$(AIRCRAFT)/$(TARGET) aka $(OBJDIR)
+$(OBJDIR)/%.o : $(OBJDIR)/%.c
+ @echo CC $@
+ $(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Assemble: create object files from assembler source files. ARM/Thumb
+$(AOBJ) : $(OBJDIR)/%.o : %.S
+ @echo AS $@
+ $(Q)$(CC) -c $(THUMB) $(ALL_ASFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files. ARM-only
+$(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
+ @echo AS $@
+ $(Q)$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: clean_list
+
+
+clean_list :
+ @echo
+ $(REMOVE) $(OBJDIR)/$(TARGET).hex
+ $(REMOVE) $(OBJDIR)/$(TARGET).obj
+ $(REMOVE) $(OBJDIR)/$(TARGET).elf
+ $(REMOVE) $(OBJDIR)/$(TARGET).map
+ $(REMOVE) $(OBJDIR)/$(TARGET).obj
+ $(REMOVE) $(OBJDIR)/$(TARGET).a90
+ $(REMOVE) $(OBJDIR)/$(TARGET).sym
+ $(REMOVE) $(OBJDIR)/$(TARGET).lnk
+ $(REMOVE) $(OBJDIR)/$(TARGET).lss
+ $(REMOVE) $(COBJ)
+ $(REMOVE) $(AOBJ)
+ $(REMOVE) $(COBJARM)
+ $(REMOVE) $(AOBJARM)
+ $(REMOVE) $(LST)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) $(SRCARM:.c=.s)
+ $(REMOVE) $(SRCARM:.c=.d)
+ $(REMOVE) .dep/*
+ $(REMOVE) *~
+
+
+# Listing of phony targets.
+.PHONY : all sizebefore sizeafter \
+build elf hex lss sym clean clean_list program
+
+
+#
+# Dependencies
+#
+
+$(OBJDIR)/.depend:
+ @echo DEPEND $@
+ @test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+ $(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed
's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(MAKECMDGOALS),erase)
+-include $(OBJDIR)/.depend
+endif
+endif
Added: paparazzi3/branches/nova/conf/Makefile.avr
===================================================================
--- paparazzi3/branches/nova/conf/Makefile.avr (rev 0)
+++ paparazzi3/branches/nova/conf/Makefile.avr 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,181 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id: Makefile.avr,v 1.27 2007/08/26 14:24:50 hecto Exp $
+# Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+
+#
+# This is the common Makefile for the avr-target.
+# Edit the configuration part to suit your local install
+#
+
+ATMELBIN = /usr/bin
+ATMEL_INCLUDES = -I /usr/avr/include
+ATMEL_LIBPATH = -B /usr/avr/lib/avr4 -B /usr/avr/lib/avr5
+PROG_PORT = /dev/parport0
+
+VERIFY=--verify
+
+SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/avr
+
+CC = $(ATMELBIN)/avr-gcc -mmcu=$($(TARGET).ARCH)
+LD = $(CC) $(ATMEL_LIBPATH)
+SIZE = $(ATMELBIN)/avr-size
+OBJCOPY = $(ATMELBIN)/avr-objcopy
+
+
+SERIAL_FLAGS = \
+ -dprog=avr910 \
+ -dpart=auto \
+ -dserial=/dev/ttyS0 \
+ -dspeed=38400 \
+
+ISP_FLAGS = \
+ -dlpt=$(PROG_PORT) -dprog=stk200 -v=3 \
+
+UISP = uisp
+UISP_FLAGS = $(ISP_FLAGS)
+#UISP_FLAGS = $(SERIAL_FLAGS)
+
+# Launch with "make Q=''" to get full command display
+Q=@
+
+
+#
+# End of configuration part.
+#
+
+
+CFLAGS = \
+ -W -Wall -Wundef \
+ $(ATMEL_INCLUDES) \
+ $(INCLUDES) \
+ -Wstrict-prototypes \
+ $($(TARGET).CFLAGS) \
+ $(LOCAL_CFLAGS) \
+ -O3 \
+
+LDFLAGS = -lm
\
+
+#
+# General rules
+#
+
+$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
+$(TARGET).objso = $($(TARGET).srcsnd:%.c=$(OBJDIR)/%.o)
+$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
+
+
+all compile: $($(TARGET).objs) $(OBJDIR)/$(TARGET).elf
+#all:
+# @echo !!!!!!!
+# @echo $($(TARGET).objs)
+# @echo !!!!!!!
+
+load upload: $(TARGET).install
+
+
+#
+# Fuses
+#
+
+rd_fuses: check_arch
+ $(UISP) $(ISP_FLAGS) --rd_fuses
+
+wr_fuses : check_arch
+ $(UISP) $(ISP_FLAGS) --wr_fuse_h=$($(TARGET).HIGH_FUSE)
+ $(UISP) $(ISP_FLAGS) --wr_fuse_l=$($(TARGET).LOW_FUSE)
+ $(UISP) $(ISP_FLAGS) --wr_fuse_e=$($(TARGET).EXT_FUSE)
+ $(UISP) $(ISP_FLAGS) --wr_lock=$($(TARGET).LOCK_FUSE)
+
+TMPFILE = '/tmp/check_fuses.tmp'
+
+check_fuses: check_arch
+ @echo "##### Check of fuses #####"
+ @$(UISP) $(ISP_FLAGS) --rd_fuses >$(TMPFILE)
+ @if (grep -i 'Fuse Low Byte' $(TMPFILE) | cut -c24- | grep -iq
$($(TARGET).LOW_FUSE)) && (grep -i 'Fuse High Byte' $(TMPFILE) |cut -c24- |
grep -iq $($(TARGET).HIGH_FUSE)) && (grep -i 'Fuse Extended Byte' $(TMPFILE)
|cut -c24- | grep -iq $($(TARGET).EXT_FUSE)) && (grep -i 'Lock Bits' $(TMPFILE)
|cut -c24- | grep -iq $($(TARGET).LOCK_FUSE)); then echo "-> Fuses are Ok"; rm
$(TMPFILE); else echo "-> Wrong fuses. Type 'make wr_fuses'"; rm $(TMPFILE);
exit 1; fi
+
+
+$(OBJDIR)/%.elf: $($(TARGET).objs)
+ @echo LD $@
+ $(Q)$(LD)
\
+ $(LOCAL_LDFLAGS) \
+ $^ \
+ -o $@ \
+ $(LDFLAGS)
+ @echo SIZE
+ $(Q)$(SIZE) $@
+
+
+%.s: %.c
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.s: %.c
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.o: %.c
+ @echo CC $@
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.o: $(SRC_ARCH)/%.c
+ @echo CC $@
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.o: $(SRC_ARCH)/%.S
+ $(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.hex: $(OBJDIR)/%.elf
+ $(OBJCOPY) -O ihex -R .eeprom $< $@
+
+
+%.install: $(OBJDIR)/%.hex check_arch
+ # stk200 needs to be erased first
+ $(UISP) $(UISP_FLAGS) --erase
+ @echo SIZE
+ $(Q)$(SIZE) $<
+ $(UISP) $(UISP_FLAGS) --upload $(VERIFY) if=$<
+
+erase: check_arch
+ $(UISP) $(ISP_FLAGS) --erase
+
+check_arch :
+ @echo "CHECKING link with device $($(TARGET).ARCH) on $(PROG_PORT)"
+ $(Q)$(UISP) $(UISP_FLAGS)
+ $(Q)if ($(UISP) $(UISP_FLAGS) 2>&1 | tr '[:upper:]' '[:lower:]' | grep
$($(TARGET).ARCH)); then : ; else echo "Wrong architecture (mcu0 vs mcu1 ?)";
exit 1; fi
+
+avr_clean:
+ rm -rf $(OBJDIR)
+
+
+#
+# Dependencies
+#
+
+$(OBJDIR)/.depend:
+ @echo DEPEND $@
+ @test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+ $(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed
's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(MAKECMDGOALS),erase)
+-include $(OBJDIR)/.depend
+endif
+endif
Added: paparazzi3/branches/nova/conf/Makefile.local
===================================================================
--- paparazzi3/branches/nova/conf/Makefile.local
(rev 0)
+++ paparazzi3/branches/nova/conf/Makefile.local 2009-09-05 00:32:16 UTC
(rev 4085)
@@ -0,0 +1,12 @@
+DESTDIR=/
+
+ifeq ($(PAPARAZZI_HOME),)
+PAPARAZZI_HOME=$(HOME)/paparazzi
+endif
+
+ifeq ($(PAPARAZZI_SRC),)
+TOOLS=$(DESTDIR)/usr/share/paparazzi/bin
+else
+TOOLS=$(PAPARAZZI_SRC)/sw/tools
+endif
+
Added: paparazzi3/branches/nova/conf/Makefile.sim
===================================================================
--- paparazzi3/branches/nova/conf/Makefile.sim (rev 0)
+++ paparazzi3/branches/nova/conf/Makefile.sim 2009-09-05 00:32:16 UTC (rev
4085)
@@ -0,0 +1,139 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id: Makefile.sim,v 1.11 2007/12/08 11:14:36 hecto Exp $
+# Copyright (C) 2006 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+
+ifeq ($(SIM_TYPE),BOOZ)
+sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
+sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
+endif
+
+
+#
+# This is the common Makefile for the sim target.
+#
+
+SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/sim
+
+CC = gcc
+OCAMLC = ocamlc
+SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
+CAMLINCLUDES = -I +lablgtk2 -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) -I
+xml-light
+SIMSITLML = $(OBJDIR)/simsitl.ml
+SITLCMA = $(SIMDIR)/sitl.cma
+
+# Launch with "make Q=''" to get full command display
+Q=@
+
+#
+# End of configuration part.
+#
+
+INCLUDES += -I `ocamlc -where`
+
+CFLAGS = \
+ -W -Wall \
+ $(INCLUDES) \
+ $($(TARGET).CFLAGS) \
+ $(LOCAL_CFLAGS) \
+ -O2 \
+
+# meschach prototypes trigger numerous warnings
+ifneq ($(SIM_TYPE),BOOZ)
+CFLAGS += -Wstrict-prototypes
+endif
+
+
+LDFLAGS = -lm \
+
+ifeq ($(SIM_TYPE),BOOZ)
+LDFLAGS += $($(TARGET).LDFLAGS)
+endif
+#
+# General rules
+#
+
+$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
+$(TARGET).objso = $($(TARGET).srcsnd:%.c=$(OBJDIR)/%.o)
+$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
+
+all compile: $(OBJDIR)/simsitl
+
+
+
+ifeq ($(SIM_TYPE),BOOZ)
+$(OBJDIR)/simsitl : $($(TARGET).objs)
+ @echo LD $@
+ $(Q)$(CC) -o $@ $($(TARGET).objs) $(LDFLAGS)
+else
+$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
+ @echo LD $@
+ $(Q)$(OCAMLC) -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma
xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs)
gtkInit.cmo $(SITLCMA) $(SIMSITLML)
+endif
+
+
+
+# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
+$(SIMSITLML) : $(SIMDIR)/simsitl.ml
+ @echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
+ @cat $< >> $@
+
+%.s: %.c
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.s: %.c
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.o: %.c
+ @echo CC $@
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.o: $(SRC_ARCH)/%.c
+ @echo CC $@
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.o: $(SRC_ARCH)/%.S
+ $(CC) $(CFLAGS) -c -o $@ $<
+
+ifeq ($(SIM_TYPE),BOOZ)
+$(OBJDIR)/%.o: $(SIMDIR)/%.c
+ @echo CC $@
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+endif
+
+avr_clean:
+ rm -rf $(OBJDIR)
+
+
+#
+# Dependencies
+#
+$(OBJDIR)/.depend:
+ @test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+ @echo DEPEND $@
+ $(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed
's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(MAKECMDGOALS),erase)
+-include $(OBJDIR)/.depend
+endif
+endif
Added: paparazzi3/branches/nova/conf/airframes/airframe.dtd
===================================================================
--- paparazzi3/branches/nova/conf/airframes/airframe.dtd
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/airframe.dtd 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,63 @@
+<!-- Paparazzi airframe DTD -->
+
+<!ELEMENT airframe
(servos|commands|rc_commands|command_laws|section|makefile)*>
+<!ELEMENT servos (servo)*>
+<!ELEMENT commands (axis)*>
+<!ELEMENT rc_commands (set)*>
+<!ELEMENT command_laws (let|set)*>
+<!ELEMENT section (define|linear)*>
+<!ELEMENT servo EMPTY>
+<!ELEMENT axis EMPTY>
+<!ELEMENT set EMPTY>
+<!ELEMENT let EMPTY>
+<!ELEMENT define EMPTY>
+<!ELEMENT linear EMPTY>
+<!ELEMENT makefile (#PCDATA)>
+
+<!ATTLIST airframe
+name CDATA #IMPLIED>
+
+<!ATTLIST servos>
+
+<!ATTLIST commands>
+<!ATTLIST rc_commands>
+<!ATTLIST command_laws>
+
+<!ATTLIST section
+name CDATA #IMPLIED
+prefix CDATA #IMPLIED>
+
+<!ATTLIST servo
+name CDATA #REQUIRED
+no CDATA #REQUIRED
+min CDATA #REQUIRED
+neutral CDATA #REQUIRED
+max CDATA #REQUIRED>
+
+<!ATTLIST axis
+name CDATA #REQUIRED
+failsafe_value CDATA #REQUIRED>
+
+<!ATTLIST set
+value CDATA #REQUIRED
+command CDATA #IMPLIED
+servo CDATA #IMPLIED>
+
+<!ATTLIST let
+var CDATA #REQUIRED
+value CDATA #REQUIRED>
+
+<!ATTLIST define
+name CDATA #REQUIRED
+value CDATA #REQUIRED
+unit CDATA #IMPLIED>
+
+<!ATTLIST linear
+name CDATA #REQUIRED
+arity CDATA #REQUIRED
+coeff1 CDATA #REQUIRED
+coeff2 CDATA #IMPLIED
+coeff3 CDATA #IMPLIED>
+
+<!ATTLIST makefile
+target CDATA #IMPLIED>
Added: paparazzi3/branches/nova/conf/airframes/antenna.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/antenna.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/antenna.xml 2009-09-05 00:32:16 UTC
(rev 4085)
@@ -0,0 +1,64 @@
+<airframe name="ANTENNA">
+
+
+<section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="PPRZ"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+</section>
+
+ <makefile>
+
+ARCHI=avr
+ant.ARCHDIR = $(ARCHI)
+ant.ARCH = atmega128
+ant.TARGET = ant
+ant.TARGETDIR = ant
+
+
+# 16MHz resonator
+ant.LOW_FUSE = CF
+ant.HIGH_FUSE = 89
+ant.EXT_FUSE = ff
+ant.LOCK_FUSE = ff
+
+
+ant.CFLAGS += -DCONFIG=\"antenna.h\"
+ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+ant.CFLAGS += -DLED
+
+ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
+ant.srcs += $(SRC_ARCH)/uart_hw.c
+
+ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart0
+ant.srcs += downlink.c pprz_transport.c
+
+ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
+ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+ant.srcs += datalink.c
+ant.srcs += traffic_info.c
+
+ant.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ant.srcs += estimator.c gps_ubx.c gps.c
+
+ant.srcs += avr/ant_tracker.c
+
+
+
+#ant.CFLAGS +=
+ant.srcs += avr/ant_v2x.c avr/ant_spi.c
+
+ant.srcs += avr/ant_servo.c
+
+ant.srcs += avr/ant_h_bridge.c
+
+
+ant.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
+ant.srcs += $(SRC_ARCH)/adc_hw.c
+
+
+ </makefile>
+
+</airframe>
+
+
Added: paparazzi3/branches/nova/conf/airframes/anton_quad.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/anton_quad.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/anton_quad.xml 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,213 @@
+<airframe name="Q1">
+ <!-- The Quad Lite airframe -->
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR_RIGHT" no="3" min="1000" neutral="1000" max="2000"/>
+ <servo name="MOTOR_LEFT" no="1" min="1000" neutral="1000" max="2000"/>
+ <servo name="MOTOR_FRONT" no="2" min="1000" neutral="1000" max="2000"/>
+ <servo name="MOTOR_BACK" no="0" min="1000" neutral="1000" max="2000"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="roll" value="0.3 * @ROLL"/>
+ <let var="pitch" value="0.3 * @PITCH"/>
+ <let var="yaw" value="0.4 * @YAW"/>
+ <let var="throttle" value="0.75 * @THROTTLE"/>
+ <set servo="MOTOR_FRONT" value="$throttle + $pitch - $yaw"/>
+ <set servo="MOTOR_BACK" value="$throttle - $pitch - $yaw"/>
+ <set servo="MOTOR_RIGHT" value="$throttle + $roll + $yaw"/>
+ <set servo="MOTOR_LEFT" value="$throttle - $roll + $yaw"/>
+ </command_laws>
+
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL_RATE" value="1.0"/>
+ <define name="MAX_PITCH_RATE" value="1.0"/>
+ <define name="MAX_YAW_RATE" value="0.8"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="GYRO_ROLL" value="0"/>
+ <define name="GYRO_PITCH" value="1"/>
+ <define name="GYRO_YAW" value="2"/>
+ <define name="GYRO_TEMP" value="3"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ <define name="ACCEL_NB_SAMPLES" value="64"/>
+ <define name="ACCEL_X" value="4"/>
+ <define name="ACCEL_Y" value="6"/>
+ <define name="ACCEL_Z" value="5"/>
+ </section>
+
+
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="502"/>
+ <define name="ADC_PITCH_NEUTRAL" value="534"/>
+ <define name="ADC_YAW_NEUTRAL" value="486"/>
+ <define name="ADC_TEMP_NEUTRAL" value="520"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
+ <define name="ROLL_SCALE" value="1."/>
+ <define name="ROLL_DIRECTION" value="1."/>
+ <define name="PITCH_SCALE" value="1."/>
+ <define name="PITCH_DIRECTION" value="-1."/>
+ <define name="YAW_SCALE" value="1."/>
+ <define name="YAW_DIRECTION" value="-1."/>
+
+ </section>
+
+ <section name="ACCEL" prefix="ACCEL_">
+ <define name="ADC_X_NEUTRAL" value="512"/>
+ <define name="ADC_Y_NEUTRAL" value="512"/>
+ <define name="ADC_Z_NEUTRAL" value="512"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="VOLTAGE_ADC_A" value="0.017"/>
+ <define name="VOLTAGE_ADC_B" value="0"/>
+ <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
+ <define name="LOW_BATTERY" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="0.1" unit="m/s"/>
+ <define name="CARROT" value="3." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+ <define name="NO_XBEE_API_INIT" value="TRUE"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.065"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
+
+ <define name="THROTTLE_SLEW" value="0.05"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.88"/>
+ <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
+
+ <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+
+
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+
+ <define name="PITCH_DGAIN" value="0."/>
+ <define name="ELEVATOR_OF_ROLL" value="2000"/>
+
+ <!-- roll rate loop -->
+
+
+ <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
+ <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
+ <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
+
+ <define name="PGAIN" value="-4."/>
+ <define name="ROLL_PITCH_RATE_PGAIN" value="2200."/>
+ <define name="ROLL_PITCH_RATE_IGAIN" value="3."/>
+ <define name="ROLL_PITCH_RATE_DGAIN" value="3."/>
+
+ <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ <define name="SETPOINT_SLEW_RATE" value="100" unit="deg/sec"/>
+
+ <define name="YAW_PGAIN" value="-2"/>
+ <define name="YAW_RATE_PGAIN" value="-2250."/>
+ <define name="YAW_RATE_IGAIN" value="0."/>
+ <define name="YAW_RATE_DGAIN" value="0."/>
+ <define name="ARRAY_SIZE" value="64"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM"
value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="100." unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <!--
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+-->
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
+
+
+fbw.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
+ap.srcs += downlink.c accel.c complementary_attitude.c
+
+ap.CFLAGS += -DUSE_UART0 -DDOWNLINK_AP_DEVICE=Uart0
+#ap.CFLAGS += -DMODEM -DDOWNLINK_AP_DEVICE=Modem
+#ap.srcs += $(SRC_ARCH)/modem_hw.c
+
+ap.CFLAGS += -DDATALINK=PPRZ
+ap.srcs += traffic_info.c datalink.c pprz_transport.c
+ap.CFLAGS += -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/nova/conf/airframes/anton_quad_v2.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/anton_quad_v2.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/anton_quad_v2.xml 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,182 @@
+<airframe name="Q1">
+ <!-- The Quad Lite airframe -->
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR_RIGHT" no="6" min="1290" neutral="1290" max="1810"/>
+ <servo name="MOTOR_LEFT" no="2" min="1290" neutral="1290" max="1810"/>
+ <servo name="MOTOR_FRONT" no="7" min="1290" neutral="1290" max="1810"/>
+ <servo name="MOTOR_BACK" no="0" min="1290" neutral="1290" max="1810"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ <set command="GAIN1" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="roll" value="0.3 * @ROLL"/>
+ <let var="pitch" value="0.3 * @PITCH"/>
+ <let var="yaw" value="0.4 * @YAW"/>
+ <let var="max_control"
value="Max($pitch-$yaw,Max(-$pitch-$yaw,Max($roll+$yaw,-$roll+$yaw)))"/>
+ <let var="throttle" value="Min((1.0 * @THROTTLE),(MAX_PPRZ -
$max_control))"/>
+ <set servo="MOTOR_FRONT" value="$throttle + $pitch - $yaw"/>
+ <set servo="MOTOR_BACK" value="$throttle - $pitch - $yaw"/>
+ <set servo="MOTOR_RIGHT" value="$throttle + $roll + $yaw"/>
+ <set servo="MOTOR_LEFT" value="$throttle - $roll + $yaw"/>
+ </command_laws>
+
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL_RATE" value="1.0"/>
+ <define name="MAX_PITCH_RATE" value="1.0"/>
+ <define name="MAX_YAW_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ROLL_SCALE" value="1."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ <define name="PITCH_SCALE" value="1."/>
+ <define name="PITCH_DIRECTION" value="1."/>
+ <define name="YAW_SCALE" value="1."/>
+ <define name="YAW_DIRECTION" value="1."/>
+
+ </section>
+
+ <section name="IR_RANGE" prefix="IR_RANGE_">
+ <define name="X_CHANNEL" value="1"/>
+ <define name="X_SCALE_1" value="1."/>
+ <define name="X_SCALE_2" value="1."/>
+ <define name="X_NEUTRAL_1" value="1."/>
+ <define name="X_NEUTRAL_2" value="1."/>
+ </section>
+
+ <section name="SPI_IMU" prefix="SPI_IMU_">
+ <define name="GYROR_NEUTRAL" value="32533"/>
+ <define name="GYROP_NEUTRAL" value="31732"/>
+ <define name="GYROY_NEUTRAL" value="32537"/>
+ <define name="ACCELX_NEUTRAL" value="39437"/>
+ <define name="ACCELY_NEUTRAL" value="38695"/>
+ <define name="ACCELZ_NEUTRAL" value="40277"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+<!-- <define name="VOLTAGE_ADC_A" value="0.017"/>
+ <define name="VOLTAGE_ADC_B" value="0"/>
+ <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/> -->
+ <define name="LOW_BATTERY" value="6.4" unit="V"/>
+ </section>
+
+ <section name="MAXSONAR_ULTRASONIC_ALTIMETER">
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER" value="ADC_0"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_NB_SAMPLES"
value="16"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_NEUTRAL" value="12"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_SCALE" value="1.44"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="0.1" unit="m/s"/>
+ <define name="CARROT" value="3." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+ <define name="NO_XBEE_API_INIT" value="TRUE"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ </section>
+
+
+ <section name="CONTROL" prefix="NOVA_CONTROL_">
+ <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="YAW_MAX_SETPOINT" value="0.5" unit="radians"/>
+
+ <define name="ROLL_PITCH_PGAIN" value="-4."/>
+ <define name="ROLL_PITCH_RATE_PGAIN" value="2200."/>
+ <define name="ROLL_PITCH_RATE_IGAIN" value="3."/>
+ <define name="ROLL_PITCH_RATE_DGAIN" value="3."/>
+
+ <define name="YAW_PGAIN" value="-3"/>
+ <define name="YAW_RATE_PGAIN" value="2250."/>
+ <define name="YAW_RATE_IGAIN" value="0."/>
+ <define name="YAW_RATE_DGAIN" value="0."/>
+
+ <define name="SETPOINT_SLEW_RATE" value="100" unit="deg/sec"/>
+
+ <define name="AGL_PGAIN" value="-0.2"/>
+
+ <define name="AGL_RATE_PGAIN" value="-500."/>
+ <define name="AGL_RATE_IGAIN" value="0."/>
+ <define name="AGL_RATE_DGAIN" value="0."/>
+
+
+ <define name="ARRAY_SIZE" value="64"/>
+ <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ </section>
+
+
+
+ <makefile>
+CONFIG = \"tiny_2_0.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
nova_main_ap.c
+
+ap.srcs += commands.c nova_bat.c nova_autopilot.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+fbw.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DNOVA_CONTROL -DNOVA_SPI_IMU
+ap.srcs += $(SRC_ARCH)/ADS8344.c nova_spi_imu.c nova_filter.c nova_control.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DNOVA_IR_RANGE
+ap.CFLAGS += -DADC -DUSE_ADC_0
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B9600
-DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE
-DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\" -DGPS_BAUD=38400
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DRP_KALMAN -DULTRASONIC_ALTIMETER
+ap.srcs += nova_estimator.c nova_ir_range.c kalman_tilt.c nova_kalman_filter.c
ultrasonic_altimeter.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/nova/conf/airframes/anton_quad_v3.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/anton_quad_v3.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/anton_quad_v3.xml 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,217 @@
+<airframe name="Q1">
+ <!-- The Quad Lite airframe -->
+
+<!-- commands section -->
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="FRONT_ROTOR_CW" value="1"/>
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+
+
+
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ <set command="GAIN1" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL_RATE" value="1.0"/>
+ <define name="MAX_PITCH_RATE" value="1.0"/>
+ <define name="MAX_YAW_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ROLL_SCALE" value="1."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ <define name="PITCH_SCALE" value="1."/>
+ <define name="PITCH_DIRECTION" value="-1."/>
+ <define name="YAW_SCALE" value="1."/>
+ <define name="YAW_DIRECTION" value="1."/>
+
+ </section>
+
+ <section name="IR_RANGE" prefix="IR_RANGE_">
+ <define name="X_CHANNEL" value="1"/>
+ <define name="X_SCALE_1" value="1."/>
+ <define name="X_SCALE_2" value="1."/>
+ <define name="X_NEUTRAL_1" value="1."/>
+ <define name="X_NEUTRAL_2" value="1."/>
+ </section>
+
+ <section name="SPI_IMU" prefix="SPI_IMU_">
+ <define name="GYROP_NEUTRAL" value="32533"/>
+ <define name="GYROR_NEUTRAL" value="31732"/>
+ <define name="GYROY_NEUTRAL" value="32537"/>
+ <define name="ACCELY_NEUTRAL" value="39437"/>
+ <define name="ACCELX_NEUTRAL" value="38695"/>
+ <define name="ACCELZ_NEUTRAL" value="40277"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+<!-- <define name="VOLTAGE_ADC_A" value="0.017"/>
+<define name="VOLTAGE_ADC_B" value="0"/>
+<define name="VoltageOfAdc(adc)" value="0.0247311828"/>-->
+ <define name="LOW_BATTERY" value="6.4" unit="V"/>
+ </section>
+
+ <section name="MAXSONAR_ULTRASONIC_ALTIMETER">
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER" value="ADC_0"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_NB_SAMPLES"
value="16"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_NEUTRAL" value="12"/>
+ <define name="ADC_CHANNEL_ULTRASONIC_ALTIMETER_SCALE" value="1.44"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="0.1" unit="m/s"/>
+ <define name="CARROT" value="3." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+ <define name="NO_XBEE_API_INIT" value="TRUE"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ </section>
+
+
+ <section name="CONTROL" prefix="NOVA_CONTROL_">
+ <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="YAW_MAX_SETPOINT" value="0.5" unit="radians"/>
+
+ <define name="ROLL_PITCH_PGAIN" value="-4."/>
+ <define name="ROLL_PITCH_RATE_PGAIN" value="1500."/>
+ <define name="ROLL_PITCH_RATE_IGAIN" value="3."/>
+ <define name="ROLL_PITCH_RATE_DGAIN" value="3."/>
+
+ <define name="YAW_PGAIN" value="-3"/>
+ <define name="YAW_RATE_PGAIN" value="2250."/>
+ <define name="YAW_RATE_IGAIN" value="0."/>
+ <define name="YAW_RATE_DGAIN" value="0."/>
+
+ <define name="SETPOINT_SLEW_RATE" value="100" unit="deg/sec"/>
+
+ <define name="AGL_PGAIN" value="-0.2"/>
+
+ <define name="AGL_RATE_PGAIN" value="-500."/>
+ <define name="AGL_RATE_IGAIN" value="0."/>
+ <define name="AGL_RATE_DGAIN" value="0."/>
+
+
+ <define name="ARRAY_SIZE" value="64"/>
+ <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ </section>
+
+
+
+ <makefile>
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+CONFIG = \"tiny_2_0.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
nova_main_ap.c
+
+ap.srcs += commands.c nova_bat.c nova_autopilot.c
+
+
+fbw.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DNOVA_CONTROL -DNOVA_SPI_IMU
+ap.srcs += $(SRC_ARCH)/ADS8344.c nova_spi_imu.c nova_filter.c nova_control.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DNOVA_IR_RANGE
+ap.CFLAGS += -DADC -DUSE_ADC_0
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B9600
-DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE
-DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\" -DGPS_BAUD=38400
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DRP_KALMAN -DULTRASONIC_ALTIMETER
+ap.srcs += nova_estimator.c nova_ir_range.c kalman_tilt.c nova_kalman_filter.c
ultrasonic_altimeter.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
+
+#
+# test MC
+#
+test_mc.ARCHDIR = $(ARCHI)
+test_mc.ARCH = arm7tdmi
+test_mc.TARGET = test_mc
+test_mc.TARGETDIR = test_mc
+
+test_mc.CFLAGS += -DCONFIG=$(CONFIG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-I$(BOOZ_ARCH)
+test_mc.srcs += test_buss_blmc.c
+test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_mc.CFLAGS += -DLED
+test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_mc.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_mc.srcs += downlink.c pprz_transport.c
+
+test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
-DUSE_BUSS_TWI_BLMC
+test_mc.srcs += $(SRC_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/nova/conf/airframes/anton_quad_v4.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/anton_quad_v4.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/anton_quad_v4.xml 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,200 @@
+<airframe name="Q1">
+ <!-- TWOG quad -->
+
+<!-- commands section -->
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="FRONT_ROTOR_CW" value="1"/>
+ <define name="MIN_MOTOR" value="15"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+
+
+
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ <set command="GAIN1" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL_RATE" value="1.0"/>
+ <define name="MAX_PITCH_RATE" value="1.0"/>
+ <define name="MAX_YAW_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ROLL_SCALE" value="1."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ <define name="PITCH_SCALE" value="1."/>
+ <define name="PITCH_DIRECTION" value="-1."/>
+ <define name="YAW_SCALE" value="1."/>
+ <define name="YAW_DIRECTION" value="1."/>
+
+ </section>
+
+ <section name="SPI_IMU" prefix="SPI_IMU_">
+ <define name="GYROP_NEUTRAL" value="32533"/>
+ <define name="GYROR_NEUTRAL" value="31732"/>
+ <define name="GYROY_NEUTRAL" value="32537"/>
+ <define name="ACCELY_NEUTRAL" value="39337"/>
+ <define name="ACCELX_NEUTRAL" value="38806"/>
+ <define name="ACCELZ_NEUTRAL" value="40277"/>
+ </section>
+
+ <section name="BAT">
+ <define name="LOW_BATTERY" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NO_XBEE_API_INIT" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ </section>
+
+
+ <section name="CONTROL" prefix="NOVA_CONTROL_">
+ <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="YAW_MAX_SETPOINT" value="0.5" unit="radians"/>
+
+ <define name="ROLL_RATE_MAX_SETPOINT" value="1.5" unit="radians/sec"/>
+ <define name="PITCH_RATE_MAX_SETPOINT" value="1.5" unit="radians/sec"/>
+
+ <define name="ROLL_PITCH_PGAIN" value="-2.5"/>
+ <define name="ROLL_PITCH_RATE_PGAIN" value="40."/>
+ <define name="ROLL_PITCH_RATE_IGAIN" value="0.0"/>
+ <define name="ROLL_PITCH_RATE_DGAIN" value="4."/>
+
+ <define name="YAW_PGAIN" value="-3"/>
+ <define name="YAW_RATE_PGAIN" value="47."/>
+ <define name="YAW_RATE_IGAIN" value="0."/>
+ <define name="YAW_RATE_DGAIN" value="0."/>
+
+ <define name="ARRAY_SIZE" value="64"/>
+ <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ </section>
+
+
+
+ <makefile>
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+ap.CFLAGS += -DFLIGHT
+CONFIG = \"tiny_2_0.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
nova_main_ap.c
+
+ap.srcs += commands.c nova_bat.c nova_autopilot.c
+ap.srcs += booz2_imu_crista.c $(SRC_ARCH)/booz2_imu_crista_hw.c
+
+fbw.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DNOVA_CONTROL -DNOVA_SPI_IMU
+ap.srcs += nova_spi_imu.c nova_filter.c nova_control.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC
+ap.CFLAGS += -DADC -DUSE_ADC_0
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DRP_KALMAN
+ap.srcs += kalman_tilt.c nova_kalman_filter.c
+
+#
+# test MC
+#
+test_mc.ARCHDIR = $(ARCHI)
+test_mc.ARCH = arm7tdmi
+test_mc.TARGET = test_mc
+test_mc.TARGETDIR = test_mc
+
+test_mc.CFLAGS += -DCONFIG=$(CONFIG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-I$(BOOZ_ARCH)
+test_mc.srcs += test_buss_blmc.c
+test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_mc.CFLAGS += -DLED
+test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_mc.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_mc.srcs += downlink.c pprz_transport.c
+
+test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
-DUSE_BUSS_TWI_BLMC
+test_mc.srcs += $(SRC_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test crista
+#
+test_crista.ARCHDIR = $(ARCHI)
+test_crista.ARCH = arm7tdmi
+test_crista.TARGET = test_crista
+test_crista.TARGETDIR = test_crista
+
+test_crista.CFLAGS += -DCONFIG=$(CONFIG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-I$(BOOZ_ARCH)
+test_crista.srcs += booz2_test_crista.c nova_spi_imu.c
+test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_crista.CFLAGS += -DLED
+test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_crista.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_crista.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_crista.srcs += downlink.c pprz_transport.c
+
+test_crista.CFLAGS += -DFLOAT_T=float -DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
+test_crista.srcs += booz2_imu_crista.c $(SRC_ARCH)/booz2_imu_crista_hw.c
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/nova/conf/airframes/aron_quad.xml
===================================================================
--- paparazzi3/branches/nova/conf/airframes/aron_quad.xml
(rev 0)
+++ paparazzi3/branches/nova/conf/airframes/aron_quad.xml 2009-09-05
00:32:16 UTC (rev 4085)
@@ -0,0 +1,200 @@
+<airframe name="Q1">
+ <!-- TWOG quad -->
+
+<!-- commands section -->
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="FRONT_ROTOR_CW" value="1"/>
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+
+
+
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ <set command="GAIN1" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL_RATE" value="1.0"/>
+ <define name="MAX_PITCH_RATE" value="1.0"/>
+ <define name="MAX_YAW_RATE" value="0.8"/>
+ </section>
+
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ROLL_SCALE" value="1."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ <define name="PITCH_SCALE" value="1."/>
+ <define name="PITCH_DIRECTION" value="-1."/>
+ <define name="YAW_SCALE" value="1."/>
+ <define name="YAW_DIRECTION" value="1."/>
+
+ </section>
+
+ <section name="SPI_IMU" prefix="SPI_IMU_">
+ <define name="GYROP_NEUTRAL" value="32383"/>
+ <define name="GYROR_NEUTRAL" value="32852"/>
+ <define name="GYROY_NEUTRAL" value="32697"/>
+ <define name="ACCELY_NEUTRAL" value="40317"/>
+ <define name="ACCELX_NEUTRAL" value="40476"/>
+ <define name="ACCELZ_NEUTRAL" value="39822"/>
+ </section>
+
+ <section name="BAT">
+ <define name="LOW_BATTERY" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NO_XBEE_API_INIT" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ </section>
+
+
+ <section name="CONTROL" prefix="NOVA_CONTROL_">
+ <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="YAW_MAX_SETPOINT" value="0.5" unit="radians"/>
+
+ <define name="ROLL_RATE_MAX_SETPOINT" value="1.5" unit="radians/sec"/>
+ <define name="PITCH_RATE_MAX_SETPOINT" value="1.5" unit="radians/sec"/>
+
+ <define name="ROLL_PITCH_PGAIN" value="-2.5"/>
+ <define name="ROLL_PITCH_RATE_PGAIN" value="40."/>
+ <define name="ROLL_PITCH_RATE_IGAIN" value="0.0"/>
+ <define name="ROLL_PITCH_RATE_DGAIN" value="4."/>
+
+ <define name="YAW_PGAIN" value="-3"/>
+ <define name="YAW_RATE_PGAIN" value="47."/>
+ <define name="YAW_RATE_IGAIN" value="0."/>
+ <define name="YAW_RATE_DGAIN" value="0."/>
+
+ <define name="ARRAY_SIZE" value="64"/>
+ <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ </section>
+
+
+
+ <makefile>
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+ap.CFLAGS += -DFLIGHT
+CONFIG = \"tiny_2_0.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
nova_main_ap.c
+
+ap.srcs += commands.c nova_bat.c nova_autopilot.c
+ap.srcs += booz2_imu_crista.c $(SRC_ARCH)/booz2_imu_crista_hw.c
+
+fbw.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DNOVA_CONTROL -DNOVA_SPI_IMU
+ap.srcs += nova_spi_imu.c nova_filter.c nova_control.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC
+ap.CFLAGS += -DADC -DUSE_ADC_0
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DRP_KALMAN
+ap.srcs += kalman_tilt.c nova_kalman_filter.c
+
+#
+# test MC
+#
+test_mc.ARCHDIR = $(ARCHI)
+test_mc.ARCH = arm7tdmi
+test_mc.TARGET = test_mc
+test_mc.TARGETDIR = test_mc
+
+test_mc.CFLAGS += -DCONFIG=$(CONFIG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-I$(BOOZ_ARCH)
+test_mc.srcs += test_buss_blmc.c
+test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_mc.CFLAGS += -DLED
+test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_mc.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_mc.srcs += downlink.c pprz_transport.c
+
+test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
-DUSE_BUSS_TWI_BLMC
+test_mc.srcs += $(SRC_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test crista
+#
+test_crista.ARCHDIR = $(ARCHI)
+test_crista.ARCH = arm7tdmi
+test_crista.TARGET = test_crista
+test_crista.TARGETDIR = test_crista
+
+test_crista.CFLAGS += -DCONFIG=$(CONFIG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-I$(BOOZ_ARCH)
+test_crista.srcs += booz2_test_crista.c nova_spi_imu.c
+test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_crista.CFLAGS += -DLED
@@ Diff output truncated at 153600 characters. @@
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Anton K. <=