[ARDrone] Update Makefiles

Fix the existing Makefiles for the drone cross-compilation.
Add libowlps-resultreader/Makefile_drone.

libowlps-client/Makefile_drone

@@ -0,0 +1,80 @@
+# Emplacement de la suite de cross-compilation
+TOOLCHAIN_PREFIX = /arm
+TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
+TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc/usr
+TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc
+
+# Compilateur
+CC = $(TOOLCHAIN_BIN)/arm-none-linux-gnueabi-gcc
+
+# Autres outils
+AR = ar
+RANLIB = ranlib
+RM = rm -f
+
+# Variables générales
+LIB_CIBLE=libowlps-client
+VERSION=1.0
+
+# Cibles à construire
+STATIC=$(LIB_CIBLE).a
+HEADER=owlps-client.h
+
+# Composition de la bibliothèque
+OBJS=$(LIB_CIBLE).o
+
+# Flags
+LIBOWLPS_DIR = ../libowlps
+CFLAGS=-O2 -Wall -Wextra -Wstrict-prototypes -O -I$(LIBOWLPS_DIR) -I.
+DEPFLAGS=-MMD
+XCFLAGS=$(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG=-fPIC
+LIBS=-liw
+#STRIPFLAGS= -Wl,-s
+#LDFLAGS=
+LATHEROS=-L$(TOOLCHAIN_USR_2)/lib/
+IATHEROS=-I$(TOOLCHAIN_USR)/include/
+
+
+## Cibles de compilation standard ##
+
+.PHONY : all static clean purge help
+
+all : static
+static : $(STATIC)
+
+%.o : %.c $(HEADER)
+	$(CC) $(XCFLAGS) $(IATHEROS) -c $<
+
+# Compilation de la bibliothèque statique
+$(STATIC) : $(OBJS)
+	$(RM) $@
+	$(AR) cru $@ $^
+	$(RANLIB) $@
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) *~ *.o *.d
+
+purge : clean
+	@$(RM) $(STATIC)
+
+
+## Aide ##
+
+help :
+	@echo "Bibliothèques nécessaires à la compilation :\n\
+		libowlps-dev\n\
+	\n\
+	Cibles possibles :\n\
+		static (cible par défaut) : Compile la bibliothèque statique (.a).\n\
+	\n\
+		clean : Supprime les fichiers temporaires.\n\
+		purge : Supprime le résultat de la compilation.\n\"
+
+
+# Local Variables: *
+# mode: makefile-gmake *
+# End: *

libowlps-resultreader/Makefile_drone

@@ -0,0 +1,82 @@
+# Emplacement de la suite de cross-compilation
+TOOLCHAIN_PREFIX = /arm
+TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
+TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc/usr
+TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc
+
+# Compilateur
+CC = $(TOOLCHAIN_BIN)/arm-none-linux-gnueabi-gcc
+
+# Autres outils
+AR = ar
+RANLIB = ranlib
+RM = rm -f
+
+# Variables générales
+LIB_CIBLE = libowlps-resultreader
+VERSION = 1.0
+
+# Cibles à construire
+STATIC = $(LIB_CIBLE).a
+HEADER = owlps-resultreader.h
+EXAMPLE = owlps-resultreader-udp
+
+# Composition de la bibliothèque
+OBJS = $(LIB_CIBLE).o
+
+# Flags
+LIBOWLPS_DIR = ../libowlps
+CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -O -I$(LIBOWLPS_DIR) -I.
+#CFLAGS += -g -O0
+CFLAGS += -D DEBUG
+DEPFLAGS = -MMD
+XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG = -fPIC
+#STRIPFLAGS = -Wl,-s
+#LDFLAGS =
+LATHEROS = -L$(TOOLCHAIN_USR_2)/lib/
+IATHEROS = -I$(TOOLCHAIN_USR)/include/
+
+
+## Cibles de compilation standard ##
+
+.PHONY : all static clean purge help
+
+all : static example
+static : $(STATIC)
+example : $(EXAMPLE)
+
+# Cancel implicit make rule
+%: %.c
+
+%.o : %.c $(HEADER)
+	$(CC) $(XCFLAGS) $(IATHEROS) -c $<
+
+% : %.o $(HEADER) $(STATIC)
+	$(CC) $(STRIPFLAGS) $(XCFLAGS) $(IATHEROS) -o $@ $< \
+		$(STATIC) -L$(LIBOWLPS_DIR) -lowlps -lrt
+
+# Compilation de la bibliothèque statique
+$(STATIC) : $(OBJS)
+	$(RM) $@
+	$(AR) cru $@ $^
+	$(RANLIB) $@
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) *~ *.o *.d
+
+purge : clean
+	@$(RM) $(STATIC) $(EXAMPLE)
+
+
+## Aide ##
+
+help :
+	@make help
+
+# Local Variables: *
+# mode: makefile-gmake *
+# End: *

libowlps/Makefile_drone

@@ -0,0 +1,148 @@
+TOOLCHAIN_PREFIX = /arm
+TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
+TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc/usr
+TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc
+
+# Répertoire d'installation
+PREFIX_CC=/arm/arm-none-linux-gnueabi
+PREFIX=/usr/local
+INSTALL_LIB= $(PREFIX)/lib
+INSTALL_INC= $(PREFIX_CC)/include
+INSTALL_MAN= $(PREFIX)/share/man
+
+# Compilateur
+
+CC = $(TOOLCHAIN_BIN)/arm-none-linux-gnueabi-gcc
+
+# Autres outils
+AR = ar
+RANLIB = ranlib
+
+# Commandes d'installation et de désinstallation
+RM = rm -f
+CP = cp
+SYMLINK = ln -sf
+
+# Variables générales
+LIB_CIBLE=libowlps
+VERSION=1.0
+
+# Cibles à construire
+STATIC=$(LIB_CIBLE).a
+DYNAMIC=$(LIB_CIBLE).so.$(VERSION)
+#PROGS=
+HEADER=owlps.h
+#HEADERS=
+
+# Composition de la bibliothèque
+OBJS=$(LIB_CIBLE).o
+
+# Flags
+CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -O -I.
+DEPFLAGS=-MMD
+XCFLAGS=$(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG=-fPIC
+LIBS = -liw -lrt
+#STRIPFLAGS= -Wl,-s
+#LDFLAGS=
+LATHEROS=-L$(TOOLCHAIN_USR_2)/lib/
+IATHEROS=-I$(TOOLCHAIN_USR)/include/
+
+## Cibles de compilation standard ##
+
+.PHONY : all dynamic static install install-dynamic install-static install-header uninstall uninstall-dynamic uninstall-static uninstall-header clean purge help
+
+all : dynamic static
+dynamic : $(DYNAMIC)
+static : $(STATIC)
+
+%.o: %.c $(HEADER)
+	$(CC) $(XCFLAGS) $(IATHEROS) $(PICFLAG) -c -o $@ $<
+
+# Compilation de la bibliothèque dynamique
+$(DYNAMIC): $(OBJS)
+	$(CC) -shared -o $@ -Wl,-soname,$@ $(STRIPFLAGS) $(LIBS) $(IATHEROS) $(LATHEROS) -lc $^
+	$(SYMLINK) $@ $(LIB_CIBLE).so
+	chmod a-x $@
+
+# Compilation de la bibliothèque statique
+$(STATIC): $(OBJS)
+	$(RM) $@
+	$(AR) cru $@ $^
+	$(RANLIB) $@
+
+
+## Installation ##
+
+install : install-static install-dynamic
+
+install-dynamic : install-header $(DYNAMIC)
+	@$(CP) $(DYNAMIC) $(INSTALL_LIB) &&\
+		chmod 644 $(INSTALL_LIB)/$(DYNAMIC) &&\
+		chown root:root $(INSTALL_LIB)/$(DYNAMIC) &&\
+		cd $(INSTALL_LIB) && $(SYMLINK) $(DYNAMIC) $(LIB_CIBLE).so &&\
+		echo "Reconstruction du cache pour ld.so : ldconfig $(INSTALL_LIB)" ; ldconfig $(INSTALL_LIB)
+
+install-static : install-header $(STATIC)
+	@$(CP) $(STATIC) $(INSTALL_LIB) &&\
+		chmod 644 $(INSTALL_LIB)/$(STATIC) &&\
+		chown root:root $(INSTALL_LIB)/$(STATIC)
+
+install-header : $(HEADER)
+	@$(CP) $(HEADER) $(INSTALL_INC) &&\
+		chmod 644 $(INSTALL_INC)/$(HEADER) &&\
+		chown root:root $(INSTALL_INC)/$(HEADER)
+
+
+## Désinstallation ##
+
+uninstall : uninstall-dynamic uninstall-static
+
+uninstall-dynamic : uninstall-header
+	@$(RM) $(INSTALL_LIB)/$(DYNAMIC) $(INSTALL_LIB)/$(LIB_CIBLE).so
+	@echo "Reconstruction du cache pour ld.so : ldconfig" ; ldconfig
+
+uninstall-static : uninstall-header
+	@$(RM) $(INSTALL_LIB)/$(STATIC)
+
+uninstall-header :
+	@$(RM) $(INSTALL_INC)/$(HEADER)
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) *~ *.o *.d
+
+purge : clean
+	@$(RM) $(DYNAMIC) *.so $(STATIC) $(PROGS)
+
+
+## Aide ##
+
+help :
+	@echo "Bibliothèques nécessaires à la compilation :\n\
+		libiw-dev\n\
+	\n\
+	Cibles possibles :\n\
+		all (cible par défaut) : Compile la bibliothèque et le programme d'exemple (tx).\n\
+		dynamic : Compile la bibilothèque partagée (.so).\n\
+		static : Compile la bibliothèque statique (.a).\n\
+	\n\
+		install : Installe la bibliothèque partagée et statique.\n\
+		install-dynamic : N'installe que la bibliothèque partagée.\n\
+		install-static : N'installe que la bibliothèque statique.\n\
+	\n\
+		uninstall : Désinstalle tout ce qu'il est possible de désinstaller.\n\
+		uninstall-dynamic : Désinstalle la bibliothèque partagée.\n\
+		uninstall-static : Désinstalle la bibliothèque statique.\n\
+	\n\
+		clean : Supprime les fichiers temporaires.\n\
+		purge : Supprime le résultat de la compilation.\n\
+	\n\
+	Note : l'installation se fait dans l'arborescence $(PREFIX). Modifiez la variable PREFIX du Makefile pour changer ce comportement."
+
+
+# Local Variables: *
+# mode: makefile-gmake *
+# End: *

owlps-ardrone/Makefile

@@ -0,0 +1,111 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION := $(shell git describe 2>/dev/null || echo 'UNKNOWN_VERSION')
+endif
+
+# Répertoire d'installation
+PREFIX=/usr/local
+INSTALL_DIR= $(PREFIX)/bin
+INSTALL_LIB= $(PREFIX)/lib
+INSTALL_INC= $(PREFIX)/include
+INSTALL_MAN= $(PREFIX)/share/man
+
+# Compilateur
+COLORGCC := $(shell which colorgcc >/dev/null 2>&1 ; echo $$?)
+ifeq ($(COLORGCC), 0)
+	CC = colorgcc
+endif
+
+# Commandes d'installation et de désinstallation
+RM = rm -f
+CP = cp
+
+# Cible
+TARGET=owlps-drone
+DEPS = oc.o
+
+# Flags
+LIBOWLPS_DIR = ../libowlps
+LIBOWLPSCLIENT_DIR = ../libowlps-client
+LIBOWLPSRESULTREADER_DIR = ../libowlps-resultreader
+CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
+	-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR) \
+	-I$(LIBOWLPSRESULTREADER_DIR)
+#CFLAGS += -g -O0
+DEPFLAGS = -MMD
+XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG = -fPIC
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
+OWLPSFLAGS += -D DEBUG
+LIBS = -L$(LIBOWLPS_DIR) -lowlps \
+	-L$(LIBOWLPSCLIENT_DIR) -lowlps-client \
+	-L$(LIBOWLPSRESULTREADER_DIR) -lowlps-resultreader \
+	-lm -pthread
+
+OS := $(shell uname)
+ifeq ("$(OS)", "Linux")
+	LIBS += -lrt
+endif
+
+STATIC_LIBS =
+
+
+## Cibles de compilation standard ##
+
+.PHONY : all dynamic static install uninstall clean purge help
+
+dynamic : $(TARGET)
+static : $(TARGET).static
+all : dynamic static
+
+%.o : %.c %.h
+	$(CC) $(XCFLAGS) $(OWLPSFLAGS) -c $<
+
+# Compilation du programme
+$(TARGET) : $(TARGET).o $(DEPS)
+	$(CC) $(LDFLAGS) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS)
+
+$(TARGET).static : $(TARGET).o $(DEPS)
+	$(CC) $(LDFLAGS) -static $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS) $(STATIC_LIBS)
+
+
+## Installation / désinstallation ##
+
+install : $(TARGET)
+	@$(CP) $(TARGET) $(INSTALL_DIR)
+	@cd $(INSTALL_DIR) ; chown root:root $(TARGET) ; chmod 755 $(TARGET)
+
+install-static : $(TARGET).static
+	@$(CP) $(TARGET).static $(INSTALL_DIR)
+	@cd $(INSTALL_DIR) ; chown root:root $(TARGET).static ; chmod 755 $(TARGET).static
+
+uninstall :
+	@$(RM) $(INSTALL_DIR)/{$(TARGET),$(TARGET).static}
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) -fv *~ *.o *.d
+
+purge : clean
+	@$(RM) -fv $(TARGET) $(TARGET).static
+
+
+## Aide ##
+
+help :
+	@echo -e "Bibliothèques nécessaires à la compilation :\n\
+		libowlps1.0 (fournie)\n\
+	\n\
+	Cibles possibles :\n\
+		$(TARGET) (cible par défaut) : Compile le programme $(TARGET).\n\
+		$(TARGET).static : Compile le programme $(TARGET).static \
+	(version sans lien dynamique).\n\
+		install : Installe le programme $(TARGET).\n\
+		uninstall : Désinstalle le programme $(TARGET).\n\
+		clean : Supprime les fichiers temporaires.\n\
+		purge : Supprime le résultat de la compilation.\n\
+	\n\
+	Note : l'installation se fait dans l'arborescence $(PREFIX). \
+	Modifiez la variable PREFIX du Makefile pour changer ce comportement."

owlps-ardrone/Makefile_drone

@@ -0,0 +1,125 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION := $(shell git describe 2>/dev/null || echo 'UNKNOWN_VERSION')
+endif
+
+# Emplacement de la suite de cross-compilation
+TOOLCHAIN_PREFIX = /arm
+TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
+TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi
+TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc
+
+# Compilateur
+CC = $(TOOLCHAIN_BIN)/arm-none-linux-gnueabi-gcc
+
+# Répertoire d'installation
+PREFIX=/usr/local
+INSTALL_DIR= $(PREFIX)/bin
+INSTALL_LIB= $(PREFIX)/lib
+INSTALL_INC= $(PREFIX)/include
+INSTALL_MAN= $(PREFIX)/share/man
+
+# Commandes d'installation et de désinstallation
+RM = rm -f
+CP = cp
+
+# Cible
+TARGET=owlps-drone
+DEPS = oc.o
+
+# Flags
+LIBOWLPS_DIR = ../libowlps
+LIBOWLPSCLIENT_DIR = ../libowlps-client
+LIBOWLPSRESULTREADER_DIR = ../libowlps-resultreader
+CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
+	-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR) \
+	-I$(LIBOWLPSRESULTREADER_DIR)
+#CFLAGS += -g -O0
+DEPFLAGS = -MMD
+XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG = -fPIC
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
+OWLPSFLAGS += -D DEBUG
+LOWLPS = -L$(LIBOWLPS_DIR) -lowlps
+LOWLPSA = $(LIBOWLPS_DIR)/libowlps.a
+LOWLPSCLIENTA = $(LIBOWLPSCLIENT_DIR)/libowlps-client.a
+LOWLPSRESULTREADERA = $(LIBOWLPSRESULTREADER_DIR)/libowlps-resultreader.a
+LIBS = $(LOWLPSCLIENTA) $(LOWLPSRESULTREADERA) -lrt -lm -pthread
+DYNAMIC_LIBS = $(LOWLPS) $(LIBS)
+SEMISTATIC_LIBS = $(LOWLPSA) $(LIBS)
+STATIC_LIBS = $(LOWLPSA) $(LIBS)
+LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
+IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
+LDFLAGS = $(IATHEROS) $(LATHEROS)
+
+## Cibles de compilation standard ##
+
+.PHONY: all semistatic static install uninstall clean purge help
+
+#dynamic: $(TARGET)
+semistatic: $(TARGET).semistatic
+static: $(TARGET).static
+all: semistatic static
+
+# Cancel implicit make rule
+%: %.c
+
+%.o: %.c %.h
+	$(CC) $(XCFLAGS) $(IATHEROS) $(OWLPSFLAGS) -c $<
+
+# Compilation du programme
+$(TARGET) : $(TARGET).o $(DEPS)
+	$(CC) $(LDFLAGS) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS)
+
+$(TARGET).semistatic : $(TARGET).o $(DEPS)
+	$(CC) $(LDFLAGS) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS) $(STATIC_LIBS)
+
+$(TARGET).static : $(TARGET).o $(DEPS)
+	$(CC) $(LDFLAGS) -static $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS) $(STATIC_LIBS)
+
+
+## Installation / désinstallation ##
+
+install : $(TARGET)
+	@$(CP) $(TARGET) $(INSTALL_DIR)
+	@cd $(INSTALL_DIR) ; chown root:root $(TARGET) ; chmod 755 $(TARGET)
+
+install-static : $(TARGET).static
+	@$(CP) $(TARGET).static $(INSTALL_DIR)
+	@cd $(INSTALL_DIR) ; chown root:root $(TARGET).static ; chmod 755 $(TARGET).static
+
+uninstall :
+	@$(RM) $(INSTALL_DIR)/{$(TARGET),$(TARGET).static}
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) -fv *~ *.o *.d
+
+purge : clean
+	@$(RM) -fv $(TARGET) $(TARGET).static
+
+
+## Aide ##
+
+help :
+	@echo -e "Bibliothèques nécessaires à la compilation :\n\
+		libowlps1.0 (fournie)\n\
+	\n\
+	Cibles possibles :\n\
+		$(TARGET) (cible par défaut) : Compile le programme $(TARGET).\n\
+		$(TARGET).static : Compile le programme $(TARGET).static \
+	(version sans lien dynamique).\n\
+		install : Installe le programme $(TARGET).\n\
+		uninstall : Désinstalle le programme $(TARGET).\n\
+		clean : Supprime les fichiers temporaires.\n\
+		purge : Supprime le résultat de la compilation.\n\
+	\n\
+	Note : l'installation se fait dans l'arborescence $(PREFIX). \
+	Modifiez la variable PREFIX du Makefile pour changer ce comportement."
+
+
+# Local Variables: *
+# mode: makefile-gmake *
+# End: *

owlps-ardrone/oc.c

@@ -0,0 +1,79 @@
+// Bibliotheque OpenCoordinate : fonctions coordonnees geographiques
+
+#include "oc.h"
+
+#include <stdio.h>
+#include <math.h>
+
+
+double oc_distance_between(struct point a, struct point b) {
+  // retourne la distance entre les 2 points en metres
+  double R = 6378137; // metres
+  double d_lat = (b.lat-a.lat)/180*M_PI;
+  double d_lon = (b.lon-a.lon)/180*M_PI;
+  double alpha = sin(d_lat/2) * sin(d_lat/2) +
+    cos(a.lat/180*M_PI) * cos(b.lat/180*M_PI) *
+    sin(d_lon/2) * sin(d_lon/2);
+  double c = 2 * atan2(sqrt(alpha), sqrt(1-alpha));
+  return R * c;
+}
+
+
+struct point_relatif oc_convert(struct point o, struct point a) {
+  //convert transforme des coordonnes WGS84 en metres par rapport au referentiel r
+  struct point proj_x, proj_y;
+  struct point_relatif pr;
+  proj_x.lat=a.lat;
+  proj_x.lon=o.lon;
+  proj_y.lat=o.lat;
+  proj_y.lon=a.lon;
+  pr.x=oc_distance_between(proj_y,o);
+  pr.y=oc_distance_between(proj_x,o);
+  pr.z=0;
+  if (proj_y.lon > o.lon) pr.x=-pr.x;
+  if (proj_x.lat > o.lat) pr.y=-pr.y;
+  return pr;
+}
+
+
+/*
+  function unconvert(x,y) {
+  if (origine==null) return null;
+  else {
+  var R = 6378137; // metres
+  var lat1 = origine.lat()/180*Math.PI;
+  var lon1 = origine.lng()/180*Math.PI;
+  var d = Math.sqrt(x*x + y*y);
+  var brng = Math.acos( y / d);
+  var lat2 = Math.asin( Math.sin(lat1)*Math.cos(d/R) +
+  Math.cos(lat1)*Math.sin(d/R)*Math.cos(brng) );
+  var lon2 = lon1 +
+  Math.atan2(Math.sin(brng)*Math.sin(d/R)*Math.cos(lat1),
+  Math.cos(d/R)-Math.sin(lat1)*Math.sin(lat2));
+  return new google.maps.LatLng(lat2*180/Math.PI, lon2*180/Math.PI);
+  }
+  }
+*/
+
+
+double oc_cap(struct point o, struct point a) {
+  struct point_relatif pr=oc_convert(a, o);
+  double alpha;
+  printf("cap x=%f et y=%f\n",pr.x, pr.y);
+  if (pr.x==0)
+    if (pr.y>=0) return 360.0;
+    else return 180.0;
+  else {
+    alpha=atan(pr.y/pr.x) * 180 / M_PI;
+    printf("%f\n",alpha);
+    if (pr.x>0)
+      return ((450 - alpha)/360 - round((450 - alpha)/360))*360;
+    else {
+      //alpha=atan(-pr.y/pr.x) * 180 / PI;
+      //printf("%f\n",alpha);
+      return 270-alpha;
+    }
+  }
+}
+
+

owlps-ardrone/oc.h

@@ -0,0 +1,30 @@
+#ifndef _LIBOPENCOORDINATES_
+#define _LIBOPENCOORDINATES_
+
+
+/* Define M_PI if it is not defined */
+#ifndef M_PI
+# define M_PI 3.14159265358979323846
+#endif
+
+
+struct point
+{
+  int date;
+  float time;
+  double lat, lon, alt, cap;
+} point;
+
+
+struct point_relatif
+{
+  double x, y, z;
+} point_relatif;
+
+
+double oc_distance_between(struct point a, struct point b) ;
+struct point_relatif oc_convert(struct point o, struct point a) ;
+double oc_cap(struct point o, struct point a) ;
+
+
+#endif // _LIBOPENCOORDINATES_

owlps-ardrone/owlps-drone.h

@@ -0,0 +1,120 @@
+#ifndef _OWLPS_ARDRONE_H_
+#define _OWLPS_ARDRONE_H_
+
+#include "oc.h"
+
+
+/* Program arguments (getopt string) */
+#define OPTIONS "d:hi:l::n:p:t:V"
+
+/* Number of packets to send */
+#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
+#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position
+
+/* Delay between two packet transmissions (in microseconds) */
+#define DEFAULT_DELAY_CALIB 50000 // Calibration request
+#define DEFAULT_DELAY_NORMAL 25000 // Localisation request
+
+/* Maximum length of the algorithm & area names */
+#define ALGO_STRLEN 15
+#define AREA_STRLEN 50
+
+/* GPS inputs */
+#define SEPARATOR ','
+#define EOL '$'
+#define TYPE "GPS"
+
+/* Drone commands */
+#define LENSTR 1000
+#define ATREF "AT*REF="
+#define LANDING ",290717696"
+#define TAKEOFF ",290718208"
+
+/* Socket parameters */
+#define IP "192.168.1.1"
+#define PORT 5556
+
+
+/* Error codes */
+#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
+
+
+typedef struct _gps
+{
+  float time;
+  char state;
+  double latitude;
+  char orilat;
+  double longitude;
+  char orilon;
+  float speed;
+  float cap;
+  int date;
+  float decmag;
+} gps ;
+
+typedef struct _consigne
+{
+  double lat;
+  double lon;
+  double alt;
+
+  struct _consigne *next;
+} consigne ;
+
+typedef struct _point_consigne
+{
+  double lat;
+  double lon;
+  double alt;
+} point_consigne ;
+
+
+/* Function headers */
+void parse_command_line(int argc, char **argv) ;
+void parse_main_options(int argc, char **argv) ;
+void check_destination_ip(void) ;
+void parse_calibration_data(int argc, char **argv) ;
+void check_configuration(void) ;
+#ifdef DEBUG
+void print_configuration(void) ;
+#endif // DEBUG
+
+void print_usage(void) ;
+void print_version(void) ;
+
+void drone_handler_sigint(const int) ;
+
+void create_socket(void) ;
+void make_packet(void) ;
+void send_request(void) ;
+void* receive_position(void*) ;
+
+void string2data(char*) ;
+void traficGPS(int);
+void* thread_gps(void*) ;
+void* thread_send(void*) ;
+void* thread_control(void*) ;
+void print_error(char*) ;
+
+void drone_err(int);
+int read_position(char*);
+int drone_socket_create(void);
+void* drone_socket_watchdog(void*);
+int drone_socket_close(void);
+
+int cmd_drone_take_off(void); //Add socket
+int cmd_drone_landing(void); //Add socket
+int cmd_drone_move(float, int);
+int cmd_drone_init_direction(void); //Add socket
+
+void calcul_trajectory(float*, float*);
+float calcul_speed(float);
+int check_destination(struct point, struct point);
+float calcul_angle(void);
+
+consigne* list_add_front(consigne*, double, double, double);
+consigne* list_add_back(consigne*, double, double, double); 
+void list_print(consigne*);
+
+#endif //_OWLPS_ARDRONE_H_

owlps-ardrone/script-drone/1.3.3/bin/check_update.sh

@@ -0,0 +1,60 @@
+#!/bin/sh
+# Copie du fichier wifi_setup.sh pour un mode recovery en cas de pb reseau
+#cp /bin/wifi_setup.sh.orig /bin/wifi_setup.sh
+
+export LD_PRELOAD=/data/libioctl_arm.so
+
+UPDATE_PATH=/update/ardrone_update.plf
+VERSION_PATH=/update/version.txt
+ERR_PATH=/update/err.log
+
+echo "Copy version.txt file in ftp directory"
+cp /firmware/version.txt $VERSION_PATH
+
+echo "Check if update is necessary ..."
+if [ -e $UPDATE_PATH ] ; then
+	VERSION=`cat $VERSION_PATH`
+	
+	if [ -e $ERR_PATH ] ; then
+		CHECK_ERR=`cat $ERR_PATH`
+		if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then
+			CHECK_PLF=`/bin/checkplf $UPDATE_PATH $VERSION`
+			if [ "$CHECK_PLF" = "NEED_TO_FLASH" ] ; then
+				echo "ERR=FLASH_KO" > $ERR_PATH
+			else
+				/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH	
+			fi
+		else
+			/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH	
+		fi
+	else
+		/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH
+	fi
+	
+	CHECK_ERR=`cat $ERR_PATH`
+	if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then 
+    	echo "File $UPDATE_PATH exists... Start updating..."
+ 		pinst_trigger
+		echo "Rebooting..."
+    	reboot
+    else
+    	if [ "$CHECK_ERR" = "VERSION_OK" ] ; then
+ 	    	echo "Version OK"
+    	elif [ "$CHECK_ERR" = "ERR=FLASH_KO" ] ; then
+ 	    	echo "Error during Updating... Removing..."
+    	else
+ 	    	echo "File $UPDATE_PATH not valid... Removing..."
+    	fi
+    	rm -Rf $UPDATE_PATH
+		echo "Start Drone software..."
+		inetd
+	    (/bin/program.elf ; gpio 63 -d ho 1) &
+	fi
+else
+    echo "File $UPDATE_PATH doesn't exists... Start Drone software..."
+    if [ -e $ERR_PATH ] ; then
+    	rm -Rf $ERR_PATH
+    fi
+    inetd
+    (/bin/program.elf ; gpio 63 -d ho 1) &
+fi

owlps-ardrone/script-drone/1.3.3/bin/pairing_setup.sh

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# Script to setup drone pairing
+#
+
+# Getting Iphone's MAC address from config.ini file.
+NULL_MAC=00:00:00:00:00:00
+if [ $# -eq 0 ]
+then
+if [ -s /data/config.ini ]
+then
+MAC_ADDR=`grep owner_mac /data/config.ini | awk -F "=" '{print $2}'`
+else
+MAC_ADDR=$NULL_MAC
+fi
+else
+MAC_ADDR=$1
+fi
+
+echo "Owner's MAC address is: $MAC_ADDR"
+
+# [Stephane] Exits if owner MAC address is already being filtered
+#  (changing iptables rules too often may crash the drone for a undetermined reason)
+CURRENTLY_ALLOWED_MAC_ADDR=`iptables -L | grep MAC | awk -F " " '{print $7}'`
+if [ "$CURRENTLY_ALLOWED_MAC_ADDR" = "$MAC_ADDR" ]
+then
+echo "Drone is already paired with $MAC_ADDR"
+exit
+fi
+
+if [ $MAC_ADDR != $NULL_MAC ]
+then
+echo "Setting pairing for: $MAC_ADDR"
+# Clearing all rules
+iptables -P INPUT ACCEPT
+iptables -F
+# Allowing only owner's traffic
+iptables -A INPUT -m mac --mac-source $MAC_ADDR -j ACCEPT
+# allowing ICMP (ping), ftp, nfs and telnet traffic for everyone.
+iptables -A INPUT --protocol icmp -j ACCEPT
+#iptables -A INPUT --protocol tcp --dport 23 -j ACCEPT
+iptables -A INPUT --protocol tcp --dport 21 -j ACCEPT
+iptables -A INPUT --protocol tcp --dport 2049 -j ACCEPT
+# Blocking all incoming traffic by default
+iptables -P INPUT DROP
+else
+echo "Clearing pairing rule"
+# Switching rad LED on
+gpio 63 -d ho 1
+
+# Clearing all rules
+iptables -F
+# Allows incoming connections from anywhere outside
+iptables -P INPUT ACCEPT
+
+# Switching rad LED off
+gpio 63 -d ho 0
+fi

owlps-ardrone/script-drone/1.3.3/bin/wifi_setup.sh

@@ -0,0 +1,110 @@
+#!/bin/sh
+#
+# Script to see if an IP adress is already used or not
+#
+# Getting SSID from config.ini file.
+
+#initializing random generator
+cat /data/random_mac.txt > /dev/urandom
+/bin/random_mac > /data/random_mac.txt
+
+
+#echo 2 > /proc/cpu/alignment
+#export WORKAREA=/
+#export ATH_PLATFORM=ardrone
+#/usr/sbin/recEvent /data/athdbg.log&
+
+
+if [ -s /factory/mac_address.txt ]
+then
+MAC_ADDR=`cat /factory/mac_address.txt`
+else
+MAC_ADDR=`cat /data/random_mac.txt`
+fi
+
+loadAR6k.sh --setmac $MAC_ADDR
+#loadtestcmd.sh
+
+# Waiting 2s for the wifi chip to be ready
+sleep 2
+
+# Increasing scan time to help detecting wifi networks
+wmiconfig -i ath0 --scan --maxact=80
+# Setting retry limits to 6
+wmiconfig -i ath0 --setretrylimits 2 0 6 off
+# Limiting available rates to 11, 24 or 54 Mb/s
+wmiconfig -i ath0 --setfixrates 3 8 11
+# Disabling powersaving
+wmiconfig -i ath0 --power maxperf
+
+
+SSID=`grep ssid_single_player /data/config.ini | awk -F "=" '{print $2}'`
+
+if [ $SSID ]
+then
+echo "SSID=$SSID"
+else
+#default SSID.
+SSID=ardrone_wifi
+echo "SSID=$SSID"
+fi
+
+
+export NETIF=ath0
+RANDOM_CHAN=`/bin/channelselector`
+
+echo "Creating/Joining Network $SSID"
+
+#iwconfig ath0 mode ad-hoc
+#iwconfig ath0 channel $RANDOM_CHAN
+#iwconfig ath0 essid $SSID
+#iwconfig ath0 channel 1
+
+iwconfig ath0 mode ad-hoc essid owl channel auto
+
+OK=0
+BASE_ADRESS=192.168.1.
+PROBE=1
+
+while [ $OK -eq 0 ]
+do
+#configuring interface.
+ifconfig ath0 $BASE_ADRESS$PROBE
+ifconfig ath0:0 192.168.11.1
+arping -I ath0 -q -f -D -w 2 $BASE_ADRESS$PROBE
+
+if [ $? -eq 1 ]
+then
+#generating random odd IP address
+PROBE=`/bin/random_ip`
+else
+OK=1
+fi
+
+done
+
+#Configuring DHCP server.
+echo "Using address $BASE_ADRESS$PROBE"
+echo "start $BASE_ADRESS`expr $PROBE + 1`" > /tmp/udhcpd.conf
+echo "end $BASE_ADRESS`expr $PROBE + 4`" >> /tmp/udhcpd.conf
+echo "interface ath0" >> /tmp/udhcpd.conf
+echo "decline_time 1" >> /tmp/udhcpd.conf
+echo "conflict_time 1" >> /tmp/udhcpd.conf
+echo "opt subnet 255.255.255.0" >> /tmp/udhcpd.conf
+echo "opt router  $BASE_ADRESS$PROBE" >> /tmp/udhcpd.conf
+echo "opt lease  1200" >> /tmp/udhcpd.conf
+
+/bin/pairing_setup.sh
+# Saving random info for initialization at next reboot
+date > /dev/urandom
+/bin/random_mac > /data/random_mac.txt
+
+iwconfig ath0 rate 54M
+iwconfig ath0 rate auto
+
+telnetd -l /bin/sh
+udhcpd /tmp/udhcpd.conf
+iptables -t nat -A POSTROUTING -p UDP --sport 8884 -j SNAT --to 192.168.1.254:5554                                                                                      
+iptables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5554 -j DNAT --to 192.168.1.1:8884
+iptables -t nat -A POSTROUTING -p UDP --sport 8886 -j SNAT --to 192.168.1.254:5556
+iptables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5556 -j DNAT --to 192.168.1.1:8886

owlps-ardrone/script-drone/1.3.3/data/gps.sh

@@ -0,0 +1,26 @@
+#!/bin/sh
+
+#
+# Initialization script for Arduino stuff
+#
+# Loads modules and launches proxy server application
+# required for communication with Arduino module.
+#
+
+echo Enabling 5V
+
+echo Enabling USB Port
+gpio 127 -d ho 1
+gpio 127 -d i
+
+echo Loading dwc_otg.ko
+insmod /data/dwc_otg.ko
+
+echo Waiting 3s for the device to be ready
+sleep 3
+
+echo Setting correct baud rate of 38400 for /dev/ttyPA0
+stty -F /dev/ttyPA0 raw speed 38400 -crtscts cs8 -cstopb -parenb
+
+#echo Activate log
+#cat /dev/ttyPA0 >> /data/video/gps.log.0 &

owlps-ardrone/script-drone/1.3.3/etc/init.d/rcS

@@ -0,0 +1,61 @@
+#!/bin/sh
+
+# IP_ADDR - this target IP address using CIDR notation:
+# <target-ip>/<target-bitmask>
+#
+# For example:
+echo init started...
+
+/bin/mount -t tmpfs tmp /tmp
+/bin/mount -t proc proc /proc
+/bin/mount -o remount,rw /
+/bin/mount -t tmpfs dev /dev
+/bin/mkdir -p /dev/shm /dev/pts
+/bin/mount -t devpts devpts /dev/pts
+/bin/mount -t sysfs sys /sys
+
+#don't allow overcommit (allocate more memory that the physical one)
+echo 2 > /proc/sys/vm/overcommit_memory
+echo 90 > /proc/sys/vm/overcommit_ratio
+
+#in case of unaligned access print a message and send a SIGBUS
+echo 5 > /proc/cpu/alignment
+
+#reboot after 1s after a panic
+echo 1 > /proc/sys/kernel/panic
+
+#panic when an oops or BUG is encountered
+#disable this for developer
+echo 1 > /proc/sys/kernel/panic_on_oops
+
+echo 4 > /sys/module/p6_camif/parameters/lines_per_irq
+echo -1 > /proc/sys/kernel/sched_rt_runtime_us
+
+echo "/sbin/mdev" > /proc/sys/kernel/hotplug
+/sbin/mdev -s
+
+# Don't show kernel messages
+dmesg -n1
+
+/bin/mkdir -p /update
+/bin/mount -a
+/bin/mkdir -p /data/video
+
+/bin/hostname -F /etc/hostname
+/sbin/ifconfig lo 127.0.0.1 up
+/sbin/route add -net 127.0.0.0 netmask 255.0.0.0 lo
+/bin/factory_reset_cb&
+modprobe p6_sdhci
+/bin/wifi_setup.sh
+
+# Patch to enable button management.
+ln -s /dev /dev/input
+
+/data/gps.sh
+
+#mount -o nolock,proto=tcp -t nfs 192.168.0.11:/mnt/video /home/default
+/bin/check_update.sh
+
+echo init exit
+echo if you want to customize init look at target/generic/target_skeleton/etc files
+echo if crtl+c does not work look at the Linux FAQ section.

owlps-ardrone/script-drone/1.6.6/bin/check_update.sh

@@ -0,0 +1,60 @@
+#!/bin/sh
+# Copie du fichier wifi_setup.sh pour un mode recovery en cas de pb reseau
+#cp /bin/wifi_setup.sh.orig /bin/wifi_setup.sh
+
+export LD_PRELOAD=/data/libioctl_arm.so
+
+UPDATE_PATH=/update/ardrone_update.plf
+VERSION_PATH=/update/version.txt
+ERR_PATH=/update/err.log
+
+echo "Copy version.txt file in ftp directory"
+cp /firmware/version.txt $VERSION_PATH
+
+echo "Check if update is necessary ..."
+if [ -e $UPDATE_PATH ] ; then
+	VERSION=`cat $VERSION_PATH`
+	
+	if [ -e $ERR_PATH ] ; then
+		CHECK_ERR=`cat $ERR_PATH`
+		if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then
+			CHECK_PLF=`/bin/checkplf $UPDATE_PATH $VERSION`
+			if [ "$CHECK_PLF" = "NEED_TO_FLASH" ] ; then
+				echo "ERR=FLASH_KO" > $ERR_PATH
+			else
+				/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH	
+			fi
+		else
+			/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH	
+		fi
+	else
+		/bin/checkplf $UPDATE_PATH $VERSION > $ERR_PATH
+	fi
+	
+	CHECK_ERR=`cat $ERR_PATH`
+	if [ "$CHECK_ERR" = "NEED_TO_FLASH" ] ; then 
+    	echo "File $UPDATE_PATH exists... Start updating..."
+ 		pinst_trigger
+		echo "Rebooting..."
+    	reboot
+    else
+    	if [ "$CHECK_ERR" = "VERSION_OK" ] ; then
+ 	    	echo "Version OK"
+    	elif [ "$CHECK_ERR" = "ERR=FLASH_KO" ] ; then
+ 	    	echo "Error during Updating... Removing..."
+    	else
+ 	    	echo "File $UPDATE_PATH not valid... Removing..."
+    	fi
+    	rm -Rf $UPDATE_PATH
+		echo "Start Drone software..."
+		inetd
+	    (/bin/program.elf ; gpio 63 -d ho 1) &
+	fi
+else
+    echo "File $UPDATE_PATH doesn't exists... Start Drone software..."
+    if [ -e $ERR_PATH ] ; then
+    	rm -Rf $ERR_PATH
+    fi
+    inetd
+    (/bin/program.elf ; gpio 63 -d ho 1) &
+fi

owlps-ardrone/script-drone/1.6.6/bin/pairing_setup.sh

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# Script to setup drone pairing
+#
+
+# Getting Iphone's MAC address from config.ini file.
+NULL_MAC=00:00:00:00:00:00
+if [ $# -eq 0 ]
+then
+if [ -s /data/config.ini ]
+then
+MAC_ADDR=`grep owner_mac /data/config.ini | awk -F "=" '{print $2}'`
+else
+MAC_ADDR=$NULL_MAC
+fi
+else
+MAC_ADDR=$1
+fi
+
+echo "Owner's MAC address is: $MAC_ADDR"
+
+# [Stephane] Exits if owner MAC address is already being filtered
+#  (changing iptables rules too often may crash the drone for a undetermined reason)
+CURRENTLY_ALLOWED_MAC_ADDR=`iptables -L | grep MAC | awk -F " " '{print $7}'`
+if [ "$CURRENTLY_ALLOWED_MAC_ADDR" = "$MAC_ADDR" ]
+then
+echo "Drone is already paired with $MAC_ADDR"
+exit
+fi
+
+if [ $MAC_ADDR != $NULL_MAC ]
+then
+echo "Setting pairing for: $MAC_ADDR"
+# Clearing all rules
+iptables -P INPUT ACCEPT
+iptables -F
+# Allowing only owner's traffic
+iptables -A INPUT -m mac --mac-source $MAC_ADDR -j ACCEPT
+# allowing ICMP (ping), ftp, nfs and telnet traffic for everyone.
+iptables -A INPUT --protocol icmp -j ACCEPT
+#iptables -A INPUT --protocol tcp --dport 23 -j ACCEPT
+iptables -A INPUT --protocol tcp --dport 21 -j ACCEPT
+iptables -A INPUT --protocol tcp --dport 2049 -j ACCEPT
+# Blocking all incoming traffic by default
+iptables -P INPUT DROP
+else
+echo "Clearing pairing rule"
+# Switching rad LED on
+gpio 63 -d ho 1
+
+# Clearing all rules
+iptables -F
+# Allows incoming connections from anywhere outside
+iptables -P INPUT ACCEPT
+
+# Switching rad LED off
+gpio 63 -d ho 0
+fi

owlps-ardrone/script-drone/1.6.6/bin/wifi_adhoc.sh

@@ -0,0 +1,127 @@
+#!/bin/sh
+#
+# Script to see if an IP adress is already used or not
+#
+# Getting SSID from config.ini file.
+
+#initializing random generator
+cat /data/random_mac.txt > /dev/urandom
+/bin/random_mac > /data/random_mac.txt
+
+
+#echo 2 > /proc/cpu/alignment
+#export WORKAREA=/
+#export ATH_PLATFORM=ardrone
+#/usr/sbin/recEvent /data/athdbg.log&
+
+
+if [ -s /factory/mac_address.txt ]
+then
+MAC_ADDR=`cat /factory/mac_address.txt`
+else
+MAC_ADDR=`cat /data/random_mac.txt`
+fi
+
+loadAR6k.sh --setmac $MAC_ADDR
+#loadtestcmd.sh
+
+# Waiting 2s for the wifi chip to be ready
+sleep 2
+
+# Increasing scan time to help detecting wifi networks
+wmiconfig -i ath0 --scan --maxact=80
+# Setting retry limits to 6
+wmiconfig -i ath0 --setretrylimits 2 0 6 off
+# Limiting available rates to 11, 24 or 54 Mb/s
+wmiconfig -i ath0 --setfixrates 3 8 11
+# Disabling powersaving
+wmiconfig -i ath0 --power maxperf
+
+
+SSID=`grep ssid_single_player /data/config.ini | awk -F "=" '{print $2}'`
+
+# Removing leading and trailing spaces
+SSID=`echo $SSID`
+if [ -n "$SSID" ]
+then
+echo "SSID=$SSID"
+else
+#default SSID.
+SSID=ardrone_wifi
+echo "SSID=\"$SSID\""
+fi
+
+
+export NETIF=ath0
+RANDOM_CHAN=`/bin/channelselector`
+
+echo "Create/Join Ad-Hoc Network $SSID"
+
+#iwconfig ath0 mode ad-hoc
+#iwconfig ath0 channel $RANDOM_CHAN
+#iwconfig ath0 essid "$SSID"
+
+iwconfig ath0 mode ad-hoc essid owl_2 channel auto
+
+OK=0
+BASE_ADRESS=192.168.1.
+PROBE=1
+
+while [ $OK -eq 0 ]
+do
+#configuring interface.
+ifconfig ath0 $BASE_ADRESS$PROBE
+ifconfig ath0:0 192.168.11.1
+arping -I ath0 -q -f -D -w 2 $BASE_ADRESS$PROBE
+
+if [ $? -eq 1 ]
+then
+	if [ -s /data/old_adress.txt ]
+	then
+		# Testing previously given adress.
+		PROBE=`cat /data/old_adress.txt`
+	else
+		#generating random odd IP address
+		PROBE=`/bin/random_ip`
+	fi
+	/bin/random_ip > /data/old_adress.txt
+else
+	echo $PROBE > /data/old_adress.txt
+	OK=1
+fi
+
+done
+
+#Configuring DHCP server.
+echo "Using address $BASE_ADRESS$PROBE"
+echo "start $BASE_ADRESS`expr $PROBE + 1`" > /tmp/udhcpd.conf
+echo "end $BASE_ADRESS`expr $PROBE + 4`" >> /tmp/udhcpd.conf
+echo "interface ath0" >> /tmp/udhcpd.conf
+echo "decline_time 1" >> /tmp/udhcpd.conf
+echo "conflict_time 1" >> /tmp/udhcpd.conf
+echo "opt subnet 255.255.255.0" >> /tmp/udhcpd.conf
+#echo "opt router  $BASE_ADRESS$PROBE" >> /tmp/udhcpd.conf
+echo "opt lease  1200" >> /tmp/udhcpd.conf
+
+/bin/pairing_setup.sh
+
+# Saving random info for initialization at next reboot
+date > /dev/urandom
+/bin/random_mac > /data/random_mac.txt
+
+iwconfig ath0 rate 54M
+iwconfig ath0 rate auto
+
+telnetd -l /bin/sh
+udhcpd /tmp/udhcpd.conf
+#diversity&
+
+# Adding route for multicast-packet
+# note : ! should be runned after hostapd is initialized !
+route add -net 224.0.0.0 netmask 240.0.0.0 dev ath0
+
+#Adding routing table iptable
+iptables -t nat -A POSTROUTING -p UDP --sport 8884 -j SNAT --to 192.168.1.254:5554
+iptables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5554 -j DNAT --to 192.168.1.1:8884
+iptables -t nat -A POSTROUTING -p UDP --sport 8886 -j SNAT --to 192.168.1.254:5556
+optables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5556 -j DNAT --to 192.168.1.1:8886

owlps-ardrone/script-drone/1.6.6/bin/wifi_setup.sh

@@ -0,0 +1,20 @@
+# Switch Wifi mode depending on value into /data/config.ini
+#
+
+WIFI_MODE=`grep wifi_mode /data/config.ini | awk -F "=" '{ gsub(/ */,"",$2); print $2}'` 
+
+case $WIFI_MODE in
+0)
+    /bin/wifi_adhoc.sh
+    ;;
+1)
+    /bin/wifi_infra.sh
+    ;;
+2)
+    /bin/wifi_managed.sh
+    ;;
+*)
+    /bin/wifi_adhoc.sh
+    ;;
+esac
+

owlps-ardrone/script-drone/1.6.6/data/gps.sh

@@ -0,0 +1,26 @@
+#!/bin/sh
+
+#
+# Initialization script for Arduino stuff
+#
+# Loads modules and launches proxy server application
+# required for communication with Arduino module.
+#
+
+echo Enabling 5V
+
+echo Enabling USB Port
+gpio 127 -d ho 1
+gpio 127 -d i
+
+echo Loading dwc_otg.ko
+insmod /data/dwc_otg.ko
+
+echo Waiting 3s for the device to be ready
+sleep 3
+
+echo Setting correct baud rate of 38400 for /dev/ttyPA0
+stty -F /dev/ttyPA0 raw speed 38400 -crtscts cs8 -cstopb -parenb
+
+#echo Activate log
+#cat /dev/ttyPA0 >> /data/video/gps.log.0 &

owlps-ardrone/script-drone/1.6.6/etc/init.d/rcS

@@ -0,0 +1,64 @@
+#!/bin/sh
+
+# IP_ADDR - this target IP address using CIDR notation:
+# <target-ip>/<target-bitmask>
+#
+# For example:
+echo init started...
+
+/bin/mount -t tmpfs tmp /tmp
+/bin/mount -t proc proc /proc
+/bin/mount -o remount,rw /
+/bin/mount -t tmpfs dev /dev
+/bin/mkdir -p /dev/shm /dev/pts
+/bin/mount -t devpts devpts /dev/pts
+/bin/mount -t sysfs sys /sys
+
+#don't allow overcommit (allocate more memory that the physical one)
+echo 2 > /proc/sys/vm/overcommit_memory
+echo 90 > /proc/sys/vm/overcommit_ratio
+
+#in case of unaligned access print a message and send a SIGBUS
+echo 5 > /proc/cpu/alignment
+
+#reboot after 1s after a panic
+echo 1 > /proc/sys/kernel/panic
+
+#panic when an oops or BUG is encountered
+#disable this for developer
+echo 1 > /proc/sys/kernel/panic_on_oops
+
+echo 4 > /sys/module/p6_camif/parameters/lines_per_irq
+echo -1 > /proc/sys/kernel/sched_rt_runtime_us
+
+echo "/sbin/mdev" > /proc/sys/kernel/hotplug
+/sbin/mdev -s
+
+# Don't show kernel messages
+dmesg -n1
+
+/bin/mkdir -p /update
+/bin/mount -a
+/bin/mkdir -p /data/video
+
+/bin/hostname -F /etc/hostname
+/sbin/ifconfig lo 127.0.0.1 up
+/sbin/route add -net 127.0.0.0 netmask 255.0.0.0 lo
+/bin/factory_reset_cb&
+modprobe p6_sdhci
+/bin/wifi_setup.sh
+
+#Copy the licenses.txt file to the ftp directory so users can find it.
+cp /licenses/licenses.txt /data/video
+
+# Patch to enable button management.
+ln -s /dev /dev/input
+
+/data/gps.sh
+
+#mount -o nolock,proto=tcp -t nfs 192.168.0.11:/mnt/video /home/default
+/bin/check_update.sh
+
+echo init exit
+echo if you want to customize init look at target/generic/target_skeleton/etc files
+echo if crtl+c does not work look at the Linux FAQ section.

owlps-client/Makefile_drone

@@ -0,0 +1,117 @@
+# Source version
+ifndef OWLPS_VERSION
+        OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
+# Emplacement de la suite de cross-compilation
+TOOLCHAIN_PREFIX = /arm
+TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
+TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi
+TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/arm-none-linux-gnueabi/libc
+
+# Compilateur
+CC = $(TOOLCHAIN_BIN)/arm-none-linux-gnueabi-gcc
+
+# Répertoire d'installation
+PREFIX=/usr/local
+INSTALL_DIR= $(PREFIX)/bin
+INSTALL_LIB= $(PREFIX)/lib
+INSTALL_INC= $(PREFIX)/include
+INSTALL_MAN= $(PREFIX)/share/man
+
+# Commandes d'installation et de désinstallation
+RM=rm -fv
+CP=cp -v
+
+# Cible
+TARGET=owlps-client
+HEADER=
+
+# Flags
+LIBOWLPS_DIR = ../libowlps
+LIBOWLPSCLIENT_DIR = ../libowlps-client
+CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -I.
+DEPFLAGS = -MMD
+XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
+PICFLAG = -fPIC
+LOWLPS = -L$(LIBOWLPS_DIR) -lowlps
+LOWLPSA = $(LIBOWLPS_DIR)/libowlps.a
+LOWLPSCLIENTA = $(LIBOWLPSCLIENT_DIR)/libowlps-client.a
+LIBS = $(LOWLPSCLIENTA) -liw -lm -lrt
+DYNAMIC_LIBS = $(LOWLPS) $(LIBS)
+SEMISTATIC_LIBS = $(LOWLPSA) $(LIBS)
+STATIC_LIBS = $(LOWLPSA) $(LIBS)
+LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
+IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
+LDFLAGS = $(IATHEROS) $(LATHEROS)
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
+OWLPSFLAGS += -D DEBUG
+
+## Cibles de compilation standard ##
+
+.PHONY: all semistatic static install uninstall clean purge help
+
+semistatic: $(TARGET)
+static: $(TARGET).static
+all: semistatic static
+
+# Cancel implicit make rule
+%: %.c
+
+#%: %.o
+#	$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
+
+%: %.o
+	$(CC) $(STRIPFLAGS) $(XCFLAGS) $(OWLPSFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
+
+%.static: %.o
+	$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(STATIC_LIBS) \
+		-static
+
+%.o: %.c $(HEADER)
+	$(CC) $(XCFLAGS) $(IATHEROS) $(OWLPSFLAGS) -c $<
+
+
+## Installation / désinstallation ##
+
+install : $(TARGET)
+	@$(CP) $(TARGET) $(INSTALL_DIR)
+	@cd $(INSTALL_DIR) ; chown root:root $(TARGET) ; chmod 755 $(TARGET)
+
+uninstall :
+	@$(RM) $(INSTALL_DIR)/$(TARGET)
+
+
+## Nettoyage ##
+
+clean :
+	@$(RM) -fv *~ *.o *.d
+
+purge : clean
+	@$(RM) -fv $(TARGET) $(TARGET).static $(TARGET)-drone
+
+
+## Aide ##
+
+help :
+	@echo -e "Bibliothèques nécessaires à la compilation :\n\
+		libowlps1.0 (fournie)\n\
+	\n\
+	Cibles possibles :\n\
+		$(TARGET) (cible par défaut) : Compile le programme $(TARGET).\n\
+		$(TARGET).static : Compile le programme $(TARGET).static \
+	(version sans lien dynamique).\n\
+		$(TARGET).semistatic : Compile le programme $(TARGET).semistatic \
+	(version sans lien dynamique vers libowlps).\n\
+		install : Installe le programme $(TARGET).\n\
+		uninstall : Désinstalle le programme $(TARGET).\n\
+		clean : Supprime les fichiers temporaires.\n\
+		purge : Supprime le résultat de la compilation.\n\
+	\n\
+	Note : l'installation se fait dans l'arborescence $(PREFIX). \
+	Modifiez la variable PREFIX du Makefile pour changer ce comportement."
+
+
+# Local Variables: *
+# mode: makefile-gmake *
+# End: *