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implemented driver for simulated airspeed

This commit is contained in:
tumbili 2015-09-04 17:06:22 +02:00 committed by Lorenz Meier
parent 0fe272c9b3
commit 9f90b87745
4 changed files with 697 additions and 37 deletions
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73
src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp
View File

@ -35,14 +35,12 @@
* @file ets_airspeed.cpp
* @author Simon Wilks
* @author Mark Charlebois (simulator)
*
* Driver for the Simulated Airspeed Sensor based on Eagle Tree Airspeed V3.
* @author Roman Bapst (simulator)
* Driver for the Simulated AirspeedSim Sensor based on Eagle Tree AirspeedSim V3.
*/
#include <px4_config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
@ -56,8 +54,6 @@
#include <math.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
@ -71,12 +67,15 @@
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/airspeed/airspeed.h>
#include <simulator/simulator.h>
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
I2C("Airspeed", path, bus, address),
#include "airspeedsim.h"
AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char* path) :
VDev("AIRSPEEDSIM", path),
_reports(nullptr),
_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
_retries(0),
_max_differential_pressure_pa(0),
_sensor_ok(false),
_last_published_sensor_ok(true), /* initialize differently to force publication */
@ -97,7 +96,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
memset(&_work, 0, sizeof(_work));
}
Airspeed::~Airspeed()
AirspeedSim::~AirspeedSim()
{
/* make sure we are truly inactive */
stop();
@ -116,18 +115,21 @@ Airspeed::~Airspeed()
}
int
Airspeed::init()
AirspeedSim::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
/* init base class */
if (VDev::init() != OK) {
DEVICE_DEBUG("VDev init failed");
goto out;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
@ -154,7 +156,7 @@ out:
}
int
Airspeed::probe()
AirspeedSim::probe()
{
/* on initial power up the device may need more than one retry
for detection. Once it is running the number of retries can
@ -169,7 +171,7 @@ Airspeed::probe()
}
int
Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@ -272,12 +274,13 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
//return I2C::ioctl(filp, cmd, arg); XXX SIM should be super class
return 0;
}
}
ssize_t
Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
AirspeedSim::read(device::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(differential_pressure_s);
differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
@ -336,24 +339,24 @@ Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
}
void
Airspeed::start()
AirspeedSim::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
work_queue(HPWORK, &_work, (worker_t)&AirspeedSim::cycle_trampoline, this, 1);
}
void
Airspeed::stop()
AirspeedSim::stop()
{
work_cancel(HPWORK, &_work);
}
void
Airspeed::update_status()
AirspeedSim::update_status()
{
if (_sensor_ok != _last_published_sensor_ok) {
/* notify about state change */
@ -375,9 +378,9 @@ Airspeed::update_status()
}
void
Airspeed::cycle_trampoline(void *arg)
AirspeedSim::cycle_trampoline(void *arg)
{
Airspeed *dev = (Airspeed *)arg;
AirspeedSim *dev = (AirspeedSim *)arg;
dev->cycle();
// XXX we do not know if this is
@ -387,7 +390,7 @@ Airspeed::cycle_trampoline(void *arg)
}
void
Airspeed::print_info()
AirspeedSim::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@ -397,8 +400,26 @@ Airspeed::print_info()
}
void
Airspeed::new_report(const differential_pressure_s &report)
AirspeedSim::new_report(const differential_pressure_s &report)
{
if (!_reports->force(&report))
perf_count(_buffer_overflows);
}
int
AirspeedSim::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) {
if (recv_len > 0) {
// this is equivalent to the collect phase
Simulator *sim = Simulator::getInstance();
if (sim == NULL) {
PX4_ERR("Error BARO_SIM::transfer no simulator");
return -ENODEV;
}
PX4_DEBUG("BARO_SIM::transfer getting sample");
sim->getAirspeedSample(recv, recv_len);
} else {
// we don't need measure phase
}
return 0;
}

27
src/platforms/posix/drivers/airspeedsim/airspeedsim.h
View File

@ -40,7 +40,7 @@
#include <px4_config.h>
#include <drivers/device/i2c.h>
//#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
@ -55,10 +55,11 @@
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
//#include <nuttx/arch.h>
//#include <nuttx/wqueue.h>
//#include <nuttx/clock.h>
#include <px4_workqueue.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
@ -69,6 +70,7 @@
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/device.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
@ -87,7 +89,7 @@ static const int ERROR = -1;
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class __EXPORT AirspeedSim : public device::I2C
class __EXPORT AirspeedSim : public device::VDev
{
public:
AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
@ -95,8 +97,8 @@ public:
virtual int init();
virtual ssize_t read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
virtual int ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
@ -104,9 +106,11 @@ public:
virtual void print_info();
private:
RingBuffer *_reports;
ringbuffer::RingBuffer *_reports;
perf_counter_t _buffer_overflows;
unsigned _retries; // XXX this should come from the SIM class
/* this class has pointer data members and should not be copied */
AirspeedSim(const AirspeedSim &);
AirspeedSim &operator=(const AirspeedSim &);
@ -122,16 +126,19 @@ protected:
virtual int measure() = 0;
virtual int collect() = 0;
virtual int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
/**
* Update the subsystem status
*/
void update_status();
work_s _work;
struct work_s _work;
float _max_differential_pressure_pa;
bool _sensor_ok;
bool _last_published_sensor_ok;
int _measure_ticks;
unsigned _measure_ticks;
bool _collect_phase;
float _diff_pres_offset;

631
src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp Normal file
View File

@ -0,0 +1,631 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file meas_airspeed_sim.cpp
* @author Lorenz Meier
* @author Sarthak Kaingade
* @author Simon Wilks
* @author Thomas Gubler
* @author Roman Bapst
*
* Driver for a simulated airspeed sensor.
*
*/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>
#include "airspeedsim.h"
/* I2C bus address is 1010001x */
#define I2C_ADDRESS_MS4525DO 0x28 /**< 7-bit address. Depends on the order code (this is for code "I") */
#define PATH_MS4525 "/dev/ms4525"
/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
#define I2C_ADDRESS_MS5525DSO 0x77 //0x77/* 7-bit address, addr. pin pulled low */
#define PATH_MS5525 "/dev/ms5525"
/* Register address */
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
/* Measurement rate is 100Hz */
#define MEAS_RATE 100
#define MEAS_DRIVER_FILTER_FREQ 1.2f
#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* microseconds */
class MEASAirspeedSim : public AirspeedSim
{
public:
MEASAirspeedSim(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);
protected:
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle();
virtual int measure();
virtual int collect();
math::LowPassFilter2p _filter;
/**
* Correct for 5V rail voltage variations
*/
void voltage_correction(float &diff_pres_pa, float &temperature);
int _t_system_power;
struct system_power_s system_power;
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int measairspeedsim_main(int argc, char *argv[]);
MEASAirspeedSim::MEASAirspeedSim(int bus, int address, const char *path) : AirspeedSim(bus, address,
CONVERSION_INTERVAL, path),
_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
_t_system_power(-1),
system_power{}
{}
int
MEASAirspeedSim::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = 0;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
}
return ret;
}
int
MEASAirspeedSim::collect()
{
int ret = -EIO;
/* read from the sensor */
#pragma pack(push, 1)
struct {
float temperature;
float diff_pressure;
} airspeed_report;
#pragma pack(pop)
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, (uint8_t *)&airspeed_report, sizeof(airspeed_report));
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint8_t status = 0;
switch (status) {
case 0:
break;
case 1:
/* fallthrough */
case 2:
/* fallthrough */
case 3:
perf_count(_comms_errors);
perf_end(_sample_perf);
return -EAGAIN;
}
float temperature = airspeed_report.temperature;
float diff_press_pa_raw = airspeed_report.diff_pressure * 100.0f; // convert from millibar to bar
struct differential_pressure_s report;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa_raw;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
MEASAirspeedSim::cycle()
{
int ret;
/* collection phase? */
if (_collect_phase) {
/* perform collection */
ret = collect();
if (OK != ret) {
/* restart the measurement state machine */
start();
_sensor_ok = false;
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&AirspeedSim::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
ret = measure();
if (OK != ret) {
DEVICE_DEBUG("measure error");
}
_sensor_ok = (ret == OK);
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&AirspeedSim::cycle_trampoline,
this,
USEC2TICK(CONVERSION_INTERVAL));
}
/**
correct for 5V rail voltage if the system_power ORB topic is
available
See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
offset versus voltage for 3 sensors
*/
void
MEASAirspeedSim::voltage_correction(float &diff_press_pa, float &temperature)
{
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
if (_t_system_power == -1) {
_t_system_power = orb_subscribe(ORB_ID(system_power));
}
if (_t_system_power == -1) {
// not available
return;
}
bool updated = false;
orb_check(_t_system_power, &updated);
if (updated) {
orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
}
if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
// not valid, skip correction
return;
}
const float slope = 65.0f;
/*
apply a piecewise linear correction, flattening at 0.5V from 5V
*/
float voltage_diff = system_power.voltage5V_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
}
if (voltage_diff < -0.5f) {
voltage_diff = -0.5f;
}
diff_press_pa -= voltage_diff * slope;
/*
the temperature masurement varies as well
*/
const float temp_slope = 0.887f;
voltage_diff = system_power.voltage5V_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
}
if (voltage_diff < -1.0f) {
voltage_diff = -1.0f;
}
temperature -= voltage_diff * temp_slope;
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/**
* Local functions in support of the shell command.
*/
namespace meas_airspeed_sim
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
MEASAirspeedSim *g_dev = nullptr;
int start(int i2c_bus);
int stop();
int test();
int reset();
int info();
/**
* Start the driver.
*
* This function call only returns once the driver is up and running
* or failed to detect the sensor.
*/
int
start(int i2c_bus)
{
int fd;
if (g_dev != nullptr) {
PX4_WARN("already started");
}
/* create the driver, try the MS4525DO first */
g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
/* check if the MS4525DO was instantiated */
if (g_dev == nullptr) {
goto fail;
}
/* try the MS5525DSO next if init fails */
if (OK != g_dev->AirspeedSim::init()) {
delete g_dev;
g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
/* check if the MS5525DSO was instantiated */
if (g_dev == nullptr) {
goto fail;
}
/* both versions failed if the init for the MS5525DSO fails, give up */
if (OK != g_dev->AirspeedSim::init()) {
goto fail;
}
}
/* set the poll rate to default, starts automatic data collection */
fd = px4_open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
return 0;
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
PX4_ERR("no MS4525 airspeedSim sensor connected");
return 1;
}
/**
* Stop the driver
*/
int
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
PX4_ERR("driver not running");
}
return 0;
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
int
test()
{
struct differential_pressure_s report;
ssize_t sz;
int ret;
int fd = px4_open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'meas_airspeed_sim start' if the driver is not running", PATH_MS4525);
return 1;
}
/* do a simple demand read */
sz = px4_read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("immediate read failed");
return 1;
}
PX4_WARN("single read");
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
/* start the sensor polling at 2Hz */
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
PX4_WARN("failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
warnx("timed out");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_WARN("periodic read failed");
}
PX4_WARN("periodic read %u", i);
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
PX4_WARN("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
PX4_ERR("failed to set default rate");
return 1;
}
PX4_WARN("PASS");
return 0;
}
/**
* Reset the driver.
*/
int
reset()
{
int fd = open(PATH_MS4525, O_RDONLY);
if (fd < 0) {
PX4_ERR("failed ");
return 1;
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
return 1;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
return 1;
}
return 0;
}
/**
* Print a little info about the driver.
*/
int
info()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
return 0;
}
} // namespace
static void
meas_airspeed_usage()
{
PX4_WARN("usage: meas_airspeed_sim command [options]");
PX4_WARN("options:");
PX4_WARN("\t-b --bus i2cbus (%d)", 1);
PX4_WARN("command:");
PX4_WARN("\tstart|stop|reset|test|info");
}
int
measairspeedsim_main(int argc, char *argv[])
{
int i2c_bus = 1;//PX4_I2C_BUS_DEFAULT;
int i;
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
i2c_bus = atoi(argv[i + 1]);
}
}
}
int ret;
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
ret = meas_airspeed_sim::start(i2c_bus);
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
ret = meas_airspeed_sim::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
ret = meas_airspeed_sim::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
ret = meas_airspeed_sim::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
ret = meas_airspeed_sim::info();
}
meas_airspeed_usage();
return ret;
}

3
src/platforms/posix/drivers/airspeedsim/module.mk
View File

@ -34,7 +34,8 @@
#
# Makefile to build the generic airspeed driver.
#
MODULE_COMMAND = measairspeedsim
SRCS = airspeedsim.cpp
SRCS = airspeedsim.cpp meas_airspeed_sim.cpp
MAXOPTIMIZATION = -Os