From 21dce537c6a7594d755a4f7b59eefeb00813e192 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 28 Sep 2010 14:05:27 +0000
Subject: [PATCH] rename b2_vff/B2_VFF and booz2_vff/BOOZ2_VFF to vff/VFF

---
 conf/messages.xml                             |   2 +-
 conf/telemetry/telemetry_booz2.xml            |   2 +-
 conf/telemetry/telemetry_booz2_flixr.xml      |   2 +-
 sw/airborne/booz/booz2_telemetry.h            |  20 +-
 sw/airborne/firmwares/rotorcraft/ins.c        |  22 +-
 .../firmwares/rotorcraft/ins/vf_float.c       | 190 +++++++++---------
 .../firmwares/rotorcraft/ins/vf_float.h       |  32 +--
 sw/airborne/firmwares/rotorcraft/ins/vf_int.c | 132 ++++++------
 sw/airborne/firmwares/rotorcraft/ins/vf_int.h |  40 ++--
 9 files changed, 221 insertions(+), 221 deletions(-)

diff --git a/conf/messages.xml b/conf/messages.xml
index 072f47a999..b08ab3fe65 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1158,7 +1158,7 @@
       <field name="value_filtered" type="uint16"/>
   </message>
 
-  <message name="BOOZ2_VFF" id="162">
+  <message name="VFF" id="162">
       <field name="measure"        type="float"/>
       <field name="z"              type="float"/>
       <field name="zd"             type="float"/>
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 473c8cb80d..32e52365db 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -75,7 +75,7 @@
       <message name="BOOZ_STATUS"             period="1.2"/>
       <message name="DL_VALUE"                period="0.5"/>
       <message name="ALIVE"                   period="0.9"/>
-      <message name="BOOZ2_VFF"               period=".05"/>
+      <message name="VFF"               period=".05"/>
       <message name="BOOZ2_VERT_LOOP"         period=".05"/>
 <!--      <message name="BOOZ2_CMD"               period=".05"/> -->
       <message name="INS"               period=".05"/>
diff --git a/conf/telemetry/telemetry_booz2_flixr.xml b/conf/telemetry/telemetry_booz2_flixr.xml
index 221d34bd00..0f5b813376 100644
--- a/conf/telemetry/telemetry_booz2_flixr.xml
+++ b/conf/telemetry/telemetry_booz2_flixr.xml
@@ -74,7 +74,7 @@
       <message name="BOOZ_STATUS"             period="1.2"/>
       <message name="DL_VALUE"                period="0.5"/>
       <message name="ALIVE"                   period="0.9"/>
-      <message name="BOOZ2_VFF"               period=".1"/>
+      <message name="VFF"               period=".1"/>
       <message name="BOOZ2_VERT_LOOP"         period=".1"/>
 <!--      <message name="BOOZ2_CMD"               period=".05"/> -->
       <message name="INS"               period=".2"/>
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index 14a590e9d7..60e8e69e85 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -473,18 +473,18 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #ifdef USE_VFF
 #include "ins/vf_float.h"
-#define PERIODIC_SEND_BOOZ2_VFF(_chan) {		\
-    DOWNLINK_SEND_BOOZ2_VFF(_chan,			\
-			    &b2_vff_z_meas,		\
-			    &b2_vff_z,			\
-			    &b2_vff_zdot,		\
-			    &b2_vff_bias,		\
-			    & b2_vff_P[0][0],		\
-			    & b2_vff_P[1][1],		\
-			    & b2_vff_P[2][2]);		\
+#define PERIODIC_SEND_VFF(_chan) {		\
+    DOWNLINK_SEND_VFF(_chan,			\
+			    &vff_z_meas,		\
+			    &vff_z,			\
+			    &vff_zdot,		\
+			    &vff_bias,		\
+			    & vff_P[0][0],		\
+			    & vff_P[1][1],		\
+			    & vff_P[2][2]);		\
   }
 #else
-#define PERIODIC_SEND_BOOZ2_VFF(_chan) {}
+#define PERIODIC_SEND_VFF(_chan) {}
 #endif
 
 #ifdef USE_HFF
diff --git a/sw/airborne/firmwares/rotorcraft/ins.c b/sw/airborne/firmwares/rotorcraft/ins.c
index 80859e9547..04762da494 100644
--- a/sw/airborne/firmwares/rotorcraft/ins.c
+++ b/sw/airborne/firmwares/rotorcraft/ins.c
@@ -113,7 +113,7 @@ void ins_init() {
 #ifdef BOOZ2_SONAR
   ins_update_on_agl = FALSE;
 #endif
-  b2_vff_init(0., 0., 0.);
+  vff_init(0., 0., 0.);
 #endif
   ins_vf_realign = FALSE;
   ins_hf_realign = FALSE;
@@ -142,7 +142,7 @@ void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatV
 
 void ins_realign_v(float z) {
 #ifdef USE_VFF
-  b2_vff_realign(z);
+  vff_realign(z);
 #endif
 }
 
@@ -156,10 +156,10 @@ void ins_propagate() {
 
 #ifdef USE_VFF
   if (baro.status == BS_RUNNING && ins_baro_initialised) {
-    b2_vff_propagate(z_accel_float);
-    ins_ltp_accel.z = ACCEL_BFP_OF_REAL(b2_vff_zdotdot);
-    ins_ltp_speed.z = SPEED_BFP_OF_REAL(b2_vff_zdot);
-    ins_ltp_pos.z   = POS_BFP_OF_REAL(b2_vff_z);
+    vff_propagate(z_accel_float);
+    ins_ltp_accel.z = ACCEL_BFP_OF_REAL(vff_zdotdot);
+    ins_ltp_speed.z = SPEED_BFP_OF_REAL(vff_zdot);
+    ins_ltp_pos.z   = POS_BFP_OF_REAL(vff_z);
   }
   else { // feed accel from the sensors
     ins_ltp_accel.z = ACCEL_BFP_OF_REAL(z_accel_float);
@@ -196,15 +196,15 @@ void ins_update_baro() {
 #ifdef BOOZ2_SONAR
       ins_sonar_offset = sonar_meas;
 #endif
-      b2_vff_realign(0.);
-      ins_ltp_accel.z = ACCEL_BFP_OF_REAL(b2_vff_zdotdot);
-      ins_ltp_speed.z = SPEED_BFP_OF_REAL(b2_vff_zdot);
-      ins_ltp_pos.z   = POS_BFP_OF_REAL(b2_vff_z);
+      vff_realign(0.);
+      ins_ltp_accel.z = ACCEL_BFP_OF_REAL(vff_zdotdot);
+      ins_ltp_speed.z = SPEED_BFP_OF_REAL(vff_zdot);
+      ins_ltp_pos.z   = POS_BFP_OF_REAL(vff_z);
       ins_enu_pos.z = -ins_ltp_pos.z;
       ins_enu_speed.z = -ins_ltp_speed.z;
       ins_enu_accel.z = -ins_ltp_accel.z;
     }
-    b2_vff_update(alt_float);
+    vff_update(alt_float);
   }
 #endif
 }
diff --git a/sw/airborne/firmwares/rotorcraft/ins/vf_float.c b/sw/airborne/firmwares/rotorcraft/ins/vf_float.c
index 1acd5242a7..2654a7dd1c 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/vf_float.c
+++ b/sw/airborne/firmwares/rotorcraft/ins/vf_float.c
@@ -41,24 +41,24 @@ temps :
 #define Qbiasbias 1e-7
 #define R 1.
 
-float b2_vff_z;
-float b2_vff_bias;
-float b2_vff_zdot;
-float b2_vff_zdotdot;
+float vff_z;
+float vff_bias;
+float vff_zdot;
+float vff_zdotdot;
 
-float b2_vff_P[B2_VFF_STATE_SIZE][B2_VFF_STATE_SIZE];
+float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
 
-float b2_vff_z_meas;
+float vff_z_meas;
 
-void b2_vff_init(float init_z, float init_zdot, float init_bias) {
-  b2_vff_z    = init_z;
-  b2_vff_zdot = init_zdot;
-  b2_vff_bias = init_bias;
+void vff_init(float init_z, float init_zdot, float init_bias) {
+  vff_z    = init_z;
+  vff_zdot = init_zdot;
+  vff_bias = init_bias;
   int i, j;
-  for (i=0; i<B2_VFF_STATE_SIZE; i++) {
-    for (j=0; j<B2_VFF_STATE_SIZE; j++)
-      b2_vff_P[i][j] = 0.;
-    b2_vff_P[i][i] = INIT_PXX;
+  for (i=0; i<VFF_STATE_SIZE; i++) {
+    for (j=0; j<VFF_STATE_SIZE; j++)
+      vff_P[i][j] = 0.;
+    vff_P[i][i] = INIT_PXX;
   }
 
 }
@@ -81,31 +81,31 @@ void b2_vff_init(float init_z, float init_zdot, float init_bias) {
  Pk1 = F * Pk0 * F' + Q;
 
 */
-void b2_vff_propagate(float accel) {
+void vff_propagate(float accel) {
   /* update state */
-  b2_vff_zdotdot = accel + 9.81 - b2_vff_bias;
-  b2_vff_z = b2_vff_z + DT_VFILTER * b2_vff_zdot;
-  b2_vff_zdot = b2_vff_zdot + DT_VFILTER * b2_vff_zdotdot;
+  vff_zdotdot = accel + 9.81 - vff_bias;
+  vff_z = vff_z + DT_VFILTER * vff_zdot;
+  vff_zdot = vff_zdot + DT_VFILTER * vff_zdotdot;
   /* update covariance */
-  const float FPF00 = b2_vff_P[0][0] + DT_VFILTER * ( b2_vff_P[1][0] + b2_vff_P[0][1] + DT_VFILTER * b2_vff_P[1][1] );
-  const float FPF01 = b2_vff_P[0][1] + DT_VFILTER * ( b2_vff_P[1][1] - b2_vff_P[0][2] - DT_VFILTER * b2_vff_P[1][2] );
-  const float FPF02 = b2_vff_P[0][2] + DT_VFILTER * ( b2_vff_P[1][2] );
-  const float FPF10 = b2_vff_P[1][0] + DT_VFILTER * (-b2_vff_P[2][0] + b2_vff_P[1][1] - DT_VFILTER * b2_vff_P[2][1] );
-  const float FPF11 = b2_vff_P[1][1] + DT_VFILTER * (-b2_vff_P[2][1] - b2_vff_P[1][2] + DT_VFILTER * b2_vff_P[2][2] );
-  const float FPF12 = b2_vff_P[1][2] + DT_VFILTER * (-b2_vff_P[2][2] );
-  const float FPF20 = b2_vff_P[2][0] + DT_VFILTER * ( b2_vff_P[2][1] );
-  const float FPF21 = b2_vff_P[2][1] + DT_VFILTER * (-b2_vff_P[2][2] );
-  const float FPF22 = b2_vff_P[2][2];
+  const float FPF00 = vff_P[0][0] + DT_VFILTER * ( vff_P[1][0] + vff_P[0][1] + DT_VFILTER * vff_P[1][1] );
+  const float FPF01 = vff_P[0][1] + DT_VFILTER * ( vff_P[1][1] - vff_P[0][2] - DT_VFILTER * vff_P[1][2] );
+  const float FPF02 = vff_P[0][2] + DT_VFILTER * ( vff_P[1][2] );
+  const float FPF10 = vff_P[1][0] + DT_VFILTER * (-vff_P[2][0] + vff_P[1][1] - DT_VFILTER * vff_P[2][1] );
+  const float FPF11 = vff_P[1][1] + DT_VFILTER * (-vff_P[2][1] - vff_P[1][2] + DT_VFILTER * vff_P[2][2] );
+  const float FPF12 = vff_P[1][2] + DT_VFILTER * (-vff_P[2][2] );
+  const float FPF20 = vff_P[2][0] + DT_VFILTER * ( vff_P[2][1] );
+  const float FPF21 = vff_P[2][1] + DT_VFILTER * (-vff_P[2][2] );
+  const float FPF22 = vff_P[2][2];
 
-  b2_vff_P[0][0] = FPF00 + Qzz;
-  b2_vff_P[0][1] = FPF01;
-  b2_vff_P[0][2] = FPF02;
-  b2_vff_P[1][0] = FPF10;
-  b2_vff_P[1][1] = FPF11 + Qzdotzdot;
-  b2_vff_P[1][2] = FPF12;
-  b2_vff_P[2][0] = FPF20;
-  b2_vff_P[2][1] = FPF21;
-  b2_vff_P[2][2] = FPF22 + Qbiasbias;
+  vff_P[0][0] = FPF00 + Qzz;
+  vff_P[0][1] = FPF01;
+  vff_P[0][2] = FPF02;
+  vff_P[1][0] = FPF10;
+  vff_P[1][1] = FPF11 + Qzdotzdot;
+  vff_P[1][2] = FPF12;
+  vff_P[2][0] = FPF20;
+  vff_P[2][1] = FPF21;
+  vff_P[2][2] = FPF22 + Qbiasbias;
 
 }
 /*
@@ -123,45 +123,45 @@ void b2_vff_propagate(float accel) {
   Pp = Pm - K*H*Pm;
 */
 static inline void update_z_conf(float z_meas, float conf) {
-  b2_vff_z_meas = z_meas;
+  vff_z_meas = z_meas;
 
-  const float y = z_meas - b2_vff_z;
-  const float S = b2_vff_P[0][0] + conf;
-  const float K1 = b2_vff_P[0][0] * 1/S;
-  const float K2 = b2_vff_P[1][0] * 1/S;
-  const float K3 = b2_vff_P[2][0] * 1/S;
+  const float y = z_meas - vff_z;
+  const float S = vff_P[0][0] + conf;
+  const float K1 = vff_P[0][0] * 1/S;
+  const float K2 = vff_P[1][0] * 1/S;
+  const float K3 = vff_P[2][0] * 1/S;
 
-  b2_vff_z    = b2_vff_z    + K1 * y;
-  b2_vff_zdot = b2_vff_zdot + K2 * y;
-  b2_vff_bias = b2_vff_bias + K3 * y;
+  vff_z    = vff_z    + K1 * y;
+  vff_zdot = vff_zdot + K2 * y;
+  vff_bias = vff_bias + K3 * y;
 
-  const float P11 = (1. - K1) * b2_vff_P[0][0];
-  const float P12 = (1. - K1) * b2_vff_P[0][1];
-  const float P13 = (1. - K1) * b2_vff_P[0][2];
-  const float P21 = -K2 * b2_vff_P[0][0] + b2_vff_P[1][0];
-  const float P22 = -K2 * b2_vff_P[0][1] + b2_vff_P[1][1];
-  const float P23 = -K2 * b2_vff_P[0][2] + b2_vff_P[1][2];
-  const float P31 = -K3 * b2_vff_P[0][0] + b2_vff_P[2][0];
-  const float P32 = -K3 * b2_vff_P[0][1] + b2_vff_P[2][1];
-  const float P33 = -K3 * b2_vff_P[0][2] + b2_vff_P[2][2];
+  const float P11 = (1. - K1) * vff_P[0][0];
+  const float P12 = (1. - K1) * vff_P[0][1];
+  const float P13 = (1. - K1) * vff_P[0][2];
+  const float P21 = -K2 * vff_P[0][0] + vff_P[1][0];
+  const float P22 = -K2 * vff_P[0][1] + vff_P[1][1];
+  const float P23 = -K2 * vff_P[0][2] + vff_P[1][2];
+  const float P31 = -K3 * vff_P[0][0] + vff_P[2][0];
+  const float P32 = -K3 * vff_P[0][1] + vff_P[2][1];
+  const float P33 = -K3 * vff_P[0][2] + vff_P[2][2];
 
-  b2_vff_P[0][0] = P11;
-  b2_vff_P[0][1] = P12;
-  b2_vff_P[0][2] = P13;
-  b2_vff_P[1][0] = P21;
-  b2_vff_P[1][1] = P22;
-  b2_vff_P[1][2] = P23;
-  b2_vff_P[2][0] = P31;
-  b2_vff_P[2][1] = P32;
-  b2_vff_P[2][2] = P33;
+  vff_P[0][0] = P11;
+  vff_P[0][1] = P12;
+  vff_P[0][2] = P13;
+  vff_P[1][0] = P21;
+  vff_P[1][1] = P22;
+  vff_P[1][2] = P23;
+  vff_P[2][0] = P31;
+  vff_P[2][1] = P32;
+  vff_P[2][2] = P33;
 
 }
 
-void b2_vff_update(float z_meas) {
+void vff_update(float z_meas) {
   update_z_conf(z_meas, R);
 }
 
-void b2_vff_update_z_conf(float z_meas, float conf) {
+void vff_update_z_conf(float z_meas, float conf) {
   update_z_conf(z_meas, conf);
 }
 
@@ -180,43 +180,43 @@ void b2_vff_update_z_conf(float z_meas, float conf) {
   Pp = Pm - K*H*Pm;
 */
 static inline void update_vz_conf(float vz, float conf) {
-  const float yd = vz - b2_vff_zdot;
-  const float S = b2_vff_P[1][1] + conf;
-  const float K1 = b2_vff_P[0][1] * 1/S;
-  const float K2 = b2_vff_P[1][1] * 1/S;
-  const float K3 = b2_vff_P[2][1] * 1/S;
+  const float yd = vz - vff_zdot;
+  const float S = vff_P[1][1] + conf;
+  const float K1 = vff_P[0][1] * 1/S;
+  const float K2 = vff_P[1][1] * 1/S;
+  const float K3 = vff_P[2][1] * 1/S;
 
-  b2_vff_z    = b2_vff_z    + K1 * yd;
-  b2_vff_zdot = b2_vff_zdot + K2 * yd;
-  b2_vff_bias = b2_vff_bias + K3 * yd;
+  vff_z    = vff_z    + K1 * yd;
+  vff_zdot = vff_zdot + K2 * yd;
+  vff_bias = vff_bias + K3 * yd;
 
-  const float P11 = -K1 * b2_vff_P[1][0] + b2_vff_P[0][0];
-  const float P12 = -K1 * b2_vff_P[1][1] + b2_vff_P[0][1];
-  const float P13 = -K1 * b2_vff_P[1][2] + b2_vff_P[0][2];
-  const float P21 = (1. - K2) * b2_vff_P[1][0];
-  const float P22 = (1. - K2) * b2_vff_P[1][1];
-  const float P23 = (1. - K2) * b2_vff_P[1][2];
-  const float P31 = -K3 * b2_vff_P[1][0] + b2_vff_P[2][0];
-  const float P32 = -K3 * b2_vff_P[1][1] + b2_vff_P[2][1];
-  const float P33 = -K3 * b2_vff_P[1][2] + b2_vff_P[2][2];
+  const float P11 = -K1 * vff_P[1][0] + vff_P[0][0];
+  const float P12 = -K1 * vff_P[1][1] + vff_P[0][1];
+  const float P13 = -K1 * vff_P[1][2] + vff_P[0][2];
+  const float P21 = (1. - K2) * vff_P[1][0];
+  const float P22 = (1. - K2) * vff_P[1][1];
+  const float P23 = (1. - K2) * vff_P[1][2];
+  const float P31 = -K3 * vff_P[1][0] + vff_P[2][0];
+  const float P32 = -K3 * vff_P[1][1] + vff_P[2][1];
+  const float P33 = -K3 * vff_P[1][2] + vff_P[2][2];
 
-  b2_vff_P[0][0] = P11;
-  b2_vff_P[0][1] = P12;
-  b2_vff_P[0][2] = P13;
-  b2_vff_P[1][0] = P21;
-  b2_vff_P[1][1] = P22;
-  b2_vff_P[1][2] = P23;
-  b2_vff_P[2][0] = P31;
-  b2_vff_P[2][1] = P32;
-  b2_vff_P[2][2] = P33;
+  vff_P[0][0] = P11;
+  vff_P[0][1] = P12;
+  vff_P[0][2] = P13;
+  vff_P[1][0] = P21;
+  vff_P[1][1] = P22;
+  vff_P[1][2] = P23;
+  vff_P[2][0] = P31;
+  vff_P[2][1] = P32;
+  vff_P[2][2] = P33;
 
 }
 
-void b2_vff_update_vz_conf(float vz_meas, float conf) {
+void vff_update_vz_conf(float vz_meas, float conf) {
   update_vz_conf(vz_meas, conf);
 }
 
-void b2_vff_realign(float z_meas) {
-  b2_vff_z = z_meas;
-  b2_vff_zdot = 0;
+void vff_realign(float z_meas) {
+  vff_z = z_meas;
+  vff_zdot = 0;
 }
diff --git a/sw/airborne/firmwares/rotorcraft/ins/vf_float.h b/sw/airborne/firmwares/rotorcraft/ins/vf_float.h
index 284455e824..630d7cabe1 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/vf_float.h
+++ b/sw/airborne/firmwares/rotorcraft/ins/vf_float.h
@@ -21,24 +21,24 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ2_VF_FLOAT_H
-#define BOOZ2_VF_FLOAT_H
+#ifndef VF_FLOAT_H
+#define VF_FLOAT_H
 
-#define B2_VFF_STATE_SIZE 3
+#define VFF_STATE_SIZE 3
 
-extern float b2_vff_z;
-extern float b2_vff_zdot;
-extern float b2_vff_bias;
-extern float b2_vff_P[B2_VFF_STATE_SIZE][B2_VFF_STATE_SIZE];
-extern float b2_vff_zdotdot;
+extern float vff_z;
+extern float vff_zdot;
+extern float vff_bias;
+extern float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
+extern float vff_zdotdot;
 
-extern float b2_vff_z_meas;
+extern float vff_z_meas;
 
-extern void b2_vff_init(float z, float zdot, float bias);
-extern void b2_vff_propagate(float accel);
-extern void b2_vff_update(float z_meas);
-extern void b2_vff_update_z_conf(float z_meas, float conf);
-extern void b2_vff_update_vz_conf(float vz_meas, float conf);
-extern void b2_vff_realign(float z_meas);
+extern void vff_init(float z, float zdot, float bias);
+extern void vff_propagate(float accel);
+extern void vff_update(float z_meas);
+extern void vff_update_z_conf(float z_meas, float conf);
+extern void vff_update_vz_conf(float vz_meas, float conf);
+extern void vff_realign(float z_meas);
 
-#endif /* BOOZ2_VF_FLOAT_H */
+#endif /* VF_FLOAT_H */
diff --git a/sw/airborne/firmwares/rotorcraft/ins/vf_int.c b/sw/airborne/firmwares/rotorcraft/ins/vf_int.c
index 62f00c2311..9f31aa4327 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/vf_int.c
+++ b/sw/airborne/firmwares/rotorcraft/ins/vf_int.c
@@ -25,42 +25,42 @@
 
 #include "booz_geometry_mixed.h"
 
-int64_t b2_vfi_z;
-int32_t b2_vfi_zd;
-int32_t b2_vfi_abias;
-int32_t b2_vfi_zdd;
-int32_t b2_vfi_P[B2_VFI_S_SIZE][B2_VFI_S_SIZE];
+int64_t vfi_z;
+int32_t vfi_zd;
+int32_t vfi_abias;
+int32_t vfi_zdd;
+int32_t vfi_P[VFI_S_SIZE][VFI_S_SIZE];
 
 /* initial covariance */
-#define VFI_INIT_PZZ    BOOZ_INT_OF_FLOAT(1., B2_VFI_P_FRAC)
-#define VFI_INIT_PZDZD  BOOZ_INT_OF_FLOAT(1., B2_VFI_P_FRAC)
-#define VFI_INIT_PABAB  BOOZ_INT_OF_FLOAT(1., B2_VFI_P_FRAC)
+#define VFI_INIT_PZZ    BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
+#define VFI_INIT_PZDZD  BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
+#define VFI_INIT_PABAB  BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 
 /* system and measurement noise */
 #define VFI_ACCEL_NOISE 0.1
 #define VFI_DT2_2 (1./(512.*512.)/2.)
 #define VFI_DT    (1./512.)
-#define VFI_QZZ         BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT2_2, B2_VFI_P_FRAC)
-#define VFI_QZDZD       BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT, B2_VFI_P_FRAC)
-#define VFI_QABAB       BOOZ_INT_OF_FLOAT(1e-7, B2_VFI_P_FRAC)
-#define VFI_R           BOOZ_INT_OF_FLOAT(1., B2_VFI_P_FRAC)
+#define VFI_QZZ         BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT2_2, VFI_P_FRAC)
+#define VFI_QZDZD       BOOZ_INT_OF_FLOAT(VFI_ACCEL_NOISE*VFI_DT, VFI_P_FRAC)
+#define VFI_QABAB       BOOZ_INT_OF_FLOAT(1e-7, VFI_P_FRAC)
+#define VFI_R           BOOZ_INT_OF_FLOAT(1., VFI_P_FRAC)
 
 
 void vfi_init(int32_t z0, int32_t zd0, int32_t bias0 ) {
 
   // initialize state vector
-  b2_vfi_z     = z0;
-  b2_vfi_zd    = zd0;
-  b2_vfi_abias = bias0;
-  b2_vfi_zdd   = 0;
+  vfi_z     = z0;
+  vfi_zd    = zd0;
+  vfi_abias = bias0;
+  vfi_zdd   = 0;
   // initialize covariance
   int i, j;
-  for (i=0; i<B2_VFI_S_SIZE; i++)
-    for (j=0; j<B2_VFI_S_SIZE; j++)
-      b2_vfi_P[i][j] = 0;
-  b2_vfi_P[B2_VFI_S_Z][B2_VFI_S_Z]   = VFI_INIT_PZZ;
-  b2_vfi_P[B2_VFI_S_ZD][B2_VFI_S_ZD] = VFI_INIT_PZDZD;
-  b2_vfi_P[B2_VFI_S_AB][B2_VFI_S_AB] = VFI_INIT_PABAB;
+  for (i=0; i<VFI_S_SIZE; i++)
+    for (j=0; j<VFI_S_SIZE; j++)
+      vfi_P[i][j] = 0;
+  vfi_P[VFI_S_Z][VFI_S_Z]   = VFI_INIT_PZZ;
+  vfi_P[VFI_S_ZD][VFI_S_ZD] = VFI_INIT_PZDZD;
+  vfi_P[VFI_S_AB][VFI_S_AB] = VFI_INIT_PABAB;
 
 }
 
@@ -85,65 +85,65 @@ void vfi_init(int32_t z0, int32_t zd0, int32_t bias0 ) {
 void vfi_propagate( int32_t accel_reading ) {
 
   // compute unbiased vertical acceleration
-  b2_vfi_zdd = accel_reading + BOOZ_INT_OF_FLOAT(9.81, B2_VFI_ZDD_FRAC) - b2_vfi_abias;
+  vfi_zdd = accel_reading + BOOZ_INT_OF_FLOAT(9.81, VFI_ZDD_FRAC) - vfi_abias;
   // propagate state
-  const int32_t dz  = b2_vfi_zd  >> ( B2_VFI_F_UPDATE_FRAC + B2_VFI_ZD_FRAC - B2_VFI_Z_FRAC);
-  b2_vfi_z += dz;
-  const int32_t dzd = b2_vfi_zdd >> ( B2_VFI_F_UPDATE_FRAC + B2_VFI_ZDD_FRAC - B2_VFI_ZD_FRAC);
-  b2_vfi_zd += dzd;
+  const int32_t dz  = vfi_zd  >> ( VFI_F_UPDATE_FRAC + VFI_ZD_FRAC - VFI_Z_FRAC);
+  vfi_z += dz;
+  const int32_t dzd = vfi_zdd >> ( VFI_F_UPDATE_FRAC + VFI_ZDD_FRAC - VFI_ZD_FRAC);
+  vfi_zd += dzd;
 
   // propagate covariance
-  const int32_t tmp1  =  b2_vfi_P[1][0] + b2_vfi_P[0][1] + (b2_vfi_P[1][1]>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF00 =  b2_vfi_P[0][0] + (tmp1>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t tmp2  =  b2_vfi_P[1][1] - b2_vfi_P[0][2] - (b2_vfi_P[1][2]>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF01 =  b2_vfi_P[0][1] + (tmp2>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF02 =  b2_vfi_P[0][2] + (b2_vfi_P[1][2] >> B2_VFI_F_UPDATE_FRAC);;
-  const int32_t tmp3  = -b2_vfi_P[2][0] + b2_vfi_P[1][1] - (b2_vfi_P[2][1]>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF10 =  b2_vfi_P[1][0] + (tmp3>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t tmp4  = -b2_vfi_P[2][1] - b2_vfi_P[1][2] + (b2_vfi_P[2][2]>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF11 =  b2_vfi_P[1][1] + (tmp4>>B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF12 =  b2_vfi_P[1][2] - (b2_vfi_P[2][2] >> B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF20 =  b2_vfi_P[2][0] + (b2_vfi_P[2][1] >> B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF21 =  b2_vfi_P[2][1] - (b2_vfi_P[2][2] >> B2_VFI_F_UPDATE_FRAC);
-  const int32_t FPF22 =  b2_vfi_P[2][2];
+  const int32_t tmp1  =  vfi_P[1][0] + vfi_P[0][1] + (vfi_P[1][1]>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF00 =  vfi_P[0][0] + (tmp1>>VFI_F_UPDATE_FRAC);
+  const int32_t tmp2  =  vfi_P[1][1] - vfi_P[0][2] - (vfi_P[1][2]>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF01 =  vfi_P[0][1] + (tmp2>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF02 =  vfi_P[0][2] + (vfi_P[1][2] >> VFI_F_UPDATE_FRAC);;
+  const int32_t tmp3  = -vfi_P[2][0] + vfi_P[1][1] - (vfi_P[2][1]>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF10 =  vfi_P[1][0] + (tmp3>>VFI_F_UPDATE_FRAC);
+  const int32_t tmp4  = -vfi_P[2][1] - vfi_P[1][2] + (vfi_P[2][2]>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF11 =  vfi_P[1][1] + (tmp4>>VFI_F_UPDATE_FRAC);
+  const int32_t FPF12 =  vfi_P[1][2] - (vfi_P[2][2] >> VFI_F_UPDATE_FRAC);
+  const int32_t FPF20 =  vfi_P[2][0] + (vfi_P[2][1] >> VFI_F_UPDATE_FRAC);
+  const int32_t FPF21 =  vfi_P[2][1] - (vfi_P[2][2] >> VFI_F_UPDATE_FRAC);
+  const int32_t FPF22 =  vfi_P[2][2];
 
-  b2_vfi_P[0][0] = FPF00 + VFI_QZZ;
-  b2_vfi_P[0][1] = FPF01;
-  b2_vfi_P[0][2] = FPF02;
-  b2_vfi_P[1][0] = FPF10;
-  b2_vfi_P[1][1] = FPF11 + VFI_QZDZD;
-  b2_vfi_P[1][2] = FPF12;
-  b2_vfi_P[2][0] = FPF20;
-  b2_vfi_P[2][1] = FPF21;
-  b2_vfi_P[2][2] = FPF22 + VFI_QABAB;
+  vfi_P[0][0] = FPF00 + VFI_QZZ;
+  vfi_P[0][1] = FPF01;
+  vfi_P[0][2] = FPF02;
+  vfi_P[1][0] = FPF10;
+  vfi_P[1][1] = FPF11 + VFI_QZDZD;
+  vfi_P[1][2] = FPF12;
+  vfi_P[2][0] = FPF20;
+  vfi_P[2][1] = FPF21;
+  vfi_P[2][2] = FPF22 + VFI_QABAB;
 
 }
 
 
 void vfi_update( int32_t z_meas ) {
 
-  const int64_t y = (z_meas<<(B2_VFI_Z_FRAC-B2_VFI_MEAS_Z_FRAC)) - b2_vfi_z;
-  const int32_t S = b2_vfi_P[0][0] + VFI_R;
+  const int64_t y = (z_meas<<(VFI_Z_FRAC-VFI_MEAS_Z_FRAC)) - vfi_z;
+  const int32_t S = vfi_P[0][0] + VFI_R;
 
-  const int32_t K1 = b2_vfi_P[0][0] / S;
-  const int32_t K2 = b2_vfi_P[1][0] / S;
-  const int32_t K3 = b2_vfi_P[2][0] / S;
+  const int32_t K1 = vfi_P[0][0] / S;
+  const int32_t K2 = vfi_P[1][0] / S;
+  const int32_t K3 = vfi_P[2][0] / S;
 
-  b2_vfi_z     = b2_vfi_z     + ((K1 * y)>>B2_VFI_P_FRAC);
-  b2_vfi_zd    = b2_vfi_zd    + ((K2 * y)>>B2_VFI_P_FRAC);
-  b2_vfi_abias = b2_vfi_abias + ((K3 * y)>>B2_VFI_P_FRAC);
+  vfi_z     = vfi_z     + ((K1 * y)>>VFI_P_FRAC);
+  vfi_zd    = vfi_zd    + ((K2 * y)>>VFI_P_FRAC);
+  vfi_abias = vfi_abias + ((K3 * y)>>VFI_P_FRAC);
 
 #if 0
 
-  const int32_t P11 = ((BOOZ_INT_OF_FLOAT(1., B2_VFI_P_RES) - K1) * b2_vfi_P[0][0])>>B2_VFI_P_RES;
-  const int32_t P12 = (BOOZ_INT_OF_FLOAT(1., B2_VFI_P_RES) - K1) * b2_vfi_P[0][1];
-  const int32_t P13 = (BOOZ_INT_OF_FLOAT(1., B2_VFI_P_RES) - K1) * b2_vfi_P[0][2];
-  const int32_t P21 = -K2 * b2_vfi_P[0][0] + b2_vfi_P[1][0];
-  const int32_t P22 = -K2 * b2_vfi_P[0][1] + b2_vfi_P[1][1];
-  const int32_t P23 = -K2 * b2_vfi_P[0][2] + b2_vfi_P[1][2];
-  const int32_t P31 = -K3 * b2_vfi_P[0][0] + b2_vfi_P[2][0];
-  const int32_t P32 = -K3 * b2_vfi_P[0][1] + b2_vfi_P[2][1];
-  const int32_t P33 = -K3 * b2_vfi_P[0][2] + b2_vfi_P[2][2];
+  const int32_t P11 = ((BOOZ_INT_OF_FLOAT(1., VFI_P_RES) - K1) * vfi_P[0][0])>>VFI_P_RES;
+  const int32_t P12 = (BOOZ_INT_OF_FLOAT(1., VFI_P_RES) - K1) * vfi_P[0][1];
+  const int32_t P13 = (BOOZ_INT_OF_FLOAT(1., VFI_P_RES) - K1) * vfi_P[0][2];
+  const int32_t P21 = -K2 * vfi_P[0][0] + vfi_P[1][0];
+  const int32_t P22 = -K2 * vfi_P[0][1] + vfi_P[1][1];
+  const int32_t P23 = -K2 * vfi_P[0][2] + vfi_P[1][2];
+  const int32_t P31 = -K3 * vfi_P[0][0] + vfi_P[2][0];
+  const int32_t P32 = -K3 * vfi_P[0][1] + vfi_P[2][1];
+  const int32_t P33 = -K3 * vfi_P[0][2] + vfi_P[2][2];
 
   tl_vf_P[0][0] = P11;
   tl_vf_P[0][1] = P12;
diff --git a/sw/airborne/firmwares/rotorcraft/ins/vf_int.h b/sw/airborne/firmwares/rotorcraft/ins/vf_int.h
index a9faa485d9..6b34b32c2c 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/vf_int.h
+++ b/sw/airborne/firmwares/rotorcraft/ins/vf_int.h
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ2_VF_INT_H
-#define BOOZ2_VF_INT_H
+#ifndef VF_INT_H
+#define VF_INT_H
 
 #include "std.h"
 #include "booz_geometry_int.h"
@@ -33,43 +33,43 @@ extern void vfi_propagate( int32_t accel_reading );
 /* z_meas : altitude measurement in meter       */
 /* Q23.8 : accuracy 0.004m range 8388km         */
 extern void vfi_update( int32_t z_meas );
-#define B2_VFI_Z_MEAS_FRAC IPOS_FRAC
+#define VFI_Z_MEAS_FRAC IPOS_FRAC
 
 /* propagate frequency : 512 Hz */
-#define B2_VFI_F_UPDATE_FRAC 9
-#define B2_VFI_F_UPDATE   (1<<B2_VFI_F_UPDATE_RES)
+#define VFI_F_UPDATE_FRAC 9
+#define VFI_F_UPDATE   (1<<VFI_F_UPDATE_RES)
 
 /* vertical acceleration in m/s^2                */
 /* Q21.10 : accuracy 0.001m/s^2, range 2097km/s2 */
-extern int32_t b2_vfi_zdd;
-#define B2_VFI_ZDD_FRAC IACCEL_RES
+extern int32_t vfi_zdd;
+#define VFI_ZDD_FRAC IACCEL_RES
 
 /* vertical accelerometer bias in m/s^2          */
 /* Q21.10 : accuracy 0.001m/s^2, range 2097km/s2 */
-extern int32_t b2_vfi_abias;
-#define B2_VFI_BIAS_FRAC IACCEL_RES
+extern int32_t vfi_abias;
+#define VFI_BIAS_FRAC IACCEL_RES
 
 /* vertical speed in m/s                         */
 /* Q12.19 : accuracy 0.000002 , range 4096m/s2   */
-extern int32_t b2_vfi_zd;
-#define B2_VFI_ZD_FRAC (B2_VFI_ZDD_FRAC + B2_VFI_F_UPDATE_FRAC)
+extern int32_t vfi_zd;
+#define VFI_ZD_FRAC (VFI_ZDD_FRAC + VFI_F_UPDATE_FRAC)
 
 /* altitude in m                                 */
 /* Q35.28 : accuracy 3.7e-9 , range 3.4e10m      */
-extern int64_t b2_vfi_z;
-#define B2_VFI_Z_FRAC   (B2_VFI_ZD_FRAC + B2_VFI_F_UPDATE_FRAC)
+extern int64_t vfi_z;
+#define VFI_Z_FRAC   (VFI_ZD_FRAC + VFI_F_UPDATE_FRAC)
 
 /* Kalman filter state                           */
-#define B2_VFI_S_Z    0
-#define B2_VFI_S_ZD   1
-#define B2_VFI_S_AB   2
-#define B2_VFI_S_SIZE 3
+#define VFI_S_Z    0
+#define VFI_S_ZD   1
+#define VFI_S_AB   2
+#define VFI_S_SIZE 3
 /* Kalman filter covariance                      */
 /* Q3.28                                         */
-extern int32_t b2_vfi_P[B2_VFI_S_SIZE][B2_VFI_S_SIZE];
-#define B2_VFI_P_FRAC  28
+extern int32_t vfi_P[VFI_S_SIZE][VFI_S_SIZE];
+#define VFI_P_FRAC  28
 
 
 
 
-#endif /* BOOZ2_VF_INT_H */
+#endif /* VF_INT_H */