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Antoine Drouin
2007-10-26 21:51:54 +00:00
parent ebedc8c85e
commit 0aecffd50c
2 changed files with 77 additions and 0 deletions
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sw/airborne/booz_filter_telemetry.c
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#include "booz_filter_telemetry.h"
uint8_t telemetry_mode_Filter;
sw/airborne/booz_filter_telemetry.h
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#ifndef BOOZ_FILTER_TELEMETRY_H
#define BOOZ_FILTER_TELEMETRY_H
#include "std.h"
#include "messages.h"
#include "periodic.h"
#include "uart.h"
#include "imu_v3.h"
#include "multitilt.h"
#include "settings.h"
#include "downlink.h"
#define PERIODIC_SEND_IMU_GYRO() \
DOWNLINK_SEND_IMU_GYRO(&imu_gyro[AXIS_X], \
&imu_gyro[AXIS_Y], \
&imu_gyro[AXIS_Z]);
#define PERIODIC_SEND_IMU_GYRO_RAW() \
DOWNLINK_SEND_IMU_GYRO_RAW(&imu_gyro_raw[AXIS_X], \
&imu_gyro_raw[AXIS_Y], \
&imu_gyro_raw[AXIS_Z]);
#define PERIODIC_SEND_IMU_GYRO_LP() \
DOWNLINK_SEND_IMU_GYRO_LP(&imu_gyro_lp[AXIS_X], \
&imu_gyro_lp[AXIS_Y], \
&imu_gyro_lp[AXIS_Z]);
#define PERIODIC_SEND_IMU_ACCEL() \
DOWNLINK_SEND_IMU_ACCEL(&imu_accel[AXIS_X], \
&imu_accel[AXIS_Y], \
&imu_accel[AXIS_Z]);
#define PERIODIC_SEND_IMU_ACCEL_RAW() \
DOWNLINK_SEND_IMU_ACCEL_RAW(&imu_accel_raw[AXIS_X], \
&imu_accel_raw[AXIS_Y], \
&imu_accel_raw[AXIS_Z]);
#define PERIODIC_SEND_IMU_GYRO_RAW_AVG() \
DOWNLINK_SEND_IMU_GYRO_RAW_AVG(&imu_vs_gyro_raw_avg[AXIS_X], \
&imu_vs_gyro_raw_avg[AXIS_Y], \
&imu_vs_gyro_raw_avg[AXIS_Z], \
&imu_vs_gyro_raw_var[AXIS_X], \
&imu_vs_gyro_raw_var[AXIS_Y], \
&imu_vs_gyro_raw_var[AXIS_Z]);
#define PERIODIC_SEND_IMU_ACCEL_RAW_AVG() \
DOWNLINK_SEND_IMU_ACCEL_RAW_AVG(&imu_vs_accel_raw_avg[AXIS_X], \
&imu_vs_accel_raw_avg[AXIS_Y], \
&imu_vs_accel_raw_avg[AXIS_Z], \
&imu_vs_accel_raw_var[AXIS_X], \
&imu_vs_accel_raw_var[AXIS_Y], \
&imu_vs_accel_raw_var[AXIS_Z]);
#define PERIODIC_SEND_AHRS_STATE() \
DOWNLINK_SEND_AHRS_STATE(&mtt_phi, &mtt_theta, &mtt_theta, &mtt_theta, \
&mtt_bp, &mtt_bq, &mtt_br);
#define PERIODIC_SEND_AHRS_COV() \
DOWNLINK_SEND_AHRS_COV(&mtt_P_phi[0][0], &mtt_P_phi[0][1], \
&mtt_P_phi[1][0], &mtt_P_phi[1][1], \
&mtt_P_theta[0][0], &mtt_P_theta[0][1], \
&mtt_P_theta[1][1]);
#define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue()
extern uint8_t telemetry_mode_Filter;
static inline void booz_filter_telemetry_periodic_task(void) {
PeriodicSendFilter()
}
#endif /* BOOZ_FILTER_TELEMETRY_H */