First Commit

ARDroneLib/FFMPEG/Makefile

+SILENT="YES"
+
+ifeq ($(SILENT), "YES")
+SILENT_MAKE=@
+REDIRECT_STDOUT=> /dev/null
+REDIRECT_STDERR=2> /dev/null
+endif
+
+RELEASE_BUILD=yes
+ifeq ($(RELEASE_BUILD),yes)
+RELEASE_OPT="release"
+else
+RELEASE_OPT="debug"
+endif
+
+FFMPEG_CONFIG=both
+
+
+FFMPEG_DIR_EXIST=$(shell bash -c "if [ -d ffmpeg ]; then echo \"YES\"; else echo \"NO\"; fi")
+FFMPEG_ARCHIVE=$(shell bash -c "if [ -e ffmpeg-0.8.tar.bz2 ]; then echo \"ffmpeg-0.8.tar.bz2\"; else echo \"no_ffmpeg_archive_found\"; fi")
+FFMPEG_ARCHIVE_ROOTDIR=$(shell tar tjf $(FFMPEG_ARCHIVE) $(REDIRECT_STDERR) | head -n 1)
+
+ifeq "$(MAKECMDGOALS)" ""
+MAKECMDGOALS=host
+endif
+
+all: extract build
+	$(SILENT_MAKE)echo "Build done."
+
+extract:
+ifneq "$(MAKECMDGOALS)" "clean"
+ifeq ($(FFMPEG_DIR_EXIST),YES)
+	$(SILENT_MAKE)echo "Libs already extracted"
+else
+	$(SILENT_MAKE)echo -n "Extracting libs ... "
+	$(SILENT_MAKE)tar xjf $(FFMPEG_ARCHIVE)
+ifneq ($(FFMPEG_ARCHIVE_ROOTDIR), ffmpeg/)
+	$(SILENT_MAKE)mkdir ffmpeg $(REDIRECT_STDERR)
+	$(SILENT_MAKE)mv $(FFMPEG_ARCHIVE_ROOTDIR)* ffmpeg/
+	$(SILENT_MAKE)rm -rf $(FFMPEG_ARCHIVE_ROOTDIR)
+endif
+	$(SILENT_MAKE)tar xzf parrot_ffmpeg_build_utils.tar.gz
+	$(SILENT_MAKE)echo "Done"
+endif
+endif
+
+build:
+ifneq "$(MAKECMDGOALS)" "clean"
+	$(SILENT_MAKE)echo "Building target $(MAKECMDGOALS)"
+	$(SILENT_MAKE)cd ffmpeg && ./autoConf.bash $(MAKECMDGOALS) $(RELEASE_OPT) $(FFMPEG_CONFIG) && cd - $(REDIRECT_STDOUT)
+endif
+
+clean:
+ifeq ($(FFMPEG_DIR_EXIST),YES)
+	$(SILENT_MAKE)cd ffmpeg && ./autoConf.bash clean release $(REDIRECT_STDERR) ; cd - $(REDIRECT_STDOUT)
+endif
+	$(SILENT_MAKE)rm -rf ffmpeg/
+	$(SILENT_MAKE)rm -rf Includes/
+
+ifneq "$(MAKECMDGOALS)" "clean"
+ifneq "$(MAKECMDGOALS)" "extract"
+ifneq "$(MAKECMDGOALS)" "build"
+$(MAKECMDGOALS): all
+endif
+endif
+endif

ARDroneLib/Soft/Build/Makefile

+GEN_CUSTOM_HEADER:=../Common/generated_custom.h
+
+include custom.makefile 
+include config.makefile
+
+GNUTOOLS_PATH=/usr/local/$(GNUTOOLS_VERSION)/bin
+
+define ADD_RULE_TEMPLATE
+  TO_BUILD+=build_$(1)
+endef
+
+# Add rule for each target
+$(foreach target,$(TARGETS),$(eval $(call ADD_RULE_TEMPLATE,$(target))))
+   
+.PHONY: linux_sample svn_update $(TO_BUILD) build_libs $(MAKECMDGOALS)
+
+all: $(GEN_CUSTOM_HEADER) build_libs $(TO_BUILD)
+
+$(GEN_CUSTOM_HEADER): custom.makefile
+	@echo "#ifndef _GENERATED_CUSTOM_CONFIGURATION_H_" > $@
+	@echo "#define _GENERATED_CUSTOM_CONFIGURATION_H_" >> $@
+	@echo >> $@
+	@echo "#if  defined(BR2_PACKAGE_BCM4318_AP)" >> $@
+	@echo "#  define AP" >> $@
+	@echo "#else" >> $@
+	@echo "#  define STA" >> $@
+	@echo "#endif" >> $@
+	@echo "#define CURRENT_NUM_VERSION_SOFT \"$(MAJOR_VERSION).$(MINOR_VERSION).$(MODIF_VERSION)\"" >> $@
+	@echo "#define CURRENT_BUILD_DATE \"$(shell date +%F\ %H:%M)\"" >> $@
+	@echo >> $@
+ifeq ("$(VIDEO_YUV)","yes")
+	@echo "#define USE_VIDEO_YUV" >> $@
+endif
+ifeq ("$(RECORD_VISION_DATA)","yes")
+	@echo "#define RECORD_VISION_DATA" >> $@
+endif
+	@echo >> $@
+	@echo "#define WIFI_NETWORK_NAME \"$(WIFI_NETWORK_NAME)\"" >> $@
+	@echo "#define WIFI_BROADCAST \"$(WIFI_BROADCAST)\"" >> $@
+	@echo "#define WIFI_ARDRONE_IP \"$(WIFI_ARDRONE_IP)\"" >> $@
+	@echo >> $@
+	@echo "#if defined(__linux__) || defined(USE_MINGW32)" >> $@
+	@echo "# define WIFI_MOBILE_IP \"$(WIFI_MOBILE_IP)\"" >> $@
+	@echo "# define WIRED_ITFNAME \"$(WIRED_ITFNAME)\"" >> $@
+	@echo "#endif // ! __linux__" >> $@
+	@echo >> $@
+	@echo >> $@
+	@echo "#endif // ! _GENERATED_CUSTOM_CONFIGURATION_H_" >> $@
+
+ifneq "$(MAKECMDGOALS)" ""
+  ifneq "$(MAKECMDGOALS)" "clean"
+    ifneq "$(MAKECMDGOALS)" "update"
+      $(MAKECMDGOALS):
+      @echo -e "\nCannot make what you ask me to do :-("
+    else
+      $(MAKECMDGOALS): svn_update
+    endif
+  endif
+endif
+
+$(MAKECMDGOALS): build_libs $(TO_BUILD)
+
+checkpackages:
+ifeq ($(IPHONE_MODE),yes)
+	sh $(shell pwd)/check_dependencies.sh iphone RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
+else
+ifeq ($(USE_LINUX),yes)
+	sh $(shell pwd)/check_dependencies.sh static RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
+else
+ifeq ($(USE_ANDROID),yes)
+    sh $(shell pwd)/check_dependencies.sh android_no_neon RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
+endif
+endif
+endif
+
+define GENERIC_RULES_TEMPLATE
+build_$(1): 
+	@$(MAKE) -C $(1) $(MAKECMDGOALS)
+endef
+
+$(foreach target,$(TARGETS),$(eval $(call GENERIC_RULES_TEMPLATE,$(target))))
+
+build_libs: checkpackages
+	@$(MAKE) PC_TARGET=yes USE_ARDRONE_TOOL=yes TARGET=pc_ USE_MINGW32=no -C ../Lib/Build $(MAKECMDGOALS)
+	@$(MAKE) PC_TARGET=yes USE_ARDRONE_TOOL=no TARGET=pc_ USE_MINGW32=no -C ../Lib/Build $(MAKECMDGOALS)
+
+ifeq ("$(MINGW32_MODE)","yes")
+ifeq ($(shell which i586-mingw32msvc-gcc 2> /dev/null),)
+        $(warning You need MinGW32 to compile My Ardrone lib for Windows if you want. (under Debian: apt-get install mingw32))
+else
+#	@$(MAKE) PC_TARGET=yes TARGET=mingw32_ USE_MINGW32=yes TMP_SDK_FLAGS="USE_MINGW32=yes NO_COM=yes USE_BLUEZ=no" -C ../Lib/Build $(MAKECMDGOALS)
+#	@$(MAKE) PC_TARGET=yes TARGET=emb_mingw32_ USE_MINGW32=yes CONTROL_DLL=yes TMP_SDK_FLAGS="USE_MINGW32=yes NO_COM=yes USE_BLUEZ=no" -C ../Lib/Build $(MAKECMDGOALS)
+endif
+endif
+ifeq ($(WIIMOTE_SUPPORT),yes)
+#	@$(MAKE) PC_TARGET=yes TARGET=pc_ TMP_SDK_FLAGS="USE_BLUEZ=yes" -C ../Lib/libcwiid $(MAKECMDGOALS)
+endif
+
+define svn_update_template
+   cd ../.. ; \
+	echo "Checking out tag $(1) of $(2) ..." ; \
+	if [ $(1) != head ] ; then \
+	   svn co -r $(1) https://svn.ardrone.org/repo/ARDrone_API/$(2) ; \
+	else \
+		svn co https://svn.ardrone.org/repo/ARDrone_API/$(2) ; \
+	fi ; \
+	cd Soft/Build ; 
+endef
+	
+svn_update:
+	@-$(call svn_update_template,$(SDK_VERSION),ARDroneLib)

ARDroneLib/Soft/Build/check_dependencies.sh

+#!/bin/sh
+
+## Author : stephane.piskorski@parrot.com
+## Date   : 19th,Oct. 2010
+
+# Parameters :
+# $1 : target : can be 'iphone (cross compile static libs for iPhone)', 'static (static library for the host)', 'host (shared library for the host)'
+# $2 : RELEASE_BUILD=xxx
+# $3 : 'clean' if we want to clean, or nothing
+
+
+check()
+{
+	if [ `cat $TEMPFILE | grep $1 | wc -l` -eq 0 ] ; then 
+		echo " $1";
+	fi
+}
+
+verify()
+{
+		p="$(check $1)";
+
+		if [ "$p" != "" ]; then
+			packages="$packages $p";
+			if [ "$2" != "" ]; 
+				then messages="$messages\n $p : $2"; 
+			  else messages="$messages\n $p"; 
+			fi;
+		fi;
+}
+
+TEMPFILE=`mktemp`
+
+if [ "$ALL_TARGETS" != "" ] ; then
+	TARGET_DIR=$ALL_TARGETS
+else
+	TARGET_DIR=./targets_versions
+fi
+
+SDK_PATH=`echo $0 | sed "s:/Soft/Build/check_dependencies.sh::"`
+
+if [ "$1" != "iphone" ] ; then
+    if [ "$3" = "cleanAll" ] ; then
+	make -C $SDK_PATH/FFMPEG clean
+	exit 0
+    elif [ "$3" = "clean" ] ; then
+	# do nothing here
+	echo "" > /dev/null
+    else
+	make -C $SDK_PATH/FFMPEG $1 $2
+    fi
+fi
+
+packages="";
+messages="";
+
+if [ `which apt-get` ] ; then 
+	if [ "`apt-get -v | grep -o ubuntu`" != "" ] ; then
+
+		echo "\033[31mChecking required Ubuntu packages ...\033[0m";  
+
+			dpkg -l > $TEMPFILE;
+			
+			# To compile the AR.Drone project
+			verify "daemontools" "Mandatory to build the AR.Drone project on Ubuntu";
+		
+			# To use the Wiimote in Navigation
+			#verify "libcwiid1-dev";
+			#verify "libbluetooth-dev";
+		
+			# To compile Navigation
+			verify "libsdl1.2-dev";
+			verify "libgtk2.0-dev";
+			verify "libxml2-dev";
+			verify "libudev-dev";
+			verify "libiw-dev";
+
+			if [ "$packages" != "" ] ; then
+				echo "You should install the following packages to compile the AR.Drone SDK with Ubuntu:\n $messages \n";
+				echo "Do you want to install them now [y/n] ?";
+				read user_answer ;
+				if [ "$user_answer" = "y" ]; then
+					sudo apt-get install $packages;
+				fi
+			else
+				echo "ok.";
+			fi
+	fi
+fi
+
+

ARDroneLib/Soft/Build/config.makefile

+
+#########################################################
+# Common build definitions (CUSTOM)
+#########################################################
+
+RELEASE_BUILD        = yes
+QUIET_BUILD          = yes
+VPSDK_PARALLEL_BUILD = no
+
+#########################################################
+# System utility definitions (STATIC)
+#########################################################
+define CHECK_UNDEFINITION
+  ifdef $(1)
+    $$(warning ERROR : $(1) defined $(2))
+    ERROR=1
+  endif
+endef
+
+define EXIT_IF_ERROR
+  ifeq "$$(ERROR)" "1"
+    $$(error There has been some errors)
+  endif
+endef
+
+
+#########################################################
+# Validity control (STATIC)
+#########################################################
+
+ifdef PC_TARGET
+  $(eval $(call CHECK_UNDEFINITION,CONSOLE_TARGET,(should not be defined when PC_TARGET is defined)))
+endif
+
+$(eval $(call EXIT_IF_ERROR))
+
+
+#########################################################
+# Common definitions (STATIC)
+#########################################################
+
+ifeq "$(QUIET_BUILD)" "yes"
+  export MAKEFLAGS+=-s --no-print-directory
+endif
+
+COMMON_DIR:=../Common
+
+SDK_FLAGS:="NO_EXAMPLES=yes"
+SDK_FLAGS+="USE_SDK=yes"
+SDK_FLAGS+="QUIET_BUILD=$(QUIET_BUILD)"
+SDK_FLAGS+="RELEASE_BUILD=$(RELEASE_BUILD)"
+SDK_FLAGS+="SDK_VERSION=$(SDK_VERSION)"
+
+ifeq ($(filter NO_COM=%,$(TMP_SDK_FLAGS)),)
+  SDK_FLAGS+="NO_COM=no"
+endif
+
+#########################################################
+# PC_TARGET specific definitions (STATIC)
+#########################################################
+ifdef PC_TARGET
+  SDK_FLAGS+="NO_COM=no"
+
+  ifeq ("$(IPHONE_MODE)","yes")
+    OS_DEFINE=GNU_LINUX
+  else
+   ifeq ("$(USE_LINUX)","yes")
+         OS_DEFINE=GNU_LINUX
+      else
+         TARGET:=$(TARGET).exe
+         OS_DEFINE=WINDOW
+    endif
+  endif
+
+  GENERIC_CFLAGS+=-D_MOBILE
+
+  ifeq ($(RECORD_RAW_VIDEO),yes)
+    GENERIC_CFLAGS+=-DRECORD_RAW_VIDEO
+  endif
+
+  ifeq ($(RECORD_FFMPEG_VIDEO),yes)
+    GENERIC_CFLAGS+=-DRECORD_FFMPEG_VIDEO
+  endif
+
+  ifeq ($(RECORD_ENCODED_VIDEO),yes)
+    GENERIC_CFLAGS+=-DRECORD_ENCODED_VIDEO
+  endif
+
+  GENERIC_CFLAGS+=-D$(OS_DEFINE)
+  ifeq ("$(IPHONE_MODE)","yes")
+     ifeq ($(PLATFORM_NAME),iphoneos)
+        GENERIC_CFLAGS+=-DTARGET_OS_IPHONE
+     else
+        GENERIC_CFLAGS+=-DTARGET_IPHONE_SIMULATOR
+     endif
+  endif
+
+  ifneq ("$(USE_MINGW32)","yes")
+    GENERIC_CFLAGS+=$(shell pkg-config --cflags gtk+-2.0)
+    GENERIC_LIBS+=$(shell pkg-config --libs gtk+-2.0)
+  endif
+
+  ifeq ("$(USE_LINUX)","yes")
+     SDK_FLAGS+="USE_LINUX=yes"
+  else
+     SDK_FLAGS+="USE_LINUX=no"
+  endif
+
+  SDK_FLAGS+="USE_ELINUX=no"
+
+  ifeq ("$(IPHONE_MODE)","yes")
+	SDK_FLAGS+="USE_IPHONE=yes"
+	SDK_FLAGS+="FFMPEG_SUPPORT=yes"
+	SDK_FLAGS+="ITTIAM_SUPPORT=no"
+	SDK_FLAGS+="USE_VIDEO_TCP=yes"
+	SDK_FLAGS+="USE_VIDEO_HD=no"
+  else
+	SDK_FLAGS+="USE_IPHONE=no"
+  endif
+
+  ifeq ("$(USE_NDS)","yes")
+     SDK_FLAGS+="USE_NDS=yes"
+     SDK_FLAGS+="NDS_CPU=ARM7"
+  else
+     SDK_FLAGS+="USE_NDS=no"
+  endif
+
+  ifeq ("$(USE_ANDROID)","yes")
+     SDK_FLAGS+="USE_ANDROID=yes"
+     SDK_FLAGS+="TOOLCHAIN_VERSION=arm-linux-androideabi-4.6"
+     SDK_FLAGS+="NDK_PLATFORM_VERSION=android-8"
+     SDK_FLAGS+="FFMPEG_SUPPORT=yes"
+     SDK_FLAGS+="ITTIAM_SUPPORT=no"
+     SDK_FLAGS+="USE_VIDEO_TCP=yes"
+     SDK_FLAGS+="USE_VIDEO_HD=no"
+  else
+     SDK_FLAGS+="USE_ANDROID=no"
+  endif
+
+  ifeq ("$(USE_LINUX)","yes")
+     ifeq ("$(PROJECT)","ardrone")
+        SDK_FLAGS+="FFMPEG_SUPPORT=yes"
+        SDK_FLAGS+="ITTIAM_SUPPORT=no"
+        SDK_FLAGS+="USE_VIDEO_TCP=no"
+        SDK_FLAGS+="USE_VIDEO_HD=no"
+     else
+        SDK_FLAGS+="FFMPEG_SUPPORT=yes"
+        SDK_FLAGS+="ITTIAM_SUPPORT=no"
+        SDK_FLAGS+="USE_VIDEO_TCP=yes"
+        SDK_FLAGS+="USE_VIDEO_HD=no"
+     endif
+  endif
+
+  ifeq ($(filter USE_BLUEZ=%,$(TMP_SDK_FLAGS)),)
+    SDK_FLAGS+="USE_BLUEZ=no"
+  endif
+
+  SDK_FLAGS+="USE_VLIB=yes"
+  SDK_FLAGS+="USE_BONJOUR=no"
+  SDK_FLAGS+="USE_WIFI=yes"
+
+  SDK_FLAGS+="USE_BROADCOM=no"
+  SDK_FLAGS+="USE_IWLIB=no"
+
+  SDK_FLAGS+="FF_ARCH=Intel"
+
+  SDK_FLAGS+="USE_PARROTOS_CORE=no"
+  SDK_FLAGS+="USE_PARROTOS_DRIVERS=no"
+  SDK_FLAGS+="USE_PARROTOS_DEVS=no"
+  SDK_FLAGS+="USE_PARROTOS_CODEC=no"
+
+
+  SDK_FLAGS+="USE_ARDRONELIB=yes"
+  SDK_FLAGS+="USE_ARDRONE_VISION=yes"
+  SDK_FLAGS+="USE_ARDRONE_POLARIS=no"
+  SDK_FLAGS+="USE_ARDRONE_VICON=no"
+  SDK_FLAGS+="USE_ARDRONE_TEST_BENCHS=no"
+  SDK_FLAGS+="USE_ARDRONE_CALIBRATION=no"
+
+endif
+
+export SDK_FLAGS
+export GENERIC_CFLAGS
+export VPSDK_PARALLEL_BUILD

ARDroneLib/Soft/Build/custom.makefile

+#########################################################
+# Common definitions (CUSTOM)
+#########################################################
+ifndef IPHONE_MODE
+IPHONE_MODE	     = no
+endif
+ifndef MINGW32_MODE
+MINGW32_MODE         = no
+endif
+ifndef USE_NDS
+USE_NDS              = no
+endif
+ifndef USE_ANDROID
+USE_ANDROID          = no
+endif
+ifndef USE_LINUX
+USE_LINUX            = no
+endif
+ifndef PROJECT
+# set default to ardrone2 for video TCP com.
+PROJECT              = ardrone2
+endif
+MAJOR_VERSION        = 0
+MINOR_VERSION        = 0
+MODIF_VERSION        = 0
+
+#########################################################
+# ARDroneTool options definitions
+#########################################################
+USE_ARDRONE_TOOL=yes
+USE_CHECK_WIFI_CONFIG=no
+
+################## Wifi Options ##################
+# Name of the network you want to join or create
+WIFI_NETWORK_NAME    = "ardronenetwork"
+WIFI_BROADCAST       = "192.168.1.255"
+
+################## Video Options ##################
+# Tells if we want to record video on pc side
+RECORD_ENCODED_VIDEO     = yes
+RECORD_RAW_VIDEO         = no
+RECORD_FFMPEG_VIDEO      = no
+
+# Tells if we want to add vision data to video stream (in raw mode)
+# Vision data are saved into file only if we define RECORD_RAW_VIDEO too
+RECORD_VISION_DATA   = no
+# If the yuv mode is choosen then video is displayed & recorded in color
+# Otherwise only luminances are displayed & recorded
+VIDEO_YUV            = yes
+
+#########################################################
+# Embedded definitions (CUSTOM)
+#########################################################
+WIFI_ARDRONE_IP      = "192.168.1.1"
+
+#########################################################
+# Linux definitions (CUSTOM)
+#########################################################
+WIFI_MOBILE_IP       = "192.168.1.2"
+

ARDroneLib/Soft/Common/academy_common.h

+//
+//  academy_common.h
+//  ARDroneEngine
+//
+//  Created by Frédéric D'Haeyer on 2/28/12.
+//  Copyright (c) 2012 Parrot SA. All rights reserved.
+//
+
+#ifndef _ACADEMY_COMMON_H_
+#define _ACADEMY_COMMON_H_
+#include <VP_Os/vp_os_types.h>
+
+#define ACADEMY_USERNAME_SIZE		64
+#define ACADEMY_PASSWORD_SIZE		64
+
+typedef enum _ACADEMY_RESULT_
+{
+	ACADEMY_RESULT_NONE = 0,
+	ACADEMY_RESULT_OK,
+	ACADEMY_RESULT_FAILED,
+} ACADEMY_RESULT;
+
+typedef enum _ACADEMY_STATE_
+{
+	ACADEMY_STATE_NONE = 0,
+	ACADEMY_STATE_CONNECTION,
+	ACADEMY_STATE_PREPARE_PROCESS,
+	ACADEMY_STATE_PROCESS,
+	ACADEMY_STATE_FINISH_PROCESS,
+	ACADEMY_STATE_DISCONNECTION,
+	ACADEMY_STATE_MAX
+} ACADEMY_STATE;
+
+typedef struct _academy_state_t_
+{
+	ACADEMY_STATE 	state;
+	ACADEMY_RESULT 	result;
+} academy_state_t;
+
+typedef struct _academy_user_t_
+{
+	char username[ACADEMY_USERNAME_SIZE];
+	char password[ACADEMY_PASSWORD_SIZE];
+} academy_user_t;
+
+typedef void (*academy_callback)(academy_state_t state);
+typedef void (*academy_download_new_media)(const char *mediaPath, bool_t addToQueue);
+
+#endif // _ACADEMY_COMMON_H_

ARDroneLib/Soft/Common/ardrone_common_config.h

+/**
+ *  \file     ardrone_common_config.h
+ *  \brief    Ardrone Specific data for configuration
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
+ *  \version  1.0
+ */
+
+#ifndef _ARDRONE_COMMON_CONFIG_H_
+#define _ARDRONE_COMMON_CONFIG_H_
+
+#define CAMIF_NUM_BUFFERS               2
+#define COM_INPUT_LANDING_TIME          (2)         /* Time drone is waiting for input before landing */
+
+/**
+ * \enum print_mask_t
+ * \brief mask to choose where to syslog
+*/
+typedef enum {
+  UART_PRINT = 1,
+  WIFI_PRINT = 2,
+  FLASH_PRINT = 4
+} print_mask_t;
+
+/**
+ * \enum  ADC_COMMANDS
+ * \brief ADC commands.
+ */
+typedef enum
+{
+  ADC_CMD_STARTACQ                = 1,  /**< command to start acquisition with ADC                            **/
+  ADC_CMD_STOPACQ                 = 2,  /**< command to stop acquisition with ADC                             **/
+  ADC_CMD_RESYNC                  = 3,  /**< command to resync acquisition with ADC                           **/
+  ADC_CMD_TEST                    = 4,  /**< command to ADC send a test frame (123456)                        **/
+  ADC_CMD_VERSION                 = 5,  /**< command to ADC send his number : version (MSB) subversion (LSB)  **/
+  ADC_CMD_SELECT_ULTRASOUND_22Hz  = 7,  /**set the ultrasound at 22,22Hz                                      **/
+  ADC_CMD_SELECT_ULTRASOUND_25Hz  = 8,  /**set the ultrasound at 25Hz                                         **/
+  ADC_CMD_SEND_CALIBRE            = 13, /**command to ADC to send the calibration                             **/
+  ADC_CMD_RECEVED_CALIBRE         = 14, /**command to ADC to receved a new calibration                        **/
+  ADC_CMD_GET_HARD_VERSION        = 15, /**get the hard version of the navboard                               **/
+  ADC_CMD_ACTIVE_SEPARATION       = 16, /**enabled the separation of sources ultrasound                       **/
+  ADC_CMD_STOP_SEPARATION         = 17, /**disables the ultrasound source separation                          **/
+  ADC_CMD_SEND_PROD            	  = 18, /**command to ADC to receved the prod data                            **/
+  ADC_CMD_RECEVED_PROD            = 19, /**command to ADC to send the prod data                               **/
+  ADC_CMD_ACTIVE_ETALONAGE        = 20, /**command to ADC to send PWM ultrasond in continue                   **/
+  ADC_CMD_ACTIVE_ULTRASON         = 21, /**command to ADC to stop send PWM ultrasond in continue              **/
+  ADC_CMD_ACTIVE_TEST_ULTRASON    = 22, /**teste de la perturbation de l'ultrason par le wifi                 **/
+  ADC_CMD_GET_CALIBRATION_PRESSION = 23, /**command to ADC to send the pressure sensor calibration             **/
+  ADC_CMD_GET_CALIBRATION_MAGNETO  = 24, /**After this command, pic sends sensitivity magnetometer**/
+  ADC_CMD_AK8975_SELF_TEST		  = 25, /**used for test magnetometer**/
+  ADC_CMD_RESET_OCSTUN			  = 26, /**set ocstun to 0**/
+  ADC_CMD_SET_OCSTUN			  = 27, /**set ocstun to RC value sent**/
+  ADC_CMD_RESYNC_START                    = 28, /**resync start**/
+  ADC_CMD_RESYNC_STOP                     = 29, /**resync stop**/
+} ADC_COMMANDS;
+
+
+#endif // _ARDRONE_COMMON_CONFIG_H_

ARDroneLib/Soft/Common/at_msgs.h

+/**
+ *  \file     at_msgs.h
+ *  \brief    ATCodec messages declaration
+ *  \author   Aurelien Morelle <aurelien.morelle@parrot.com>
+ *  \date     2007/04/03
+ *  \version  1.0
+ */
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RC_REF_EXE,        "AT*REF=%d,%d\r",                                0, at_rc_ref_exe,         3 )
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PMODE_EXE,         "AT*PMODE=%d,%d\r",                           0, at_pmode_exe,          3 )
+// old school
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_MISC_EXE,          "AT*MISC=%d,%d,%d,%d,%d\r",                      0, at_misc_exe,           3 )
+// gains
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_GAIN_EXE,          "AT*GAIN=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r", 0, at_gain_exe,     3 )
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_ANIM_EXE,          "AT*ANIM=%d,%d,%d\r",                            0, at_anim_exe,           3 )
+// vision params
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VISP_EXE,          "AT*VISP=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r",       0, at_visp_exe,           3 )
+// vision params
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VISO_EXE,          "AT*VISO=%d,%d\r",                               0, at_viso_exe,           3 )
+// capture params
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RAWC_EXE,          "AT*CAP=%d,%d,%d\r",                             0, at_cap,                3 )
+// zapper
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_ZAP_EXE,           "AT*ZAP=%d,%d\r",                                0, at_zap,                3 )
+// Change camera for arwiz detection
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CAD_EXE,           "AT*CAD=%d,%d,%d\r",                             0, at_cad,                3 )
+// flat trim
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_FTRIM_EXE,         "AT*FTRIM=%d\r",                                 0, at_flat_trim_exe,      3 )
+// manual trims
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_MTRIM_EXE,          "AT*MTRIM=%d,%d,%d,%d\r",                       0, at_manual_trims_exe,   3 )
+// send attitude
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_POLARIS_EXE,       "AT*POL=%d,%d,%d,%d,%d,%d\r",                    0, at_pol_exe,            3 )
+// sends iphone command for all axes
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PCMD_EXE,       	  "AT*PCMD=%d,%d,%d,%d,%d,%d\r",		   	       0, at_pcmd_exe,           3 )
+// sends iphone command for all axes + device  client agnetometer
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PCMD_MAG_EXE,      "AT*PCMD_MAG=%d,%d,%d,%d,%d,%d,%d,%d\r",		   0, at_pcmd_mag_exe,       3 )
+// sends Radiocommand values for all 4 axis.
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CONFIG_EXE,        "AT*CONFIG=%d,\"%s\",\"%s\"\r",                  0, at_toy_configuration_exe, 3)
+// control command
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CONFIG_IDS,        "AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r",       0, at_toy_configuration_ids, 4)
+// control command
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CTRL_EXE,          "AT*CTRL=%d,%d,%d\r",                            0, at_control_exe,        3)
+// led animation command
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_LED_EXE,           "AT*LED=%d,%d,%d,%d\r",                          0, at_led_animation_exe,  3)
+// reset com watchdog
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RESET_COM_WATCHDOG,"AT*COMWDG=%d\r",                                0, at_reset_com_watchdog, 3)
+
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PWM_EXE,           "AT*PWM=%d,%d,%d,%d,%d\r",                       0, at_pwm,                3)
+
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_AUTONOMOUS_FLIGHT_EXE, "AT*AFLIGHT=%d,%d\r",                        0, at_autonomous_flight_exe,  3 )
+// run instrument calibration
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CALIB,             "AT*CALIB=%d,%d\r",                              0, at_calibration,        3 )
+
+// Vicon information
+ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VICON_EXE, 		   "AT*VICON=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r", 0, at_vicon_exe,  3 )

ARDroneLib/Soft/Common/at_msgs_ids.h

+/**
+ *  \file     at_msgs_ids.h
+ *  \brief    ids for ATCodec
+ *  \author   Aurelien Morelle <aurelien.morelle@parrot.com>
+ *  \version  1.0
+ */
+
+#ifndef _AT_MSGS_IDS_H_
+#define _AT_MSGS_IDS_H_
+
+#include <ATcodec/ATcodec_api.h>
+
+typedef struct _AT_CODEC_MSG_IDS_
+{
+# define ATCODEC_DEFINE_AT_CMD(ID,Str,From,Cb,Prio) AT_CODEC_MSG_ID ID;
+# define ATCODEC_DEFINE_AT_RESU(ID,Str,From,Cb) AT_CODEC_MSG_ID ID;
+
+  AT_CODEC_MSG_ID AT_MSG_ATCMD_DEFAULT;
+
+# include <at_msgs.h>
+} AT_CODEC_MSG_IDS;
+
+
+extern AT_CODEC_MSG_IDS ids;
+
+#endif // _AT_MSGS_IDS_H_

ARDroneLib/Soft/Common/control_states.h

+/**
+ *  \file     control_states.h
+ *  \brief    Control states declaration for control loop & ihm display
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
+ *  \version  1.0
+ */
+
+#ifndef _CONTROL_STATES_H_
+#define _CONTROL_STATES_H_
+
+#ifdef CTRL_STATES_STRING
+typedef char ctrl_string_t[32];
+#endif
+
+// Macros to customize preprocessing
+// If this CTRL_STATES_STRING is not defined, this file declare several enumeration
+// If user defines CTRL_STATES_STRING, this file will define several array of strings.
+// Each string being equivalent to an enumeration entry
+
+#ifdef CTRL_STATES_STRING
+#define CVAR(a) #a  /* Using # causes the first argument after the # to be returned as a string in quotes */
+#define CVARZ(a) #a
+#else
+#define CVARZ(a) a = 0
+#define CVAR(a) a
+#endif
+
+/**
+ * \enum  CONTROL_STATE
+ * \brief control loop thread states.
+ * \brief this defines major states
+*/
+#ifndef DO_NOT_INCLUDE_MAJOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t ctrl_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( CTRL_DEFAULT ),
+  CVAR( CTRL_INIT ),
+  CVAR( CTRL_LANDED ),
+  CVAR( CTRL_FLYING ),
+  CVAR( CTRL_HOVERING ),
+  CVAR( CTRL_TEST ),
+  CVAR( CTRL_TRANS_TAKEOFF ),
+  CVAR( CTRL_TRANS_GOTOFIX ),
+  CVAR( CTRL_TRANS_LANDING ),
+  CVAR( CTRL_TRANS_LOOPING ),
+  //CVAR( CTRL_TRANS_NO_VISION ),
+#ifndef CTRL_STATES_STRING
+  CTRL_NUM_STATES
+} CTRL_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  FLYING_STATES
+ * \brief flying states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t flying_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( FLYING_OK ),
+  CVAR( FLYING_LOST_ALT ),
+  CVAR( FLYING_LOST_ALT_GO_DOWN ),
+  CVAR( FLYING_ALT_OUT_ZONE ),
+  CVAR( FLYING_COMBINED_YAW ), 
+  CVAR( FLYING_BRAKE ),
+  CVAR( FLYING_NO_VISION ),
+  #ifndef CTRL_STATES_STRING
+} FLYING_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  HOVERING_STATES
+ * \brief flying states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t hovering_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( HOVERING_OK ),
+  CVAR( HOVERING_YAW ),
+  CVAR( HOVERING_YAW_LOST_ALT),
+  CVAR( HOVERING_YAW_LOST_ALT_GO_DOWN),
+  CVAR( HOVERING_ALT_OUT_ZONE),
+  CVAR( HOVERING_YAW_ALT_OUT_ZONE),
+  CVAR( HOVERING_LOST_ALT ),
+  CVAR( HOVERING_LOST_ALT_GO_DOWN ),
+  CVAR( HOVERING_LOST_COM ),
+  CVAR( LOST_COM_LOST_ALT ),
+  CVAR( LOST_COM_LOST_ALT_TOO_LONG ),
+  CVAR( LOST_COM_ALT_OK ),
+  CVAR( HOVERING_MAGNETO_CALIB ),
+  CVAR( HOVERING_DEMO )
+#ifndef CTRL_STATES_STRING
+} HOVERING_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  TAKEOFF_TRANS_STATES
+ * \brief take off states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t takeoff_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( TAKEOFF_GROUND ),
+  CVAR( TAKEOFF_AUTO ),
+  #ifndef CTRL_STATES_STRING
+} TAKEOFF_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  GOTOFIX_TRANS_STATES
+ * \brief gotofix substates.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t gotofix_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( GOTOFIX_OK ),
+  CVAR( GOTOFIX_LOST_ALT ),
+  CVAR( GOTOFIX_YAW ),
+  #ifndef CTRL_STATES_STRING
+} GOTOFIX_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  LANDING_TRANS_STATES
+ * \brief landing states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t landing_trans_states[] = {
+#else
+typedef enum {
+#endif
+  CVARZ( LANDING_CLOSED_LOOP ),
+  CVAR( LANDING_OPEN_LOOP ),
+  CVAR( LANDING_OPEN_LOOP_FAST )
+#ifndef CTRL_STATES_STRING
+} LANDING_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+/**
+ * \enum  TAKEOFF_TRANS_STATES
+ * \brief take off states.
+ * \brief this is one of the minor state
+*/
+#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
+#ifdef CTRL_STATES_STRING
+static ctrl_string_t looping_trans_states[] = {
+#else
+typedef enum {
+#endif
+	CVARZ( LOOPING_IMPULSION),
+	CVAR( LOOPING_OPEN_LOOP_CTRL ),
+	CVAR( LOOPING_PLANIF_CTRL )
+  #ifndef CTRL_STATES_STRING
+} LOOPING_TRANS_STATES;
+#else
+};
+#endif
+#endif
+
+
+
+
+#ifdef CTRL_STATES_STRING
+#ifndef DO_NOT_INCLUDE_CTRL_STATES_LINK
+/**
+ * control link tates
+ * \brief This array is used to link minor states & major state's strings
+*/
+static ctrl_string_t* control_states_link[] = {
+  NULL,
+  NULL,
+  NULL,
+  flying_states,
+  hovering_states,
+  NULL,
+  takeoff_trans_states,
+  gotofix_trans_states,
+  landing_trans_states,
+  looping_trans_states
+};
+#endif
+#endif
+
+#endif // _CONTROL_STATES_H_

ARDroneLib/Soft/Common/led_animation.h

+/******************************************************************************
+ *                        COPYRIGHT PARROT 2010
+ ******************************************************************************
+ *       PARROT                MODULES
+ *---------------------------------------------------------------------------*/
+/**
+ * @file   leds_animation.h
+ * @date   25th February 2010
+ * @brief  Data types and functions to communicate with the drone.
+ * @author Pierre Eline
+ *
+ ******************************************************************************/
+
+// LED_ANIMATION(#name, {#nb_cycle,#nb_state,{{#led_pattern1,#delay1},{#led_pattern2,#delay2},{...,...}}})
+// #name = name, example : BLINK
+// #nb_cycle = number of times the animation is played (0 means infinite), example : 3
+// #nb_state = number of led patterns in the animation, example : 2
+// #led_pattern = led bitfield (G1 | R1 | G2 | R2 | G3 | R3 | G4 | R4), example : 0xAA all green led turned on
+// #delay = delay in ms for the associated led pattern, example : 500
+
+LED_ANIMATION(BLINK_GREEN_RED,               { 0,2, { {0x55,500},{0xAA,500} } } )
+LED_ANIMATION(BLINK_GREEN,                   { 0,2, { {0x00,500},{0xAA,500} } } )
+LED_ANIMATION(BLINK_RED,                     { 0,2, { {0x55,500},{0x00,500} } } )
+LED_ANIMATION(BLINK_ORANGE,                  { 0,2, { {0xFF,500},{0x00,500} } } )
+LED_ANIMATION(SNAKE_GREEN_RED,               { 0,8, { {0x90,200},{0x48,200},{0x24,200},{0x12,200},{0x9,200},{0x84,200},{0x42,200},{0x21,200}}})
+LED_ANIMATION(FIRE,                          { 0,2, { {0x35,50},{0xC5,50} } } )
+LED_ANIMATION(STANDARD,                      { 1,1, { {0xA5,100} } } )
+LED_ANIMATION(RED,                           { 1,1, { {0x55,100} } } )
+LED_ANIMATION(GREEN,                         { 1,1, { {0xAA,100} } } )
+LED_ANIMATION(RED_SNAKE,                     { 0,4, { {0x40,500},{0x10,500},{0x04,500},{0x01,500}}})
+LED_ANIMATION(BLANK,                         { 1,1, { {0x00,100} } } )
+LED_ANIMATION(RIGHT_MISSILE,                 { 1,5, { {0x00,500},{0x04,300},{0x1C,100},{0x30,300},{0x00,500}}})
+LED_ANIMATION(LEFT_MISSILE,                  { 1,5, { {0x00,500},{0x01,300},{0x43,100},{0xC0,300},{0x00,500}}})
+LED_ANIMATION(DOUBLE_MISSILE,                { 1,5, { {0x00,500},{0x05,300},{0x5F,100},{0xF0,300},{0x00,500}}})
+LED_ANIMATION(FRONT_LEFT_GREEN_OTHERS_RED,   { 1,1, { {0x95,100} } } )
+LED_ANIMATION(FRONT_RIGHT_GREEN_OTHERS_RED,  { 1,1, { {0x65,100} } } )
+LED_ANIMATION(REAR_RIGHT_GREEN_OTHERS_RED,   { 1,1, { {0x59,100} } } )
+LED_ANIMATION(REAR_LEFT_GREEN_OTHERS_RED,    { 1,1, { {0x56,100} } } )
+LED_ANIMATION(LEFT_GREEN_RIGHT_RED,          { 1,1, { {0x96,100} } } )
+LED_ANIMATION(LEFT_RED_RIGHT_GREEN,          { 1,1, { {0x69,100} } } )
+LED_ANIMATION(BLINK_STANDARD,                { 0,2, { {0x00,500},{0xA5,500} } } )
+
+
+
+
+
+

ARDroneLib/Soft/Common/navdata_keys.h

+#ifndef NAVDATA_OPTION_DEMO
+	#define NAVDATA_OPTION_DEMO(x,y,z)
+#endif
+#ifndef NAVDATA_OPTION
+	#define NAVDATA_OPTION(x,y,z)
+#endif
+#ifndef NAVDATA_OPTION_CKS
+	#define NAVDATA_OPTION_CKS(x,y,z)
+#endif
+
+
+NAVDATA_OPTION_DEMO ( navdata_demo_t , navdata_demo , NAVDATA_DEMO_TAG)
+
+NAVDATA_OPTION( navdata_time_t,           navdata_time            , NAVDATA_TIME_TAG             )
+NAVDATA_OPTION( navdata_raw_measures_t,   navdata_raw_measures    , NAVDATA_RAW_MEASURES_TAG     )
+NAVDATA_OPTION( navdata_phys_measures_t,  navdata_phys_measures   , NAVDATA_PHYS_MEASURES_TAG    )
+NAVDATA_OPTION( navdata_gyros_offsets_t,  navdata_gyros_offsets   , NAVDATA_GYROS_OFFSETS_TAG    )
+NAVDATA_OPTION( navdata_euler_angles_t,   navdata_euler_angles    , NAVDATA_EULER_ANGLES_TAG     )
+NAVDATA_OPTION( navdata_references_t,     navdata_references      , NAVDATA_REFERENCES_TAG       )
+NAVDATA_OPTION( navdata_trims_t,          navdata_trims           , NAVDATA_TRIMS_TAG            )
+NAVDATA_OPTION( navdata_rc_references_t,  navdata_rc_references   , NAVDATA_RC_REFERENCES_TAG    )
+NAVDATA_OPTION( navdata_pwm_t,            navdata_pwm             , NAVDATA_PWM_TAG              )
+NAVDATA_OPTION( navdata_altitude_t,       navdata_altitude        , NAVDATA_ALTITUDE_TAG         )
+NAVDATA_OPTION( navdata_vision_raw_t,     navdata_vision_raw      , NAVDATA_VISION_RAW_TAG       )
+NAVDATA_OPTION( navdata_vision_of_t,      navdata_vision_of       , NAVDATA_VISION_OF_TAG        )
+NAVDATA_OPTION( navdata_vision_t,         navdata_vision          , NAVDATA_VISION_TAG           )
+NAVDATA_OPTION( navdata_vision_perf_t ,   navdata_vision_perf     , NAVDATA_VISION_PERF_TAG      )
+NAVDATA_OPTION( navdata_trackers_send_t,  navdata_trackers_send   , NAVDATA_TRACKERS_SEND_TAG    )
+NAVDATA_OPTION( navdata_vision_detect_t,  navdata_vision_detect   , NAVDATA_VISION_DETECT_TAG    )
+NAVDATA_OPTION( navdata_watchdog_t  ,     navdata_watchdog        , NAVDATA_WATCHDOG_TAG         )
+NAVDATA_OPTION( navdata_adc_data_frame_t, navdata_adc_data_frame  , NAVDATA_ADC_DATA_FRAME_TAG   )
+NAVDATA_OPTION( navdata_video_stream_t,   navdata_video_stream    , NAVDATA_VIDEO_STREAM_TAG     )
+NAVDATA_OPTION( navdata_games_t,          navdata_games           , NAVDATA_GAMES_TAG            )
+NAVDATA_OPTION( navdata_pressure_raw_t,   navdata_pressure_raw    , NAVDATA_PRESSURE_RAW_TAG		 )
+NAVDATA_OPTION( navdata_magneto_t,       	navdata_magneto					, NAVDATA_MAGNETO_TAG					 )
+NAVDATA_OPTION( navdata_wind_speed_t,     navdata_wind_speed      , NAVDATA_WIND_TAG						 )
+NAVDATA_OPTION( navdata_kalman_pressure_t,navdata_kalman_pressure	, NAVDATA_KALMAN_PRESSURE_TAG	 )
+NAVDATA_OPTION( navdata_hdvideo_stream_t ,navdata_hdvideo_stream  , NAVDATA_HDVIDEO_STREAM_TAG	 )
+NAVDATA_OPTION( navdata_wifi_t           ,navdata_wifi            , NAVDATA_WIFI_TAG             )
+
+
+// TODO: maybe navdata_zimmu_3000 coult be integrated into an existing navdata like navdata_adc_data_frame_t or ...
+NAVDATA_OPTION( navdata_zimmu_3000_t,     navdata_zimmu_3000      , NAVDATA_ZIMMU_3000_TAG       )
+
+NAVDATA_OPTION_CKS( navdata_cks_t,        navdata_cks             , NAVDATA_CKS_TAG    )
+
+#undef NAVDATA_OPTION_DEMO
+#undef NAVDATA_OPTION
+#undef NAVDATA_OPTION_CKS

ARDroneLib/Soft/Common/video_encapsulation.h

+#ifndef _PARROT_VIDEO_ENCAPSULATION_H_
+#define _PARROT_VIDEO_ENCAPSULATION_H_
+
+#include <VP_Os/vp_os_types.h>
+
+typedef enum { 
+	CODEC_UNKNNOWN=0,
+	CODEC_VLIB,
+	CODEC_P264,
+	CODEC_MPEG4_VISUAL,
+	CODEC_MPEG4_AVC
+}parrot_video_encapsulation_codecs_t;
+
+
+typedef enum {
+	FRAME_TYPE_UNKNNOWN=0,
+	FRAME_TYPE_IDR_FRAME, /* headers followed by I-frame */
+	FRAME_TYPE_I_FRAME,
+	FRAME_TYPE_P_FRAME,
+	FRAME_TYPE_HEADERS
+}parrot_video_encapsulation_frametypes_t;
+
+typedef enum {
+  PAVE_CTRL_FRAME_DATA           =0,            /* The PaVE is followed by video data */
+  PAVE_CTRL_FRAME_ADVERTISEMENT  =(1<<0),     /* The PaVE is not followed by any data. Used to announce a frame which will be sent on the other socket later. */
+  PAVE_CTRL_LAST_FRAME_IN_STREAM =(1<<1),    /* Announces the position of the last frame in the current stream */
+}parrot_video_encapsulation_control_t;
+
+/* Please keep this structure size a multiple of 8 or 16 */
+/*
+ * Please keep 16-bit words aligned on 16-bit boundaries
+ * and keep 32-bit words aligned on 32-bit boundaries
+ */
+ 
+/*
+
+*/
+
+#define PAVE_CURRENT_VERSION (2)
+
+typedef struct {
+  /*00*/ uint8_t  signature[4];
+  /*04*/ uint8_t  version;
+  /*05*/ uint8_t  video_codec;
+  /*06*/ uint16_t header_size;
+  /*08*/ uint32_t payload_size;             /* Amount of data following this PaVE */
+  /*12*/ uint16_t encoded_stream_width;     /* ex: 640 */
+  /*14*/ uint16_t encoded_stream_height;    /* ex: 368 */
+  /*16*/ uint16_t display_width;            /* ex: 640 */
+  /*18*/ uint16_t display_height;           /* ex: 360 */
+  /*20*/ uint32_t frame_number;             /* frame position inside the current stream */
+  /*24*/ uint32_t timestamp;                /* in milliseconds */
+  /*28*/ uint8_t  total_chuncks;            /* number of UDP packets containing the current decodable payload */
+  /*29*/ uint8_t  chunck_index ;            /* position of the packet - first chunk is #0 */
+  /*30*/ uint8_t  frame_type;               /* I-frame, P-frame */
+  /*31*/ uint8_t  control;                  /* Special commands like end-of-stream or advertised frames */
+  /*32*/ uint32_t stream_byte_position_lw;  /* Byte position of the current payload in the encoded stream  - lower 32-bit word */
+  /*36*/ uint32_t stream_byte_position_uw;  /* Byte position of the current payload in the encoded stream  - upper 32-bit word */
+  /*40*/ uint16_t stream_id;                /* This ID indentifies packets that should be recorded together */
+  /*42*/ uint8_t  total_slices;             /* number of slices composing the current frame */
+  /*43*/ uint8_t  slice_index ;             /* position of the current slice in the frame */
+  /*44*/ uint8_t  header1_size;             /* H.264 only : size of SPS inside payload - no SPS present if value is zero */
+  /*45*/ uint8_t  header2_size;             /* H.264 only : size of PPS inside payload - no PPS present if value is zero */
+  /*46*/ uint8_t  reserved2[2];             /* Padding to align on 48 bytes */
+  /*48*/ uint32_t advertised_size;          /* Size of frames announced as advertised frames */
+  /*52*/ uint8_t  reserved3[12];            /* Padding to align on 64 bytes */
+} __attribute__ ((packed)) parrot_video_encapsulation_t;
+
+/* PaVE signature represented as a 32-bit integer in little and big endian */
+#define PAVE_INT32LE_SIGNATURE (0x45566150)
+#define PAVE_INT32BE_SIGNATURE (0x50615645)
+
+#define PAVE_CHECK(x) ( (*((uint32_t*)(x)))==PAVE_INT32LE_SIGNATURE )
+
+typedef enum
+{
+	PAVE_STREAM_ID_SUFFIX_MP4_360p = 0,
+	PAVE_STREAM_ID_SUFFIX_H264_360p = 1,
+	PAVE_STREAM_ID_SUFFIX_H264_720p = 2
+}parrot_video_encapsulation_stream_id_suffixes_t;
+
+C_RESULT init_parrot_video_encapsulation_header(parrot_video_encapsulation_t * header);
+int pave_is_same_frame(parrot_video_encapsulation_t * header1 , parrot_video_encapsulation_t * header2 );
+void dumpPave (parrot_video_encapsulation_t *PaVE);
+#endif

ARDroneLib/Soft/Common/vision_common.h

+#ifndef _VISION_COMMON_H_
+#define _VISION_COMMON_H_
+
+// NUMBER OF TRACKERS FOR EACH TRACKING
+#define NB_CORNER_TRACKERS_WIDTH    5      /* number of trackers in width of current picture */
+#define NB_CORNER_TRACKERS_HEIGHT   4      /* number of trackers in height of current picture */
+
+#define DEFAULT_NB_TRACKERS_WIDTH    (NB_CORNER_TRACKERS_WIDTH+1)// + NB_BLOCK_TRACKERS_WIDTH)
+#define DEFAULT_NB_TRACKERS_HEIGHT   (NB_CORNER_TRACKERS_HEIGHT+1)// + NB_BLOCK_TRACKERS_HEIGHT)
+
+#define YBUF_OFFSET                 0
+
+// use by ihm/ihm_vision.c
+#define DEFAULT_CS                  1
+#define DEFAULT_NB_PAIRS            1
+#define DEFAULT_LOSS_PER            1
+#define DEFAULT_SCALE               1
+#define DEFAULT_TRANSLATION_MAX     1
+#define DEFAULT_MAX_PAIR_DIST       1
+#define DEFAULT_NOISE               1
+
+typedef enum _CAMIF_CAMERA_ENUM_
+{
+  CAMIF_CAMERA_LB=0,
+
+  CAMIF_CAMERA_CRESYN,
+  CAMIF_CAMERA_VS6524,
+  CAMIF_CAMERA_OV7710,
+  CAMIF_CAMERA_OV7720,
+  CAMIF_CAMERA_OVTRULY,
+  CAMIF_CAMERA_OVTRULY_UPSIDE_DOWN_ONE_BLOCKLINE_LESS,
+  CAMIF_CAMERA_FILE,
+  CAMIF_CAMERA_OV7670,
+  CAMIF_CAMERA_OV9740,
+  CAMIF_CAMERA_SOC1040,
+
+  CAMIF_CAMERA_UB
+}
+CAMIF_CAMERA;
+
+#endif //_VISION_COMMON_H
+

ARDroneLib/Soft/Lib/Build/Makefile

+NO_COLOR=\033[0m
+OK_COLOR=\033[32;01m
+
+ifdef ARDRONE_CUSTOM_CONFIG 
+  ifdef ARDRONE_BUILD_CONFIG
+    include $(ARDRONE_CUSTOM_CONFIG)
+    include $(ARDRONE_BUILD_CONFIG)
+  else
+    include ../../Build/custom.makefile
+    include ../../Build/config.makefile
+  endif
+else
+  include ../../Build/custom.makefile
+  include ../../Build/config.makefile
+endif
+
+LIB_ID=ardrone
+ifeq ($(USE_ARDRONE_TOOL),no)
+LIB_ID:=$(LIB_ID)_notool
+endif
+GENERIC_TARGET_LIBRARY:=lib$(TARGET)$(LIB_ID).a
+
+GENERIC_CFLAGS+=-DAT_MESSAGES_HEADER="\"$(COMMON_DIR)/at_msgs.h\""
+GENERIC_CFLAGS+=-DUSE_NEW_ATCODEC
+
+ifeq ("$(USE_CHECK_WIFI_CONFIG)","yes")
+   GENERIC_CFLAGS+=-DCHECK_WIFI_CONFIG
+endif
+
+SDK_FLAGS+="USE_APP=no"
+SDK_FLAGS+="USE_LIB=yes"
+SDK_FLAGS+="LIB_ID=ardrone_lib"
+
+MATHS_DIR=Maths
+CONTROL_DIR=Control
+ARDRONE_TOOL_DIR=ardrone_tool
+UTILS_DIR=utils
+INIPARSER_DIR=iniparser3.0b/src
+LIBCALIBRATION_DIR=libCalibration
+
+GENERIC_LIBRARY_SOURCE_FILES+=                          \
+  $(INIPARSER_DIR)/iniparser.c                          \
+  $(INIPARSER_DIR)/dictionary.c                         \
+  $(MATHS_DIR)/filter.c                                 \
+  $(MATHS_DIR)/maths.c                                  \
+  $(MATHS_DIR)/matrices.c                               \
+  $(MATHS_DIR)/matrix3d.c                               \
+  $(MATHS_DIR)/quaternions.c                            \
+  $(MATHS_DIR)/time.c                                   \
+  $(MATHS_DIR)/vision_math.c                            \
+  $(ARDRONE_TOOL_DIR)/Navdata/navdata.c                 \
+  $(ARDRONE_TOOL_DIR)/config_keys.c                     \
+  $(ARDRONE_TOOL_DIR)/ardrone_version.c                 \
+  $(UTILS_DIR)/ardrone_time.c 							\
+  $(UTILS_DIR)/ardrone_date.c 							\
+  $(UTILS_DIR)/ardrone_crc_32.c                         \
+  $(UTILS_DIR)/ardrone_gen_ids.c                        \
+  $(UTILS_DIR)/ardrone_ftp.c							\
+  $(ARDRONE_TOOL_DIR)/Video/video_encapsulation.c 
+
+# The following files are needed to record video on the drone's flash memory
+GENERIC_LIBRARY_SOURCE_FILES+=                          \
+  $(UTILS_DIR)/ardrone_video_atoms.c                    \
+  $(UTILS_DIR)/ardrone_video_encapsuler.c               \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_encoded_recorder.c
+
+ifneq ($(ELINUX_TARGET),yes)
+#Controller only files
+GENERIC_LIBRARY_SOURCE_FILES+= \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_tcp.c           \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_merge_slices.c  \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_latency_estimation.c \
+  $(UTILS_DIR)/ardrone_ftp.c     \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_ffmpeg_recorder.c  \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_ffmpeg_decoder.c   \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_ittiam_decoder.c   \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage_decoder.c          \
+  $(ARDRONE_TOOL_DIR)/Video/video_recorder_pipeline.c      \
+  $(ARDRONE_TOOL_DIR)/Video/video_stage.c
+  ifeq ($(USE_ANDROID),yes)
+  GENERIC_LIBRARY_SOURCE_FILES+= \
+    $(UTILS_DIR)/AR_Ftw.c
+  endif
+endif
+
+ifneq ($(CONTROL_DLL),yes)
+  ifeq ($(USE_ARDRONE_TOOL),yes)
+    ifeq ($(PC_USE_POLARIS),yes)
+      GENERIC_CFLAGS+=-DPC_USE_POLARIS
+    endif
+
+    GENERIC_LIBRARY_SOURCE_FILES+=                      \
+      $(ARDRONE_TOOL_DIR)/AT/ardrone_at_mutex.c			       
+
+    GENERIC_LIBRARY_SOURCE_FILES+=                              	\
+	  $(ARDRONE_TOOL_DIR)/Academy/academy.c							\
+	  $(ARDRONE_TOOL_DIR)/Academy/academy_download.c				\
+	  $(ARDRONE_TOOL_DIR)/Academy/academy_upload.c					\
+	  $(ARDRONE_TOOL_DIR)/Academy/academy_stage_recorder.c			\
+      $(ARDRONE_TOOL_DIR)/Control/ardrone_control_configuration.c  	\
+      $(ARDRONE_TOOL_DIR)/Control/ardrone_control_ack.c         	\
+      $(ARDRONE_TOOL_DIR)/Navdata/ardrone_navdata_file.c        	\
+      $(ARDRONE_TOOL_DIR)/Navdata/ardrone_general_navdata.c    	    \
+	  $(ARDRONE_TOOL_DIR)/Navdata/ardrone_academy_navdata.c			\
+      $(ARDRONE_TOOL_DIR)/UI/ardrone_input.c                       	\
+      $(ARDRONE_TOOL_DIR)/ardrone_api.c                            	\
+      $(ARDRONE_TOOL_DIR)/ardrone_tool_configuration.c             	\
+      $(ARDRONE_TOOL_DIR)/ardrone_tool.c                           	\
+      $(ARDRONE_TOOL_DIR)/Com/config_wifi.c
+
+     ifneq ($(USE_MINGW32),yes)
+       GENERIC_LIBRARY_SOURCE_FILES+=                             \
+         $(ARDRONE_TOOL_DIR)/Video/video_com_stage.c              \
+         $(ARDRONE_TOOL_DIR)/Video/video_navdata_handler.c        \
+         $(ARDRONE_TOOL_DIR)/Control/ardrone_control.c            \
+         $(ARDRONE_TOOL_DIR)/Control/ardrone_navdata_control.c    \
+         $(ARDRONE_TOOL_DIR)/Navdata/ardrone_navdata_client.c
+
+
+       ifeq ($(USE_IPHONE),no)
+         GENERIC_LIBRARY_SOURCE_FILES+=				  \
+           $(ARDRONE_TOOL_DIR)/Com/config_serial.c
+       endif
+
+       ifeq ($(USE_ARDRONE_VICON),yes)
+         GENERIC_CFLAGS+=-DUSE_ARDRONE_VICON
+       endif
+     endif # USE_MINGW32
+  endif # USE_ARDRONE_TOOL
+
+  ifneq ($(USE_MINGW32),yes)
+    GENERIC_LIBRARY_SOURCE_FILES+= \
+      $(ARDRONE_TOOL_DIR)/Video/video_stage_recorder.c
+  endif
+
+  ifeq ($(USE_ELINUX),yes)
+    HARDWARE_ARDRONE:=$(SRC_PATH)/Soft/Toy/Sources/$(CARD_HARDWARE_DIR)
+    ifeq ($(USE_MINGW32),yes)
+      HARDWARE_ARDRONE_CALIBRATION:=c:/$(CARD_HARDWARE_DIR)
+    else
+      HARDWARE_ARDRONE_CALIBRATION:=$(HARDWARE_ARDRONE)
+    endif
+
+    GENERIC_CFLAGS+=-DHARDWARE_ARDRONE=\"$(HARDWARE_ARDRONE)\" \
+      -DHARDWARE_ARDRONE_CALIBRATION=\"$(HARDWARE_ARDRONE_CALIBRATION)\"
+  endif # USE_ELINUX
+
+endif # neq CONTROL_DLL
+
+BASE_RELATIVE_PATH_FROM_SDK=../../
+
+GENERIC_INCLUDES+=                               \
+  -I$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Common   \
+  -I$(BASE_RELATIVE_PATH_FROM_SDK)               \
+  -I$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
+
+export GENERIC_INCLUDES
+export GENERIC_LIBRARY_SOURCE_DIR=$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
+export GENERIC_BINARIES_SOURCE_DIR=$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
+
+export GENERIC_CFLAGS
+export GENERIC_LIBS
+export GENERIC_LIBRARY_SOURCE_FILES
+export GENERIC_TARGET_LIBRARY
+
+export GENERIC_BINARIES_COMMON_SOURCE_FILES=
+export GENERIC_BINARIES_SOURCE_ENTRYPOINTS=
+
+all $(MAKECMDGOALS):
+	@if [ '$(MAKECMDGOALS)' != 'clean' ]; then echo "$(OK_COLOR)Building ARDroneTool/Lib$(NO_COLOR)"; fi
+	@$(MAKE) -C ../../../VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS)
+
+makefileverbose:
+	@echo "Dump compilation flags:"
+	@echo "GENERIC_CFLAGS : $(GENERIC_CFLAGS)"
+	@echo "GENERIC_LIBS : $(GENERIC_LIBS)"
+	@echo "GENERIC_LIB_PATHS : $(GENERIC_LIB_PATHS)"
+	@echo "GENERIC_INCLUDES : $(GENERIC_INCLUDES)"
+	@echo "GENERIC_BINARIES_SOURCE_DIR : $(GENERIC_BINARIES_SOURCE_DIR)"
+	@echo "GENERIC_BINARIES_COMMON_SOURCE_FILES : $(GENERIC_BINARIES_COMMON_SOURCE_FILES)"
+	@echo "GENERIC_TARGET_BINARIES_PREFIX : $(GENERIC_TARGET_BINARIES_PREFIX)"
+	@echo "GENERIC_TARGET_BINARIES_DIR : $(GENERIC_TARGET_BINARIES_DIR)"
+	@echo "GENERIC_BINARIES_SOURCE_ENTRYPOINTS : $(GENERIC_BINARIES_SOURCE_ENTRYPOINTS)"
+	@echo "TMP_SDK_FLAGS: $(TMP_SDK_FLAGS)"
+	@echo "SDK_FLAGS: $(SDK_FLAGS)"
+	@echo "Make cmd goals: $(MAKECMDGOALS)"

ARDroneLib/Soft/Lib/Maths/filter.c

+/**
+ *  \file     filter.c
+ *  \brief    1st and 2nd order filter implementation
+ *  \author   Jean Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
+ *  \version  1.0
+ */
+
+#define _XOPEN_SOURCE 600
+#include <Maths/maths.h>
+#include <Maths/filter.h>
+#include <math.h>
+
+void filter_init(uint32_t n, float32_t *old_input, float32_t initial_input, float32_t *old_output, float32_t initial_output)
+{
+  uint32_t ii;
+
+  for (ii=0; ii<n ; ii++)
+    old_input[ii]  = initial_input;
+
+  for (ii=0; ii<n; ii++)
+    old_output[ii] = initial_output;
+}
+
+float filter(uint32_t n, const float32_t *b, const float32_t *a, float32_t input, float32_t *old_input, float32_t *old_output)
+{
+  uint32_t ii;
+  float32_t inno, past, output;
+
+  // innovation computation
+  inno = b[0] * input;
+  for (ii=1; ii<n+1; ii++)
+    inno += b[ii] * old_input[ii-1];
+
+  // past computation
+  past = 0.0;
+  for (ii=1; ii<n+1; ii++)
+    past -= a[ii] * old_output[ii-1];
+
+  // output = (inno + past) / a[0];
+	// We assume a[0] is always equal to 1
+  output = (inno + past);
+
+  // inputs and outputs shift
+  for (ii=n-1; ii>0; ii--)
+    old_input[ii] = old_input[ii-1];
+
+  old_input[0] = input;
+
+  for (ii=n-1; ii>0; ii--)
+    old_output[ii] = old_output[ii-1];
+
+  old_output[0] = output;
+
+  return output;
+}
+
+
+// Filtre du type Kd.p / (1+Td.p)
+float32_t deriv(deriv_param_t *param, float32_t input)
+{
+  static float32_t exp_1 = 0.3678794411714423412f; // expf(-1.0f);
+
+  float32_t exp;
+  float32_t td;
+  float32_t out;
+
+  if( f_is_zero( param->td ) )
+  {
+    // prevent from dividing by 0.
+    td  = param->te;
+    exp = exp_1;
+  }
+  else
+  {
+    td  = param->td;
+    // exp = expf(-param->te/td);
+    exp = exp_taylor(-param->te/td);
+  }
+
+  param->internal_state = exp * param->internal_state + td * (1 - exp) * param->old_input;
+
+  out = ( param->kd / td ) * ( input - param->internal_state / td );
+
+  param->old_input = input;
+
+  return out;
+}
+
+void delay_init(uint32_t m, float32_t *old_input, float32_t initial_input)
+{
+  uint32_t ii;
+
+  for (ii=0; ii<m ; ii++)
+    old_input[ii] = initial_input;
+}
+
+float32_t delay(uint32_t m, float32_t input, float32_t *old_input)
+{
+  uint32_t ii;
+  float32_t output;
+
+  output = old_input[m-1];
+
+  // inputs and shift
+  for (ii=m-1; ii>0; ii--)
+    old_input[ii] = old_input[ii-1];
+
+  old_input[0] = input;
+
+  return output;
+}
+
+float32_t rate_limiter(float32_t input, float32_t old_output, float32_t rate_max)
+{
+  float32_t output;
+  float_or_int_t FOI_rate,FOI_rate_max;
+
+  FOI_rate.f = input - old_output;
+  FOI_rate_max.f = rate_max;
+
+  if( f_abs( FOI_rate ) > FOI_rate_max.f )
+    output = old_output + f_set_clamp( FOI_rate, FOI_rate_max );
+  else
+    output = input;
+
+  return output;
+}
+
+int32_t digitalsmooth(int32_t rawIn, int32_t *sensSmoothArray)
+{
+  int32_t j, k, temp, top, bottom;
+  long total;
+  static int32_t i;
+
+  static int32_t sorted[filterSamples];
+  bool_t done;
+
+  i = (i + 1) % filterSamples;
+  sensSmoothArray[i] = rawIn;
+
+
+  for (j=0; j<filterSamples; j++)
+  {
+    sorted[j] = sensSmoothArray[j];
+  }
+
+  done = 0;
+  while(done != 1)
+  {
+    done = 1;
+    for (j = 0; j < (filterSamples - 1); j++)
+      {
+      if (sorted[j] > sorted[j + 1])
+        {
+        temp = sorted[j + 1];
+        sorted [j+1] =  sorted[j] ;
+        sorted [j] = temp;
+        done = 0;
+        }
+      }
+  }
+
+  bottom = max(((filterSamples * 15)  / 100), 1);
+  top = min((((filterSamples * 85) / 100) + 1  ), (filterSamples - 1));
+  k = 0;
+  total = 0;
+  for ( j = bottom; j< top; j++){
+    total += sorted[j];
+    k++;
+  }
+
+  return total / k;
+}
+
+
+//unwrapToPi
+// takes pointer to the value of wrapped angle, pointer to the value of unwrapped angle, and the variation to add to both angles
+void unwrapToPi(float32_t* former_wrapped_angle, float32_t* former_unwrapped_angle, float32_t variation)
+{
+    if(fabsf(variation)<PI)
+    {
+        *former_unwrapped_angle += variation;
+    }
+
+    else
+    {
+        if(variation>=0)
+        {
+            *former_unwrapped_angle += variation - 2.0*PI;
+        }
+        else
+        {
+            *former_unwrapped_angle += variation + 2.0*PI;
+        }
+    }
+
+    wrapToPi(former_unwrapped_angle, former_wrapped_angle);
+}
+
+void wrapToPi(float32_t* input, float32_t* output)
+{
+	*output = fmodf(*input + PI, 2*PI) - PI;
+    if((-PI)>(*input))
+    {
+        *output += 2*PI;
+    }
+}
+
+
+void filter64_init(uint32_t n, float64_t *old_input, float64_t initial_input, float64_t *old_output, float64_t initial_output)
+{
+  uint32_t ii;
+
+  for (ii=0; ii<n ; ii++)
+    old_input[ii]  = initial_input;
+
+  for (ii=0; ii<n; ii++)
+    old_output[ii] = initial_output;
+}
+
+float64_t filter64(uint32_t n, const float64_t *b, const float64_t *a, float64_t input, float64_t *old_input, float64_t *old_output)
+{
+  uint32_t ii;
+  float64_t inno, past, output;
+
+  // innovation computation
+  inno = b[0] * input;
+  for (ii=1; ii<n+1; ii++)
+    inno += b[ii] * old_input[ii-1];
+
+  // past computation
+  past = 0.0;
+  for (ii=1; ii<n+1; ii++)
+    past -= a[ii] * old_output[ii-1];
+
+  // output = (inno + past) / a[0];
+	// We assume a[0] is always equal to 1
+  output = (inno + past);
+
+  // inputs and outputs shift
+  for (ii=n-1; ii>0; ii--)
+    old_input[ii] = old_input[ii-1];
+
+  old_input[0] = input;
+
+  for (ii=n-1; ii>0; ii--)
+    old_output[ii] = old_output[ii-1];
+
+  old_output[0] = output;
+
+  return output;
+}

ARDroneLib/Soft/Lib/Maths/point3d.h

+#ifndef _POINT3D_H_
+#define _POINT3D_H_
+
+typedef struct _point3d_t {
+  float32_t x;
+  float32_t y;
+  float32_t z;
+  float32_t w;
+} point3d_t;
+
+#endif // _POINT3D_H_