diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile index 66c49fc646..067f1b1d83 100644 --- a/conf/firmwares/rotorcraft.makefile +++ b/conf/firmwares/rotorcraft.makefile @@ -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 # diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile index 843b8d2f86..7995d24fc7 100644 --- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile @@ -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 += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile index 337290c0b4..5805961a1c 100644 --- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile +++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile @@ -28,14 +28,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -endif - -ifdef AHRS_CORRECT_FREQUENCY -AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) -endif - ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile index 31e03b94e9..429d5eb012 100644 --- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile @@ -1,6 +1,5 @@ # Hey Emacs, this is a -*- makefile -*- # -# AHRS_PROPAGATE_FREQUENCY # AHRS_H_X # AHRS_H_Y # AHRS_H_Z @@ -28,15 +27,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c - -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(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) diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile index 5b761f4fe4..d441cd60cd 100644 --- a/conf/firmwares/subsystems/fixedwing/autopilot.makefile +++ b/conf/firmwares/subsystems/fixedwing/autopilot.makefile @@ -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 $(SRC_ARCH)/mcu_periph/sys_time_arch.c # diff --git a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile index 0978e8e917..b581f4edfd 100644 --- a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile +++ b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile @@ -17,12 +17,6 @@ ifneq ($(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 += $(INS_SRCS) diff --git a/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile b/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile index 2c99c2c286..c1afd0898b 100644 --- a/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile +++ b/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile @@ -24,19 +24,6 @@ ifneq ($(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 += $(INS_SRCS) diff --git a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile index be6fb91b62..b261f274b0 100644 --- a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile @@ -26,14 +26,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -endif - -ifdef AHRS_CORRECT_FREQUENCY -AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) -endif - ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile index 0e349069a8..b96af79f4a 100644 --- a/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile +++ b/conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile @@ -25,14 +25,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -endif - -ifdef AHRS_CORRECT_FREQUENCY -AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) -endif - ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile b/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile index 00e333dfbb..c686ebb8c2 100644 --- a/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile +++ b/conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile @@ -24,14 +24,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_float_mlkf.c AHRS_SRCS += subsystems/ahrs/ahrs_float_mlkf_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -endif - -ifdef AHRS_CORRECT_FREQUENCY -AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) -endif - ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile index c574244c72..bd8f213096 100644 --- a/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile @@ -25,14 +25,6 @@ AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c -ifdef AHRS_PROPAGATE_FREQUENCY -AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -endif - -ifdef AHRS_CORRECT_FREQUENCY -AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) -endif - ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/shared/imu_apogee.makefile b/conf/firmwares/subsystems/shared/imu_apogee.makefile index 785df41b7c..0f8bfcf272 100644 --- a/conf/firmwares/subsystems/shared/imu_apogee.makefile +++ b/conf/firmwares/subsystems/shared/imu_apogee.makefile @@ -16,13 +16,6 @@ IMU_APOGEE_CFLAGS += -DIMU_APOGEE_I2C_DEV=$(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) diff --git a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile index cc7fa61c83..b7eac685bf 100644 --- a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile +++ b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile @@ -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=$(AHRS_CORRECT_FREQUENCY) - # # Simulator # diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile index 7a9e1c43ee..cb595ee0fd 100644 --- a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile +++ b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile @@ -18,13 +18,6 @@ IMU_KROOZ_SRCS += peripherals/mpu60x0.c IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c IMU_KROOZ_SRCS += peripherals/hmc58xx.c -AHRS_PROPAGATE_FREQUENCY ?= 512 -AHRS_CORRECT_FREQUENCY ?= 512 -AHRS_MAG_CORRECT_FREQUENCY ?= 75 -IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(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 += $(IMU_KROOZ_SRCS) diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile index fd1c1e8a10..db7e30645a 100644 --- a/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile +++ b/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile @@ -23,13 +23,6 @@ IMU_KROOZ_SRCS += peripherals/mpu60x0.c IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c IMU_KROOZ_SRCS += peripherals/hmc58xx.c -AHRS_PROPAGATE_FREQUENCY ?= 512 -AHRS_CORRECT_FREQUENCY ?= 512 -AHRS_MAG_CORRECT_FREQUENCY ?= 75 -IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(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 += $(IMU_KROOZ_SRCS) diff --git a/conf/firmwares/subsystems/shared/imu_navgo.makefile b/conf/firmwares/subsystems/shared/imu_navgo.makefile index 15ca4c4b11..3ab4757bfe 100644 --- a/conf/firmwares/subsystems/shared/imu_navgo.makefile +++ b/conf/firmwares/subsystems/shared/imu_navgo.makefile @@ -14,13 +14,6 @@ IMU_NAVGO_SRCS += peripherals/itg3200.c IMU_NAVGO_SRCS += peripherals/adxl345_i2c.c IMU_NAVGO_SRCS += peripherals/hmc58xx.c -# with default NAVGO_GYRO_SMPLRT_DIV (gyro output 500Hz) -# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly -AHRS_PROPAGATE_FREQUENCY ?= 500 -AHRS_CORRECT_FREQUENCY ?= 500 -ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) -ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) - ap.CFLAGS += $(IMU_NAVGO_CFLAGS) ap.srcs += $(IMU_NAVGO_SRCS) diff --git a/conf/firmwares/subsystems/shared/imu_umarim.makefile b/conf/firmwares/subsystems/shared/imu_umarim.makefile index 7fb6122c59..84a27cc9c3 100644 --- a/conf/firmwares/subsystems/shared/imu_umarim.makefile +++ b/conf/firmwares/subsystems/shared/imu_umarim.makefile @@ -13,13 +13,10 @@ IMU_UMARIM_CFLAGS += -DIMU_UMARIM_I2C_DEV=$(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