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Merge pull request #1126 from paparazzi/rm_ahrs_freq

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[conf] remove AHRS_x_FREQUENCY defaults from imu/ahrs makefiles

As the dt is calculated from the actual timestamps by default now, and it doesn't really make that much sense to have global flags for the frequencies, simply remove the defaults....
This commit is contained in:
Felix Ruess
2015-03-03 18:01:15 +01:00
parent 3f2c26577c 6afd24427d
commit 1f49292dce
17 changed files with 33 additions and 121 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/firmwares/rotorcraft.makefile
+13
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@@ -52,6 +52,19 @@ $(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c
PERIODIC_FREQUENCY ?= 512
$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
ifdef AHRS_PROPAGATE_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ifdef AHRS_MAG_CORRECT_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
endif
#
# Systime
#
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
-8
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@@ -28,14 +28,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
-8
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@@ -28,14 +28,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
-10
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@@ -1,6 +1,5 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
@@ -28,15 +27,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/fixedwing/autopilot.makefile
+16 -3
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@@ -49,14 +49,27 @@ endif
$(TARGET).CFLAGS += -DTRAFFIC_INFO
#
# Sys-time
# frequencies
#
PERIODIC_FREQUENCY ?= 60
$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
ifdef AHRS_PROPAGATE_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ifdef AHRS_MAG_CORRECT_FREQUENCY
$(TARGET).CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
endif
#
# Sys-time
#
$(TARGET).srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
#
conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
-6
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@@ -17,12 +17,6 @@ ifneq ($(AHRS_ALIGNER_LED),none)
INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_PROPAGATE_FREQUENCY ?= 125
AHRS_CORRECT_FREQUENCY ?= 125
INS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
INS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(INS_CFLAGS)
ap.srcs += $(INS_SRCS)
conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
-13
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@@ -24,19 +24,6 @@ ifneq ($(AHRS_ALIGNER_LED),none)
INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 125
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 125
endif
INS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
INS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(INS_CFLAGS)
ap.srcs += $(INS_SRCS)
conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
-8
View File
@@ -26,14 +26,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
-8
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@@ -25,14 +25,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
-8
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@@ -24,14 +24,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_mlkf.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_mlkf_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
-8
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@@ -25,14 +25,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/imu_apogee.makefile
-7
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@@ -16,13 +16,6 @@ IMU_APOGEE_CFLAGS += -DIMU_APOGEE_I2C_DEV=$(IMU_APOGEE_I2C_DEV)
IMU_APOGEE_SRCS += peripherals/mpu60x0.c
IMU_APOGEE_SRCS += peripherals/mpu60x0_i2c.c
# with default APOGEE_SMPLRT_DIV (gyro output 100Hz)
# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
AHRS_PROPAGATE_FREQUENCY ?= 100
AHRS_CORRECT_FREQUENCY ?= 100
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_APOGEE_CFLAGS)
ap.srcs += $(IMU_APOGEE_SRCS)
conf/firmwares/subsystems/shared/imu_ardrone2.makefile
-6
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@@ -15,12 +15,6 @@ endif
ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs)
# Set the AHRS propegation frequencies
AHRS_PROPAGATE_FREQUENCY ?= 200
AHRS_CORRECT_FREQUENCY ?= 200
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#
# Simulator
#
conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
-7
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@@ -18,13 +18,6 @@ IMU_KROOZ_SRCS += peripherals/mpu60x0.c
IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
IMU_KROOZ_SRCS += peripherals/hmc58xx.c
AHRS_PROPAGATE_FREQUENCY ?= 512
AHRS_CORRECT_FREQUENCY ?= 512
AHRS_MAG_CORRECT_FREQUENCY ?= 75
IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
ap.srcs += $(IMU_KROOZ_SRCS)
conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
-7
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@@ -23,13 +23,6 @@ IMU_KROOZ_SRCS += peripherals/mpu60x0.c
IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
IMU_KROOZ_SRCS += peripherals/hmc58xx.c
AHRS_PROPAGATE_FREQUENCY ?= 512
AHRS_CORRECT_FREQUENCY ?= 512
AHRS_MAG_CORRECT_FREQUENCY ?= 75
IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
ap.srcs += $(IMU_KROOZ_SRCS)
conf/firmwares/subsystems/shared/imu_navgo.makefile
-7
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@@ -14,13 +14,6 @@ IMU_NAVGO_SRCS += peripherals/itg3200.c
IMU_NAVGO_SRCS += peripherals/adxl345_i2c.c
IMU_NAVGO_SRCS += peripherals/hmc58xx.c
# with default NAVGO_GYRO_SMPLRT_DIV (gyro output 500Hz)
# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
AHRS_PROPAGATE_FREQUENCY ?= 500
AHRS_CORRECT_FREQUENCY ?= 500
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_NAVGO_CFLAGS)
ap.srcs += $(IMU_NAVGO_SRCS)
conf/firmwares/subsystems/shared/imu_umarim.makefile
+4 -7
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@@ -13,13 +13,10 @@ IMU_UMARIM_CFLAGS += -DIMU_UMARIM_I2C_DEV=$(IMU_UMARIM_I2C_DEV)
IMU_UMARIM_SRCS += peripherals/itg3200.c
IMU_UMARIM_SRCS += peripherals/adxl345_i2c.c
# with default UMARIM_GYRO_SMPLRT_DIV (gyro output 50Hz)
# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
AHRS_PROPAGATE_FREQUENCY ?= 50
AHRS_CORRECT_FREQUENCY ?= 50
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_UMARIM_CFLAGS)
ap.srcs += $(IMU_UMARIM_SRCS)
#
# Simulator
#
include $(CFG_SHARED)/imu_nps.makefile