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removed old gyro code

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This commit is contained in:
Felix Ruess
2011-10-31 18:47:46 +01:00
parent 620e3b1e24
commit 1494210b75
4 changed files with 0 additions and 146 deletions
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conf/boards/tiny_2.11.makefile
-2
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@@ -40,8 +40,6 @@ ADC_IR_TOP = ADC_0
ADC_IR1 = ADC_1
ADC_IR2 = ADC_2
ADC_IR_NB_SAMPLES = 16
ADC_GYRO_ROLL = ADC_3
ADC_GYRO_PITCH = ADC_4
ADC_GYRO_NB_SAMPLES = 16
ADC_GENERIC_NB_SAMPLES = 16
sw/airborne/firmwares/fixedwing/main_ap.c
-8
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@@ -39,7 +39,6 @@
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "subsystems/gps.h"
#include "gyro.h"
#include "ap_downlink.h"
#include "subsystems/nav.h"
#include "firmwares/fixedwing/autopilot.h"
@@ -392,10 +391,6 @@ static void navigation_task( void ) {
static inline void attitude_loop( void ) {
#ifdef USE_GYRO
gyro_update();
#endif
#ifdef USE_INFRARED
ahrs_update_infrared();
#endif /* USE_INFRARED */
@@ -540,9 +535,6 @@ void init_ap( void ) {
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
sw/airborne/gyro.c
-81
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@@ -1,81 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file gyro.c
* \brief Basic code for gyro acquisition on ADC channels
*
*/
#include BOARD_CONFIG
#include "gyro.h"
#include "std.h"
#include "mcu_periph/adc.h"
#include "generated/airframe.h"
#include "estimator.h"
int16_t roll_rate_adc;
float temp_comp; /* Needed for the downlinked message */
static struct adc_buf buf_roll;
#define RadiansOfADC(_adc, scale) RadOfDeg((_adc * scale))
#if defined ADC_CHANNEL_GYRO_TEMP
static struct adc_buf buf_temp;
#endif
#if defined ADC_CHANNEL_GYRO_PITCH
int16_t pitch_rate_adc;
static struct adc_buf buf_pitch;
#endif
void gyro_init( void) {
#ifndef SITL
adc_buf_channel(ADC_CHANNEL_GYRO_ROLL, &buf_roll, ADC_CHANNEL_GYRO_NB_SAMPLES);
#if defined ADC_CHANNEL_GYRO_TEMP
adc_buf_channel(ADC_CHANNEL_GYRO_TEMP, &buf_temp, ADC_CHANNEL_GYRO_NB_SAMPLES);
#endif
#if defined ADC_CHANNEL_GYRO_PITCH
adc_buf_channel(ADC_CHANNEL_GYRO_PITCH, &buf_pitch, ADC_CHANNEL_GYRO_NB_SAMPLES);
#endif
#endif /* SITL */
}
void gyro_update( void ) {
#ifndef SITL
float pitch_rate = 0.;
roll_rate_adc = (buf_roll.sum/buf_roll.av_nb_sample) - GYRO_ADC_ROLL_NEUTRAL;
#if defined ADC_CHANNEL_GYRO_TEMP
temp_comp = buf_temp.sum/buf_temp.av_nb_sample - GYRO_ADC_TEMP_NEUTRAL;
roll_rate_adc += GYRO_ADC_TEMP_SLOPE * temp_comp;
#endif
#if defined IDG300
pitch_rate_adc = buf_pitch.sum/buf_pitch.av_nb_sample - GYRO_ADC_PITCH_NEUTRAL;
pitch_rate = GYRO_PITCH_DIRECTION * RadiansOfADC(pitch_rate_adc, GYRO_PITCH_SCALE);
#endif
float roll_rate = GYRO_ROLL_DIRECTION * RadiansOfADC(roll_rate_adc, GYRO_ROLL_SCALE);
EstimatorSetRate(roll_rate, pitch_rate);
#endif /* SITL */
}
sw/airborne/gyro.h
-55
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@@ -1,55 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file gyro.h
* \brief Basic code for gyro acquisition on ADC channels
*
*/
#ifndef GYRO_H
#define GYRO_H
#include <inttypes.h>
#ifdef GYRO
#error "The flag GYRO has been deprecated. Please replace it with USE_GYRO."
#endif
/** Raw (for debug), taking into accound neutral and temp compensation (if any) */
extern int16_t roll_rate_adc;
/** Hardware dependent code */
#if defined ADXRS150
extern float temp_comp;
#elif defined IDG300
extern int16_t pitch_rate_adc;
#endif
void gyro_init( void );
/** Sets roll_rate_adc and pitch_rate_adc (or temp_comp), and estimator_p */
void gyro_update( void );
#endif /* GYRO_H */