Revision 74c0e6394dc5a2a6fb703406de719b47a626cb3b authored by ziqingma on 22 October 2023, 21:33:01 UTC, committed by ziqingma on 23 October 2023, 08:42:43 UTC
CG shift due to tilt issue, add takeoff test flightplan in cyberzoo Update guidance_indi.c
1 parent 6b317f2
Makefile.ac
# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2003-2014 The Paparazzi Team
#
# 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
# main directory where the generated files and compilation results for an aircraft are stored
AIRCRAFT_BUILD_DIR = $(PAPARAZZI_HOME)/var/aircrafts/$(AIRCRAFT)
CONF=$(PAPARAZZI_HOME)/conf
VAR=$(PAPARAZZI_HOME)/var
CONF_XML ?= $(CONF)/conf.xml
AIRBORNE=sw/airborne
# make sure the TARGET variable is set if needed for current make target
ifneq (,$(findstring $(MAKECMDGOALS),all_ac_h radio_ac_h flight_plan_ac_h))
ifeq ($(TARGET),)
$(warning No TARGET specified! Defaulting to "TARGET=ap")
override TARGET=ap
endif
endif
# Enable QT
PAPARAZZI_QT_GEN?=
ifneq (,$(findstring qt,$(MAKECMDGOALS)))
PAPARAZZI_QT_GEN=1
endif
AIRCRAFT_CONF_DIR = $(AIRCRAFT_BUILD_DIR)/conf
AC_GENERATED = $(AIRCRAFT_BUILD_DIR)/$(TARGET)/generated
SRCS_LIST=$(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list
TMP_LIST=$(AIRCRAFT_BUILD_DIR)/$(TARGET)_tmp.list
GENERATE_KEYS ?= 0
# By default, detect number of processors for parallel compilation
# same as passing J=AUTO from toplevel make.
# Number of processes can also be explicitly set with e.g. J=4
# For serial compilation, call make with J=1
NPROCS := 1
UNAME = $(shell uname -s)
J ?= AUTO
ifeq ($J,AUTO)
ifeq ($(UNAME),Linux)
NPROCS := $(shell grep -c '^processor' /proc/cpuinfo)
else ifeq ($(UNAME),Darwin)
NPROCS := $(shell sysctl hw.ncpu | awk '{print $$2}')
endif # $(UNAME)
else # not auto, explicitly specified
NPROCS := $J
endif
#
# export paparazzi version
#
GIT_SHA1 := $(shell git log -1 --pretty=format:%H 2> /dev/null)
ifneq ($(words $(GIT_SHA1)),1)
GIT_SHA1 := "UNKNOWN"
endif
GIT_DESC := $(shell ./paparazzi_version)
BUILD_DESC := $(shell cat $(PAPARAZZI_HOME)/var/build_version.txt 2> /dev/null || echo UNKNOWN)
# extract only version number in format <major>.<minor>.<patch>
PPRZ_VER := $(shell echo $(GIT_DESC) | sed 's/[^0-9.]*\([0-9.]*\).*/\1/')
PPRZ_VER_MAJOR := $(shell echo $(GIT_DESC) | sed 's/v\([0-9]*\).*/\1/')
PPRZ_VER_MINOR := $(shell echo $(GIT_DESC) | sed 's/v[0-9]*.\([0-9]*\).*/\1/')
PPRZ_VER_PATCH := $(shell echo $(GIT_DESC) | sed 's/v[0-9]*.[0-9]*.\([0-9]*\).*/\1/')
ifneq ($(words $(PPRZ_VER_PATCH)),1)
PPRZ_VER_PATCH := 0
endif
export GIT_DESC
export BUILD_DESC
export GIT_SHA1
export PPRZ_VER_MAJOR
export PPRZ_VER_MINOR
export PPRZ_VER_PATCH
# show warning with print_version if PPRZ_VER (e.g. 5.3.2) is not part of the BUILD_DESC string
VERSION_MATCH = ""
ifeq (,$(findstring $(PPRZ_VER),$(BUILD_DESC)))
VERSION_MATCH = "\nWarning: version differs from build version ($(BUILD_DESC)), you might want to run the toplevel make."
endif
# "make Q=''" to get full echo
Q=@
#
# include the generated airframe makefile
#
ifeq ($(MAKECMDGOALS),all_ac_h)
-include $(AIRBORNE)/Makefile
ifdef PERIODIC_FREQUENCY
# telemetry and module periodic frequency default to PERIODIC_FREQUENCY
TELEMETRY_FREQUENCY ?= $(PERIODIC_FREQUENCY)
DEFAULT_MODULES_FREQUENCY = $(PERIODIC_FREQUENCY)
else
$(warning Info: PERIODIC_FREQUENCY not configured, defaulting to 60Hz for modules and telemetry)
TELEMETRY_FREQUENCY ?= 60
DEFAULT_MODULES_FREQUENCY = 60
endif
endif
print_version:
@echo "-----------------------------------------------------------------------"
@echo "Paparazzi version" $(GIT_DESC)$(VERSION_MATCH)
@echo "-----------------------------------------------------------------------"
all_ac_h: $(SRCS_LIST) qt_project generate_keys build_rust_modules
$(SRCS_LIST):
@echo "TARGET: " $(TARGET) > $(SRCS_LIST)
@echo "CFLAGS: " $(CFLAGS) $(IINCDIR) $(TOPT) >> $(SRCS_LIST)
@echo "LDFLAGS: " $($(TARGET).LDFLAGS) >> $(SRCS_LIST)
@echo "srcs: " $($(TARGET).srcs) >> $(SRCS_LIST)
@echo -n "headers: " >> $(SRCS_LIST)
ifneq ($(PAPARAZZI_QT_GEN),)
@echo $(VPATH) > $(TMP_LIST)
@echo $($(TARGET).srcs) >> $(TMP_LIST)
ifeq (,$(findstring cpp,$($(TARGET).srcs)))
@echo $(CFLAGS) >> $(TMP_LIST)
@echo $(IINCDIR) >> $(TMP_LIST)
@echo $(TOPT)>> $(TMP_LIST)
@echo ../../sw/tools/find_vpaths.py $(CC) $(TMP_LIST) $(PAPARAZZI_SRC)
$(Q)cd $(PAPARAZZI_SRC) ; ./sw/tools/find_vpaths.py $(CC) $(TMP_LIST) $(PAPARAZZI_SRC) >> $(SRCS_LIST)
else
@echo $(CXXFLAGS) >> $(TMP_LIST)
@echo $(IINCDIR) >> $(TMP_LIST)
@echo $(TOPT)>> $(TMP_LIST)
@echo ../../sw/tools/find_vpaths.py $(CXX) $(TMP_LIST) $(PAPARAZZI_SRC)
$(Q)cd $(PAPARAZZI_SRC) ; ./sw/tools/find_vpaths.py $(CXX) $(TMP_LIST) $(PAPARAZZI_SRC) >> $(SRCS_LIST)
endif
endif
CARGO=$(shell which cargo)
# guard for simulation (NPS) target
ifneq (,$(findstring thumb, $(RUST_ARCH)))
# thumbv6 or 7
RUST_FEATURES+="not_std"
else
# using host architecture
RUST_FEATURES+="use_std"
endif
build_rust_modules:
ifneq ($(strip $(RUST_MODULES)),)
ifneq ($(CARGO),)
ifneq ($(RUST_ARCH),)
@echo PROCESSING RUST MODULES
@echo $(RUST_MODULES)
@echo RUST_FEATURES = $(RUST_FEATURES)
@$(foreach module_path, $(RUST_MODULES),\
echo Building $(module_path);\
cd $(module_path) && \
AC_GENERATED=$(AC_GENERATED) cargo build --target $(RUST_ARCH) --verbose --release --features $(RUST_FEATURES);)
else
@echo "Error: RUST_ARCH not specified, this board is likely not supported."
endif # Check Rust Arch
else
@echo "Error: Cargo (Rust) not found, cannot build Rust modules. Please install xargo."
endif # Check if Cargo is present
endif # No rust modules to process
generate_keys:
ifeq ($(GENERATE_KEYS),1)
ifneq ($(CARGO),)
@echo GENERATE KEYS
$(Q)cargo run --manifest-path $(PAPARAZZI_SRC)/sw/ext/key_generator/Cargo.toml --release $(AC_GENERATED)
else
@echo "Error: Cargo (Rust) is not found, keys are not generated. Please install cargo."
endif
endif
qt_project : $(SRCS_LIST)
ifneq ($(PAPARAZZI_QT_GEN),)
$(Q)./sw/tools/qt_project.py $(AIRCRAFT) $(CONF_XML) $(SRCS_LIST)
endif
%.ac_h : $(GENERATORS)/gen_aircraft.out
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "#######################################"
@echo "# BUILD AIRCRAFT=$(AIRCRAFT), TARGET $*"
@echo "#######################################"
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out -all -name $(AIRCRAFT) -target $* -conf $(CONF_XML)
%.qt: %.ac_h
@echo "GENERATED Qt project"
%.compile: %.ac_h | print_version
$(MAKE) TARGET=$* -f Makefile.ac all_ac_h
cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=$* all
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
clean_ac :
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "CLEANING $(AIRCRAFT)"
$(Q)rm -fr $(AIRCRAFT_BUILD_DIR)
.PHONY: all_ac_h clean_ac print_version generate_keys
![swh spinner](/static/img/swh-spinner.gif)
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