Re: [Paparazzi-devel] Problem compiling with a custom written subroutine (zamboni survey)

[Jorn Anke]

What I did try was (like before) to add; $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/zamboni_survey.c
to the navigation_extra.makefile  :
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# Hey Emacs, this is a -*- makefile -*-

# standard and extra fixed wing navigation

#add these to all targets

$(TARGET).CFLAGS += -DNAV
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c

$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_cube.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/discsurvey.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/spiral.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/poly_survey_adv.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/gls.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/border_line.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/zamboni_survey.c
# $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/lawnmover_survey_gt.c
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Then, to add a separate makefile, in paparazzi/conf/firmwares/subsystems/  directory:
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# Hey Emacs, this is a -*- makefile -*-

# standard and extra fixed wing navigation

#add these to all targets

$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/zamboni_survey.c
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Airframe file starts like this:
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="310" ground_alt="185" lat0="59.81" lon0="10.3578" max_dist_from_home="550" name="Test zamboni" security_height="60" qfu="110">
  <header>
#include "subsystems/navigation/zamboni_survey.h"
#include "subsystems/datalink/datalink.h"
/*
#ifndef VARDECLARED
#define VARDECLARED
float varsweepsize=110;
#endif
*/
#include "modules/digital_cam/dc.h"
//#define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_DISTANCE;
//#define LINE_START_FUNCTION dc_Survey(dc_gps_dist);
#define LINE_START_FUNCTION dc_Survey(40);
#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
</header>
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Cheers, Jorn