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[ahrs] warn if PERIODIC_FREQUENCY is lower than AHRS freqs

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This commit is contained in:
Felix Ruess
2013-11-12 15:40:23 +01:00
parent f8334066bb
commit 0c7c09c740
2 changed files with 13 additions and 0 deletions
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sw/airborne/firmwares/fixedwing/main_ap.c
+7
View File
@@ -127,10 +127,17 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
#endif
#ifndef AHRS_CORRECT_FREQUENCY
#define AHRS_CORRECT_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
#endif
static inline void on_gyro_event( void );
static inline void on_accel_event( void );
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+6
View File
@@ -60,11 +60,17 @@ PRINT_CONFIG_MSG("LOW PASS FILTER ON GYRO RATES")
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
#endif
#ifndef AHRS_CORRECT_FREQUENCY
#define AHRS_CORRECT_FREQUENCY AHRS_PROPAGATE_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
#endif
#ifndef AHRS_MAG_CORRECT_FREQUENCY
#define AHRS_MAG_CORRECT_FREQUENCY 50