User/AirborneCodeReorg

This page summarizes the changes needed to switch from the "raw makefile in airframes" to a new "xml only aiframes" syntax

Why

Because of its growth, paparazzi needs significant reorganization. To make this possible without breaking airframe files, the 'subsystem' idea introduced in booz is now generalized to all airframes.

1. A nicer looking XML structure.
2. users are not required to understand Makefile's anymore in order to choose what to compile.

FixedWing

In Brief

The idea is to replace the <makefile> section with a <firmware> section

Typicaly, replace:

<makefile>
 CONFIG=\"tiny_2_1_1.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 FLASH_MODE=IAP
 ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 ap.srcs += commands.c
 ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
 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 -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 ap.srcs += nav_line.c nav_survey_rectangle.c
</makefile>

with

  <firmware name="fixedwing">
    <target name="sim" 			board="pc" >
      <define name="TRAFFIC_INFO" />
    </target>
    <target name="ap" 			board="tiny_2.11">
      <param name="FLASH_MODE" 		value="IAP" />
      <define name="AGR_CLIMB" />
      <define name="TRAFFIC_INFO" />
      <define name="LOITER_TRIM" />
      <define name="ALT_KALMAN" />
    </target>
    <subsystem name="radio_control" 	type="ppm"/>
    <!-- Communication -->
    <subsystem name="telemetry" 	type="transparent">
      <param name="MODEM_BAUD" 		value="B9600"/>
    </subsystem>
    <!-- Actuators -->
    <subsystem name="actuators" 	type="4017"/>
    <!-- Sensors -->
    <subsystem name="gyro"              type="roll"/>
    <subsystem name="attitude" 		type="infrared"/>
    <subsystem name="gps" 		type="ublox_lea4p"/>
    <subsystem name="navigation"/>
    <subsystem name="navigation"        type="extra"/><!--this includes OSAMNav, nav, discsurvey and nav_cube as well-->
  </firmware>
  <!-- Carefull: add the location after!! -->
  <makefile location="after">
    # specific stuff that only you are needing... be aware that files might move, so USE the firmware-source variable
  </makefile>

But you can also add:

 <firmware name="setup">
   <target name="tunnel" 		board="tiny_2.11" />
   <target name="setup_actuators" 	board="tiny_2.11" />
 </firmware>

In details

Let's look in more detail how this is done

You can define several <firmware> branches that are linked with you airframe

For a tiny2 this is typically the 'fixedwing' firmware. This chooses which main routine will run. In this case the fixedwing main.c

 <firmware name="fixedwing">

The old first two lines of the makefile

CONFIG=\"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP

are now replaced by the <target> block. Notice that this name is automatically filled in paparazzi center.

 <target name="ap" board="tiny_2.11">
   <param name="FLASH_MODE" value="IAP"/><!-- this is already the default if not set -->
 </target>

The only field you might want to adapt depending on your configuration is the board one. The list of supported boards is

• "twog_1"
• "tiny_2.11"
• "tiny_2.1"
• "tiny_1.1"
• "tiny_0.99"
• "booz_1.0"
• "lisa_l_1.0"
• "pc"

Then you should define which subsystems to use for you board. For most fixedwing Tiny users this will be standard. But for booz there are already many more options, and wait until you see the power of Lisa!

The following line defines what kind of radio control you'll be using. Fox now fixedwing doesn't have a choice and uses ppm

<subsystem name="radio_control" type="ppm"/>

replaces

ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

Generated transition guide

• fixedwing_subsystems
• rotorcraft_subsystems

Description of available firmwares

• Rotorcraft
• Fixedwing
• Lisa_l_test_progs
• Booz_test_progs