rename booz_imu to imu, fix imu makefiles

conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile

@@ -35,6 +35,10 @@
 #
 
 # imu Booz2 v1
+
+# add imu arch to include directories
+ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
 ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
 ap.CFLAGS += -DIMU_B2_VERSION_1_0
 ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
@@ -56,12 +60,15 @@ ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
 # Simulator
 #
 
+# add imu arch to include directories
+sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
 sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_0
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
            $(SRC_FIRMWARE)/imu/imu_b2.c            \
-           $(SRC_FIRMWARE)/imu/imu_b2_arch.c
+           $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
             $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c

conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile

@@ -40,6 +40,10 @@
 
 
 # imu Booz2 v1.1
+
+# add imu arch to include directories
+ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
 imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
 imu_CFLAGS += -DIMU_B2_VERSION_1_1
@@ -72,12 +76,15 @@ ap.srcs += $(imu_srcs)
 # Simulator
 #
 
+# add imu arch to include directories
+sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
 sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
             $(SRC_FIRMWARE)/imu/imu_b2.c            \
-            $(SRC_FIRMWARE)/imu/imu_b2_arch.c
+            $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
             $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c

conf/autopilot/subsystems/rotorcraft/imu_crista.makefile

@@ -60,6 +60,9 @@
 
 
 
+# add imu arch to include directories
+ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
 ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
 ap.srcs += $(SRC_FIRMWARE)/imu.c            \
            $(SRC_FIRMWARE)/imu/imu_crista.c \
@@ -70,11 +73,17 @@ ap.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
 ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
 
 
+#
+# Simulator
+#
+
+# add imu arch to include directories
+sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
 sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
 sim.srcs   += $(SRC_FIRMWARE)/imu.c                 \
               $(SRC_FIRMWARE)/imu/imu_crista.c     \
-              $(SRC_FIRMWARE)/imu/imu_crista_arch.c
+              $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
 
 sim.CFLAGS += -DUSE_AMI601
 sim.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c

sw/airborne/arch/sim/max1167_hw.c

@@ -24,7 +24,7 @@
 
 #include "max1167.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 
 void max1167_hw_init( void ) {}
 

sw/airborne/beth/main_overo.c

@@ -37,7 +37,7 @@
 #include "fms_debug.h"
 #include "fms_spi_link.h"
 #include "fms_autopilot_msg.h"
-#include "booz/booz_imu.h"
+#include "imu.h"
 
 #include "overo_file_logger.h"
 #include "overo_gcs_com.h"
@@ -55,8 +55,8 @@ static void main_talk_with_stm32(void);
 static struct AutopilotMessageCRCFrame   msg_in;
 static struct AutopilotMessageCRCFrame   msg_out;
 
-struct BoozImu booz_imu;
+struct Imu imu;
-struct BoozImuFloat booz_imu_float;
+struct ImuFloat imu_float;
 
 
 static uint32_t foo = 0;
@@ -68,9 +68,9 @@ int main(int argc, char *argv[]) {
   (void) signal(SIGINT, main_exit);
 
   //set IMU neutrals
-  RATES_ASSIGN(booz_imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
+  RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
-  VECT3_ASSIGN(booz_imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
+  VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
-  VECT3_ASSIGN(booz_imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
+  VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
   
   if (spi_link_init()) {
     TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
@@ -120,7 +120,7 @@ static void main_periodic(int my_sig_num) {
  
   main_talk_with_stm32();
 
-  BoozImuScaleGyro(booz_imu);
+  ImuScaleGyro(imu);
 
   RunOnceEvery(50, {DOWNLINK_SEND_BETH(gcs_com.udp_transport,
 			&msg_in.payload.msg_up.bench_sensor.x,&msg_in.payload.msg_up.bench_sensor.y,
@@ -155,19 +155,19 @@ static void main_periodic(int my_sig_num) {
 
 /*  RunOnceEvery(10, {DOWNLINK_SEND_IMU_GYRO_RAW(gcs_com.udp_transport,
 			     //&msg_in.payload.msg_up.gyro.p,&msg_in.payload.msg_up.gyro.q,&msg_in.payload.msg_up.gyro.r)
-				&booz_imu.gyro_unscaled.p,&booz_imu.gyro_unscaled.q,&booz_imu.gyro_unscaled.r);});
+				&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);});
   RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(gcs_com.udp_transport,
 			     //&msg_in.payload.msg_up.accel.x,&msg_in.payload.msg_up.accel.y,&msg_in.payload.msg_up.accel.z
-				&booz_imu.accel_unscaled.x,&booz_imu.accel_unscaled.y,&booz_imu.accel_unscaled.z);})
+				&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);})
   RunOnceEvery(50, {DOWNLINK_SEND_BOOZ2_GYRO(gcs_com.udp_transport,
 			     //&msg_in.payload.msg_up.gyro.p,&msg_in.payload.msg_up.gyro.q,&msg_in.payload.msg_up.gyro.r)
-				&booz_imu.gyro.p,&booz_imu.gyro.q,&booz_imu.gyro.r);});
+				&imu.gyro.p,&imu.gyro.q,&imu.gyro.r);});
 
   RunOnceEvery(50, {DOWNLINK_SEND_AHRS_EULER(gcs_com.udp_transport,
 			&estimator.tilt, &estimator.elevation, &estimator.azimuth );});
   RunOnceEvery(50, {DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
 			     //&msg_in.payload.msg_up.accel.x,&msg_in.payload.msg_up.accel.y,&msg_in.payload.msg_up.accel.z
-				&booz_imu.accel.x,&booz_imu.accel.y,&booz_imu.accel.z);});*/
+				&imu.accel.x,&imu.accel.y,&imu.accel.z);});*/
 
   RunOnceEvery(33, gcs_com_periodic());
 
@@ -293,12 +293,12 @@ static void main_talk_with_stm32() {
 
   foo++;
 
-  booz_imu.gyro_unscaled.p = (msg_in.payload.msg_up.gyro.p&0xFFFF);
+  imu.gyro_unscaled.p = (msg_in.payload.msg_up.gyro.p&0xFFFF);
-  booz_imu.gyro_unscaled.q = (msg_in.payload.msg_up.gyro.q&0xFFFF);
+  imu.gyro_unscaled.q = (msg_in.payload.msg_up.gyro.q&0xFFFF);
-  booz_imu.gyro_unscaled.r = (msg_in.payload.msg_up.gyro.r&0xFFFF);
+  imu.gyro_unscaled.r = (msg_in.payload.msg_up.gyro.r&0xFFFF);
-  booz_imu.accel_unscaled.x = (msg_in.payload.msg_up.accel.x&0xFFFF);
+  imu.accel_unscaled.x = (msg_in.payload.msg_up.accel.x&0xFFFF);
-  booz_imu.accel_unscaled.y = (msg_in.payload.msg_up.accel.y&0xFFFF);
+  imu.accel_unscaled.y = (msg_in.payload.msg_up.accel.y&0xFFFF);
-  booz_imu.accel_unscaled.z = (msg_in.payload.msg_up.accel.z&0xFFFF);
+  imu.accel_unscaled.z = (msg_in.payload.msg_up.accel.z&0xFFFF);
 
 }
 

sw/airborne/beth/main_stm32.c

@@ -31,7 +31,7 @@
 #include "booz/booz2_commands.h"
 #include "booz/booz_actuators.h"
 //#include "booz/booz_radio_control.h"
-#include "booz/booz_imu.h"
+#include "imu.h"
 #include "lisa/lisa_overo_link.h"
 #include "beth/bench_sensors.h"
 
@@ -65,7 +65,7 @@ static inline void main_init( void ) {
   sys_time_init();
   actuators_init();
   //radio_control_init();
-  booz_imu_init();
+  imu_init();
   overo_link_init();
   bench_sensors_init();
   booz2_commands[COMMAND_ROLL] = 0;
@@ -76,7 +76,7 @@ static inline void main_init( void ) {
 
 static inline void main_periodic( void ) {
   int8_t pitch_out,thrust_out;
-  booz_imu_periodic();
+  imu_periodic();
 
   OveroLinkPeriodic(main_on_overo_link_lost)
 
@@ -114,7 +114,7 @@ static inline void main_periodic( void ) {
 }
 
 static inline void main_event( void ) {
-  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+  ImuEvent(on_gyro_accel_event, on_mag_event);
   OveroLinkEvent(main_on_overo_msg_received,main_on_overo_link_error);
 }
 
@@ -124,13 +124,13 @@ static inline void main_on_overo_msg_received(void) {
   overo_link.up.msg.bench_sensor.y = bench_sensors.angle_2;
   overo_link.up.msg.bench_sensor.z = bench_sensors.angle_3;
 
-  overo_link.up.msg.accel.x = booz_imu.accel_unscaled.x;
+  overo_link.up.msg.accel.x = imu.accel_unscaled.x;
-  overo_link.up.msg.accel.y = booz_imu.accel_unscaled.y;
+  overo_link.up.msg.accel.y = imu.accel_unscaled.y;
-  overo_link.up.msg.accel.z = booz_imu.accel_unscaled.z;
+  overo_link.up.msg.accel.z = imu.accel_unscaled.z;
 
-  overo_link.up.msg.gyro.p = booz_imu.gyro_unscaled.p;
+  overo_link.up.msg.gyro.p = imu.gyro_unscaled.p;
-  overo_link.up.msg.gyro.q = booz_imu.gyro_unscaled.q;
+  overo_link.up.msg.gyro.q = imu.gyro_unscaled.q;
-  overo_link.up.msg.gyro.r = booz_imu.gyro_unscaled.r;
+  overo_link.up.msg.gyro.r = imu.gyro_unscaled.r;
   
   //can_err_flags (uint16) represents the board number that is not communicating regularly
   //spi_errors (uint16) reflects the number of crc errors on the spi link
@@ -151,8 +151,8 @@ static inline void main_on_overo_link_lost(void) {
 
 
 static inline void on_gyro_accel_event(void) {
-  BoozImuScaleGyro(booz_imu);
+  ImuScaleGyro(imu);
-  BoozImuScaleAccel(booz_imu);
+  ImuScaleAccel(imu);
 
   //LED_TOGGLE(2);
   static uint8_t cnt;
@@ -161,46 +161,46 @@ static inline void on_gyro_accel_event(void) {
 
   if (cnt == 0) {
     DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
-			       &booz_imu.gyro_unscaled.p,
+			       &imu.gyro_unscaled.p,
-			       &booz_imu.gyro_unscaled.q,
+			       &imu.gyro_unscaled.q,
-			       &booz_imu.gyro_unscaled.r);
+			       &imu.gyro_unscaled.r);
     
     DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
-				&booz_imu.accel_unscaled.x,
+				&imu.accel_unscaled.x,
-				&booz_imu.accel_unscaled.y,
+				&imu.accel_unscaled.y,
-				&booz_imu.accel_unscaled.z);
+				&imu.accel_unscaled.z);
   }
   else if (cnt == 7) {
     DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
-			     &booz_imu.gyro.p,
+			     &imu.gyro.p,
-			     &booz_imu.gyro.q,
+			     &imu.gyro.q,
-			     &booz_imu.gyro.r);
+			     &imu.gyro.r);
     
     DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
-			      &booz_imu.accel.x,
+			      &imu.accel.x,
-			      &booz_imu.accel.y,
+			      &imu.accel.y,
-			      &booz_imu.accel.z);
+			      &imu.accel.z);
   }
 }
 
 
 static inline void on_mag_event(void) {
-  BoozImuScaleMag(booz_imu);
+  ImuScaleMag(imu);
   static uint8_t cnt;
   cnt++;
   if (cnt > 1) cnt = 0;
 
   if (cnt%2) {
     DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
-			    &booz_imu.mag.x,
+			    &imu.mag.x,
-			    &booz_imu.mag.y,
+			    &imu.mag.y,
-			    &booz_imu.mag.z);
+			    &imu.mag.z);
   }
   else {
     DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
-			      &booz_imu.mag_unscaled.x,
+			      &imu.mag_unscaled.x,
-			      &booz_imu.mag_unscaled.y,
+			      &imu.mag_unscaled.y,
-			      &booz_imu.mag_unscaled.z);
+			      &imu.mag_unscaled.z);
   }
 }
 

sw/airborne/beth/overo_estimator.c

@@ -1,6 +1,6 @@
 #include "overo_estimator.h"
 
-#include "booz/booz_imu.h"
+#include "imu.h"
 #include <math.h>
 
 #include "messages2.h"
@@ -37,10 +37,10 @@ void estimator_run(uint16_t tilt_measure, uint16_t elevation_measure, uint16_t a
   Bound(estimator.tilt,-89,89);
   //low pass filter tilt gyro
   estimator.tilt_dot = estimator.tilt_dot + 
-                         estimator.tilt_lp_coeff * (RATE_FLOAT_OF_BFP(booz_imu.gyro.q) - estimator.tilt_dot);
+                         estimator.tilt_lp_coeff * (RATE_FLOAT_OF_BFP(imu.gyro.q) - estimator.tilt_dot);
   /* Second order filter yet to be tested
   estimator.tilt_dot = estimator.tilt_dot * (2 - estimator.tilt_lp_coeff1 - estimator.tilt_lp_coeff2) +
-                         estimator.tilt_lp_coeff1 * estimator.tilt_lp_coeff2 * RATE_FLOAT_OF_BFP(booz_imu.gyro.q) -
+                         estimator.tilt_lp_coeff1 * estimator.tilt_lp_coeff2 * RATE_FLOAT_OF_BFP(imu.gyro.q) -
                          estimator.tilt_dot_old * (1 - estimator.tilt_lp_coeff1 - estimator.tilt_lp_coeff2 +
                          estimator.tilt_lp_coeff1*estimator.tilt_lp_coeff2);
   */
@@ -49,8 +49,8 @@ void estimator_run(uint16_t tilt_measure, uint16_t elevation_measure, uint16_t a
   Bound(estimator.elevation,-45,45);
 
   //rotation compensation (mixing of two gyro values to generate a reading that reflects rate along beth axes
-  float rotated_elev_dot = RATE_FLOAT_OF_BFP(booz_imu.gyro.p) * cos(estimator.tilt) +
+  float rotated_elev_dot = RATE_FLOAT_OF_BFP(imu.gyro.p) * cos(estimator.tilt) +
-                             RATE_FLOAT_OF_BFP(booz_imu.gyro.r) * sin(estimator.tilt);
+                             RATE_FLOAT_OF_BFP(imu.gyro.r) * sin(estimator.tilt);
   //low pass filter -- should probably increase order and maybe move filtering to measured values.
   estimator.elevation_dot = estimator.elevation_dot + 
                               estimator.elevation_lp_coeff * (rotated_elev_dot - estimator.elevation_dot);
@@ -60,7 +60,7 @@ void estimator_run(uint16_t tilt_measure, uint16_t elevation_measure, uint16_t a
   //low pass filter azimuth gyro
   //TODO: compensate rotation and increase order
   estimator.azimuth_dot = estimator.azimuth_dot + 
-                         estimator.azimuth_lp_coeff * (RATE_FLOAT_OF_BFP(booz_imu.gyro.r) - estimator.azimuth_dot);
+                         estimator.azimuth_lp_coeff * (RATE_FLOAT_OF_BFP(imu.gyro.r) - estimator.azimuth_dot);
 
 }
 

sw/airborne/beth/overo_file_logger.c

@@ -1,6 +1,6 @@
 #include "overo_file_logger.h"
 
-#include "booz/booz_imu.h"
+#include "imu.h"
 
 struct FileLogger file_logger;
 
@@ -15,8 +15,8 @@ void file_logger_init(char* filename) {
 void file_logger_periodic(void) {
   static uint32_t foo = 0;
   foo++;
-  fprintf(file_logger.outfile,"%f %d IMU_ACCEL_RAW %d %d %d\n",foo/512.,42,booz_imu.accel_unscaled.x,booz_imu.accel_unscaled.y,booz_imu.accel_unscaled.z);
+  fprintf(file_logger.outfile,"%f %d IMU_ACCEL_RAW %d %d %d\n",foo/512.,42,imu.accel_unscaled.x,imu.accel_unscaled.y,imu.accel_unscaled.z);
-  fprintf(file_logger.outfile,"%f %d IMU_GYRO_RAW %d %d %d\n",foo/512.,42,booz_imu.gyro_unscaled.p,booz_imu.gyro_unscaled.q,booz_imu.gyro_unscaled.r);
+  fprintf(file_logger.outfile,"%f %d IMU_GYRO_RAW %d %d %d\n",foo/512.,42,imu.gyro_unscaled.p,imu.gyro_unscaled.q,imu.gyro_unscaled.r);
 
 }
 

sw/airborne/booz/ahrs/booz_ahrs_aligner.c

@@ -24,7 +24,7 @@
 #include "booz_ahrs_aligner.h"
 
 #include <stdlib.h> /* for abs() */
-#include "booz_imu.h"
+#include "imu.h"
 #include "led.h"
 
 struct BoozAhrsAligner booz_ahrs_aligner;
@@ -52,11 +52,11 @@ void booz_ahrs_aligner_init(void) {
 
 void booz_ahrs_aligner_run(void) {
 
-  RATES_ADD(gyro_sum,  booz_imu.gyro);
+  RATES_ADD(gyro_sum,  imu.gyro);
-  VECT3_ADD(accel_sum, booz_imu.accel);
+  VECT3_ADD(accel_sum, imu.accel);
-  VECT3_ADD(mag_sum,   booz_imu.mag);
+  VECT3_ADD(mag_sum,   imu.mag);
 
-  ref_sensor_samples[samples_idx] = booz_imu.accel.z;
+  ref_sensor_samples[samples_idx] = imu.accel.z;
   samples_idx++;
 
 #ifdef AHRS_ALIGNER_LED

sw/airborne/booz/ahrs/booz_ahrs_cmpl_euler.c

@@ -23,7 +23,7 @@
 
 #include "booz_ahrs_cmpl_euler.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_ahrs_aligner.h"
 
 #include "airframe.h"
@@ -97,7 +97,7 @@ void booz_ahrs_propagate(void) {
 
   /* unbias gyro             */
   struct Int32Rates uf_rate;
-  RATES_DIFF(uf_rate, booz_imu.gyro, booz2_face_gyro_bias);
+  RATES_DIFF(uf_rate, imu.gyro, booz2_face_gyro_bias);
   /* low pass rate */  
   RATES_ADD(booz_ahrs.imu_rate, uf_rate);
   RATES_SDIV(booz_ahrs.imu_rate, booz_ahrs.imu_rate, 2);
@@ -130,24 +130,24 @@ void booz_ahrs_propagate(void) {
   INT32_RMAT_OF_EULERS(booz_ahrs.ltp_to_imu_rmat, booz_ahrs.ltp_to_imu_euler);
 
   /* Compute LTP to BODY quaternion */
-  INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_ahrs.ltp_to_imu_quat, booz_imu.body_to_imu_quat);
+  INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
   /* Compute LTP to BODY rotation matrix */
-  INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, booz_imu.body_to_imu_rmat);
+  INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
   /* compute LTP to BODY eulers */
   INT32_EULERS_OF_RMAT(booz_ahrs.ltp_to_body_euler, booz_ahrs.ltp_to_body_rmat);
   /* compute body rates */
-  INT32_RMAT_TRANSP_RATEMULT(booz_ahrs.body_rate, booz_imu.body_to_imu_rmat, booz_ahrs.imu_rate);
+  INT32_RMAT_TRANSP_RATEMULT(booz_ahrs.body_rate, imu.body_to_imu_rmat, booz_ahrs.imu_rate);
 
 }
 
 void booz_ahrs_update_accel(void) {
 
   /* build a measurement assuming constant acceleration ?!! */
-  INT32_ATAN2(measurement.phi, -booz_imu.accel.y, -booz_imu.accel.z);
+  INT32_ATAN2(measurement.phi, -imu.accel.y, -imu.accel.z);
   int32_t cphi;
   PPRZ_ITRIG_COS(cphi, measurement.phi);
-  int32_t cphi_ax = -INT_MULT_RSHIFT(cphi, booz_imu.accel.x, INT32_TRIG_FRAC);
+  int32_t cphi_ax = -INT_MULT_RSHIFT(cphi, imu.accel.x, INT32_TRIG_FRAC);
-  INT32_ATAN2(measurement.theta, -cphi_ax, -booz_imu.accel.z);
+  INT32_ATAN2(measurement.theta, -cphi_ax, -imu.accel.z);
   measurement.phi *= F_UPDATE;
   measurement.theta *= F_UPDATE;
 
@@ -171,17 +171,17 @@ void booz_ahrs_update_mag(void) {
   //int32_t cphi_ctheta = (cphi*ctheta)>>INT32_TRIG_FRAC;
 
   const int32_t mn =
-    ctheta      * booz_imu.mag.x +
+    ctheta      * imu.mag.x +
-    sphi_stheta * booz_imu.mag.y +
+    sphi_stheta * imu.mag.y +
-    cphi_stheta * booz_imu.mag.z;
+    cphi_stheta * imu.mag.z;
   const int32_t me =
-    0           * booz_imu.mag.x +
+    0           * imu.mag.x +
-    cphi        * booz_imu.mag.y +
+    cphi        * imu.mag.y +
-    -sphi       * booz_imu.mag.z;
+    -sphi       * imu.mag.z;
   //const int32_t md =
-  //  -stheta     * booz_imu.mag.x +
+  //  -stheta     * imu.mag.x +
-  //  sphi_ctheta * booz_imu.mag.y +
+  //  sphi_ctheta * imu.mag.y +
-  //  cphi_ctheta * booz_imu.mag.z;
+  //  cphi_ctheta * imu.mag.z;
   float m_psi = -atan2(me, mn);
   measurement.psi = ((m_psi - RadOfDeg(booz_ahrs_mag_offset))*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
 

sw/airborne/booz/ahrs/booz_ahrs_float_ekf.c

@@ -121,7 +121,7 @@ extern void booz_ahrs_align(void);
 
 void booz_ahrs_propagate(void) {
   /* compute unbiased rates */
-  RATES_FLOAT_OF_BFP(bafe_rates, booz_imu.gyro);
+  RATES_FLOAT_OF_BFP(bafe_rates, imu.gyro);
   RATES_SUB(bafe_rates, bafe_bias);
 
   /* compute F 

sw/airborne/booz/ahrs/booz_ahrs_float_lkf.c

@@ -24,7 +24,7 @@
 
 #include "booz_ahrs_float_lkf.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_ahrs_aligner.h"
 
 #include "airframe.h"
@@ -200,13 +200,13 @@ float bafl_R_mag;
 
 #define AHRS_LTP_TO_BODY() {																				\
 	/* Compute LTP to BODY quaternion */																	\
-	INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_ahrs.ltp_to_imu_quat, booz_imu.body_to_imu_quat);	\
+	INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);	\
 	/* Compute LTP to BODY rotation matrix */																\
-	INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, booz_imu.body_to_imu_rmat);	\
+	INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);	\
 	/* compute LTP to BODY eulers */																		\
 	INT32_EULERS_OF_RMAT(booz_ahrs.ltp_to_body_euler, booz_ahrs.ltp_to_body_rmat);							\
 	/* compute body rates */																				\
-	INT32_RMAT_TRANSP_RATEMULT(booz_ahrs.body_rate, booz_imu.body_to_imu_rmat, booz_ahrs.imu_rate);			\
+	INT32_RMAT_TRANSP_RATEMULT(booz_ahrs.body_rate, imu.body_to_imu_rmat, booz_ahrs.imu_rate);			\
 }
 
 
@@ -256,7 +256,7 @@ void booz_ahrs_align(void) {
 
 static inline void booz_ahrs_lowpass_accel(void) {
 	// get latest measurement
-	ACCELS_FLOAT_OF_BFP(bafl_accel_last, booz_imu.accel);
+	ACCELS_FLOAT_OF_BFP(bafl_accel_last, imu.accel);
 	// low pass it
 	VECT3_ADD(bafl_accel_measure, bafl_accel_last);
 	VECT3_SDIV(bafl_accel_measure, bafl_accel_measure, 2);
@@ -290,7 +290,7 @@ void booz_ahrs_propagate(void) {
     booz_ahrs_lowpass_accel();
 
 	/* compute unbiased rates */
-	RATES_FLOAT_OF_BFP(bafl_rates, booz_imu.gyro);
+	RATES_FLOAT_OF_BFP(bafl_rates, imu.gyro);
 	RATES_SUB(bafl_rates, bafl_bias);
 
 
@@ -647,7 +647,7 @@ static void booz_ahrs_do_update_mag(void) {
 	printf("Mag update.\n");
 #endif
 
-	MAGS_FLOAT_OF_BFP(bafl_mag, booz_imu.mag);
+	MAGS_FLOAT_OF_BFP(bafl_mag, imu.mag);
 
 	/* P_prio = P */
 	for (i = 0; i < BAFL_SSIZE; i++) {

sw/airborne/booz/booz2_ins.c

@@ -24,7 +24,7 @@
 
 #include "booz2_ins.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "firmwares/rotorcraft/baro.h"
 #include "booz_gps.h"
 
@@ -149,7 +149,7 @@ void booz_ins_realign_v(float z) {
 void booz_ins_propagate() {
   /* untilt accels */
   struct Int32Vect3 accel_body;
-  INT32_RMAT_TRANSP_VMULT(accel_body, booz_imu.body_to_imu_rmat, booz_imu.accel);
+  INT32_RMAT_TRANSP_VMULT(accel_body, imu.body_to_imu_rmat, imu.accel);
   struct Int32Vect3 accel_ltp;
   INT32_RMAT_TRANSP_VMULT(accel_ltp, booz_ahrs.ltp_to_body_rmat, accel_body);
   float z_accel_float = ACCEL_FLOAT_OF_BFP(accel_ltp.z);

sw/airborne/booz/booz2_telemetry.h

@@ -46,7 +46,7 @@
 #define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
 
 #include "booz2_battery.h"
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_gps.h"
 #include "booz2_ins.h"
 #include "booz_ahrs.h"
@@ -57,10 +57,10 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #ifdef USE_GPS
 #define PERIODIC_SEND_BOOZ_STATUS(_chan) {				\
-    uint32_t booz_imu_nb_err = 0;					\
+    uint32_t imu_nb_err = 0;					\
     uint8_t _twi_blmc_nb_err = 0;					\
     DOWNLINK_SEND_BOOZ_STATUS(_chan,					\
-			      &booz_imu_nb_err,				\
+			      &imu_nb_err,				\
 			      &_twi_blmc_nb_err,			\
 			      &radio_control.status,			\
 			      &booz_gps_state.fix,			\
@@ -75,11 +75,11 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
   }
 #else /* !USE_GPS */
 #define PERIODIC_SEND_BOOZ_STATUS(_chan) {				\
-    uint32_t booz_imu_nb_err = 0;					\
+    uint32_t imu_nb_err = 0;					\
     uint8_t twi_blmc_nb_err = 0;					\
     uint8_t  fix = BOOZ2_GPS_FIX_NONE;					\
     DOWNLINK_SEND_BOOZ_STATUS(_chan,					\
-			      &booz_imu_nb_err,				\
+			      &imu_nb_err,				\
 			      &twi_blmc_nb_err,				\
 			      &radio_control.status,			\
 			      &fix,					\
@@ -130,44 +130,44 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #define PERIODIC_SEND_BOOZ2_GYRO(_chan) {		\
     DOWNLINK_SEND_BOOZ2_GYRO(_chan,			\
-			     &booz_imu.gyro.p,		\
+			     &imu.gyro.p,		\
-			     &booz_imu.gyro.q,		\
+			     &imu.gyro.q,		\
-			     &booz_imu.gyro.r);		\
+			     &imu.gyro.r);		\
   }
 
 #define PERIODIC_SEND_BOOZ2_ACCEL(_chan) {			\
     DOWNLINK_SEND_BOOZ2_ACCEL(_chan,				\
-			      &booz_imu.accel.x,		\
+			      &imu.accel.x,		\
-			      &booz_imu.accel.y,		\
+			      &imu.accel.y,		\
-			      &booz_imu.accel.z);		\
+			      &imu.accel.z);		\
   }
 
 #define PERIODIC_SEND_BOOZ2_MAG(_chan) {			\
     DOWNLINK_SEND_BOOZ2_MAG(_chan,				\
-			    &booz_imu.mag.x,			\
+			    &imu.mag.x,			\
-			    &booz_imu.mag.y,			\
+			    &imu.mag.y,			\
-			    &booz_imu.mag.z);			\
+			    &imu.mag.z);			\
   }
 
 #define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {				\
     DOWNLINK_SEND_IMU_GYRO_RAW(_chan,					\
-			       &booz_imu.gyro_unscaled.p,		\
+			       &imu.gyro_unscaled.p,		\
-			       &booz_imu.gyro_unscaled.q,		\
+			       &imu.gyro_unscaled.q,		\
-			       &booz_imu.gyro_unscaled.r);		\
+			       &imu.gyro_unscaled.r);		\
   }
 
 #define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {				\
     DOWNLINK_SEND_IMU_ACCEL_RAW(_chan,					\
-				&booz_imu.accel_unscaled.x,		\
+				&imu.accel_unscaled.x,		\
-				&booz_imu.accel_unscaled.y,		\
+				&imu.accel_unscaled.y,		\
-				&booz_imu.accel_unscaled.z);		\
+				&imu.accel_unscaled.z);		\
   }
 
 #define PERIODIC_SEND_IMU_MAG_RAW(_chan) {				\
     DOWNLINK_SEND_IMU_MAG_RAW(_chan,					\
-			      &booz_imu.mag_unscaled.x,			\
+			      &imu.mag_unscaled.x,			\
-			      &booz_imu.mag_unscaled.y,			\
+			      &imu.mag_unscaled.y,			\
-			      &booz_imu.mag_unscaled.z);		\
+			      &imu.mag_unscaled.z);		\
   }
 
 /* FIXME: make that depend on board */
@@ -307,9 +307,9 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 				       &booz_ahrs_aligner.lp_gyro.p,	\
 				       &booz_ahrs_aligner.lp_gyro.q,	\
 				       &booz_ahrs_aligner.lp_gyro.r,	\
-				       &booz_imu.gyro.p,		\
+				       &imu.gyro.p,		\
-				       &booz_imu.gyro.q,		\
+				       &imu.gyro.q,		\
-				       &booz_imu.gyro.r,		\
+				       &imu.gyro.r,		\
 				       &booz_ahrs_aligner.noise,	\
 				       &booz_ahrs_aligner.low_noise_cnt); \
   }

sw/airborne/booz/booz_ahrs.c

@@ -22,7 +22,7 @@
  */
 
 #include "booz_ahrs.h"
-#include "booz_imu.h"
+#include "imu.h"
 
 struct BoozAhrs booz_ahrs;
 struct BoozAhrsFloat booz_ahrs_float;

sw/airborne/booz/booz_fms.c

@@ -23,7 +23,7 @@
 
 #include "booz_fms.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_gps.h"
 #include "booz_ahrs.h"
 
@@ -71,9 +71,9 @@ void booz_fms_set_enabled(bool_t enabled) {
 
 void booz_fms_update_info(void) {
 
-  //  PPRZ_INT16_OF_INT32_RATES(booz_fms_info.imu.gyro,  booz_imu.gyro);
+  //  PPRZ_INT16_OF_INT32_RATES(booz_fms_info.imu.gyro,  imu.gyro);
-  // PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.accel, booz_imu.accel);
+  // PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.accel, imu.accel);
-  //PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.mag,   booz_imu.mag);
+  //PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.mag,   imu.mag);
 
   //PPRZ_INT32_VECT3_COPY(booz_fms_info.gps.pos, booz_gps_state.ecef_pos);
   //PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.gps.speed, booz_gps_state.ecef_speed);

sw/airborne/booz/ins/booz2_hf_float-old.c

@@ -24,7 +24,7 @@
 #include "booz2_hf_float.h"
 #include "booz2_ins.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_ahrs.h"
 #include "math/pprz_algebra_int.h"
 
@@ -54,7 +54,7 @@ void b2ins_propagate(void) {
   VECT3_SDIV(scaled_biases, b2ins_accel_bias, (1<<(B2INS_ACCEL_BIAS_FRAC-B2INS_ACCEL_LTP_FRAC)));
   struct Int32Vect3 accel_imu;
   /* unbias accelerometers */
-  VECT3_DIFF(accel_imu, booz_imu.accel, scaled_biases);
+  VECT3_DIFF(accel_imu, imu.accel, scaled_biases);
   /* convert to LTP */
   //  BOOZ_IQUAT_VDIV(b2ins_accel_ltp, booz_ahrs.ltp_to_imu_quat, accel_imu);
   INT32_RMAT_TRANSP_VMULT(b2ins_accel_ltp,  booz_ahrs.ltp_to_imu_rmat, accel_imu);

sw/airborne/booz/ins/booz2_hf_float.c

@@ -24,7 +24,7 @@
 
 #include "booz2_hf_float.h"
 #include "booz2_ins.h"
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_ahrs.h"
 #include "booz_gps.h"
 #include <stdlib.h>
@@ -112,7 +112,7 @@ struct AccBuf acc_body;
 struct Int32Vect3 acc_body_mean;
 
 void b2_hff_store_accel_body(void) {
-  INT32_RMAT_TRANSP_VMULT(acc_body.buf[acc_body.w], booz_imu.body_to_imu_rmat,  booz_imu.accel);
+  INT32_RMAT_TRANSP_VMULT(acc_body.buf[acc_body.w], imu.body_to_imu_rmat,  imu.accel);
   acc_body.w = (acc_body.w + 1) < acc_body.size ? (acc_body.w + 1) : 0;
 
   /* once the buffer is full it always has the last acc_body.size accel measurements */

sw/airborne/booz/stabilization/booz_stabilization_rate.c

@@ -26,7 +26,7 @@
 
 #include "booz_ahrs.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_radio_control.h"
 #include "airframe.h"
 

sw/airborne/booz/test/booz_test_imu.c

@@ -31,7 +31,7 @@
 #include "messages.h"
 #include "downlink.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "interrupt_hw.h"
 
@@ -58,7 +58,7 @@ static inline void main_init( void ) {
 
   hw_init();
   sys_time_init();
-  booz_imu_init();
+  imu_init();
 
   DEBUG_SERVO1_INIT();
   DEBUG_SERVO2_INIT();
@@ -86,19 +86,19 @@ static inline void main_periodic_task( void ) {
 			       &i2c2_errors.last_unexpected_event);
     });
 #endif
-  if (cpu_time_sec > 1) booz_imu_periodic();
+  if (cpu_time_sec > 1) imu_periodic();
   RunOnceEvery(10, { LED_PERIODIC();});
 }
 
 static inline void main_event_task( void ) {
 
-  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+  ImuEvent(on_gyro_accel_event, on_mag_event);
 
 }
 
 static inline void on_gyro_accel_event(void) {
-  BoozImuScaleGyro(booz_imu);
+  ImuScaleGyro(imu);
-  BoozImuScaleAccel(booz_imu);
+  ImuScaleAccel(imu);
 
   LED_TOGGLE(2);
   static uint8_t cnt;
@@ -107,45 +107,45 @@ static inline void on_gyro_accel_event(void) {
 
   if (cnt == 0) {
     DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
-			       &booz_imu.gyro_unscaled.p,
+			       &imu.gyro_unscaled.p,
-			       &booz_imu.gyro_unscaled.q,
+			       &imu.gyro_unscaled.q,
-			       &booz_imu.gyro_unscaled.r);
+			       &imu.gyro_unscaled.r);
     
     DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
-				&booz_imu.accel_unscaled.x,
+				&imu.accel_unscaled.x,
-				&booz_imu.accel_unscaled.y,
+				&imu.accel_unscaled.y,
-				&booz_imu.accel_unscaled.z);
+				&imu.accel_unscaled.z);
   }
   else if (cnt == 7) {
     DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
-			     &booz_imu.gyro.p,
+			     &imu.gyro.p,
-			     &booz_imu.gyro.q,
+			     &imu.gyro.q,
-			     &booz_imu.gyro.r);
+			     &imu.gyro.r);
     
     DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
-			      &booz_imu.accel.x,
+			      &imu.accel.x,
-			      &booz_imu.accel.y,
+			      &imu.accel.y,
-			      &booz_imu.accel.z);
+			      &imu.accel.z);
   }
 }
 
 
 static inline void on_mag_event(void) {
-  BoozImuScaleMag(booz_imu);
+  ImuScaleMag(imu);
   static uint8_t cnt;
   cnt++;
   if (cnt > 1) cnt = 0;
 
   if (cnt%2) {
     DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
-			    &booz_imu.mag.x,
+			    &imu.mag.x,
-			    &booz_imu.mag.y,
+			    &imu.mag.y,
-			    &booz_imu.mag.z);
+			    &imu.mag.z);
   }
   else {
     DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
-			      &booz_imu.mag_unscaled.x,
+			      &imu.mag_unscaled.x,
-			      &booz_imu.mag_unscaled.y,
+			      &imu.mag_unscaled.y,
-			      &booz_imu.mag_unscaled.z);
+			      &imu.mag_unscaled.z);
   }
 }

sw/airborne/booz/test/imu_dummy.c

@@ -1,3 +1,3 @@
-#include "booz_imu.h"
+#include "imu.h"
 
-void booz_imu_impl_init(void) {}
+void imu_impl_init(void) {}

sw/airborne/booz/test/test_mlkf.c

@@ -2,7 +2,7 @@
 #include <string.h>
 
 #include "math/pprz_algebra_double.h"
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_ahrs.h"
 #include "ahrs/booz_ahrs_mlkf.h"
 
@@ -39,7 +39,7 @@ int main(int argc, char** argv) {
   
   read_data(IN_FILE);
 
-  booz_imu_init();
+  imu_init();
   booz_ahrs_init();
 
   for (int i=0; i<nb_samples; i++) {
@@ -79,14 +79,14 @@ static void read_data(const char* filename) {
 
 static void feed_imu(int i) {
   if (i>0) {
-    RATES_COPY(booz_imu.gyro_prev, booz_imu.gyro);
+    RATES_COPY(imu.gyro_prev, imu.gyro);
   }
   else {
-    RATES_BFP_OF_REAL(booz_imu.gyro_prev, samples[0].gyro);
+    RATES_BFP_OF_REAL(imu.gyro_prev, samples[0].gyro);
   }
-  RATES_BFP_OF_REAL(booz_imu.gyro, samples[i].gyro);
+  RATES_BFP_OF_REAL(imu.gyro, samples[i].gyro);
-  ACCELS_BFP_OF_REAL(booz_imu.accel, samples[i].accel);
+  ACCELS_BFP_OF_REAL(imu.accel, samples[i].accel);
-  MAGS_BFP_OF_REAL(booz_imu.mag, samples[i].mag);
+  MAGS_BFP_OF_REAL(imu.mag, samples[i].mag);
 }
 
 

sw/airborne/csc/mercury_main.c

@@ -40,7 +40,7 @@
 
 #include "csc_msg_def.h"
 #include ACTUATORS
-#include "booz/booz_imu.h"
+#include "imu.h"
 #include "booz/ahrs/booz_ahrs_aligner.h"
 #include "booz/booz_ahrs.h"
 #include "mercury_xsens.h"
@@ -112,7 +112,7 @@ static inline void csc_main_init( void ) {
   Uart0Init();
   Uart1Init();
   
-  booz_imu_init();
+  imu_init();
 
   booz_ahrs_aligner_init();
   booz_ahrs_init();

sw/airborne/csc/mercury_xsens.c

@@ -27,10 +27,10 @@
  */
 
 #include "mercury_xsens.h"
-#include "booz/booz_imu.h"
+#include "imu.h"
 #include "booz/booz_ahrs.h"
 #include "booz/ahrs/booz_ahrs_aligner.h"
-#include "booz/booz_imu.h"
+#include "imu.h"
 #include "csc_booz2_ins.h"
 
 #include <inttypes.h>
@@ -202,7 +202,7 @@ static uint8_t xsens_msg_idx[XSENS_COUNT];
 static uint8_t ck[XSENS_COUNT];
 static uint8_t send_ck[XSENS_COUNT];
 
-void booz_imu_impl_init( void  )
+void imu_impl_init( void  )
 {
 
 }
@@ -220,17 +220,17 @@ void xsens_init( void )
     xsens_msg_buf_ci[i] = 0;
     FLOAT_RMAT_ZERO(xsens_rmat_neutral[i]);
   }
-  booz_imu.accel_neutral.x = IMU_ACCEL_X_NEUTRAL;
+  imu.accel_neutral.x = IMU_ACCEL_X_NEUTRAL;
-  booz_imu.accel_neutral.y = IMU_ACCEL_Y_NEUTRAL;
+  imu.accel_neutral.y = IMU_ACCEL_Y_NEUTRAL;
-  booz_imu.accel_neutral.z = IMU_ACCEL_Z_NEUTRAL;
+  imu.accel_neutral.z = IMU_ACCEL_Z_NEUTRAL;
 
-  booz_imu.gyro_neutral.p = IMU_GYRO_P_NEUTRAL;
+  imu.gyro_neutral.p = IMU_GYRO_P_NEUTRAL;
-  booz_imu.gyro_neutral.q = IMU_GYRO_Q_NEUTRAL;
+  imu.gyro_neutral.q = IMU_GYRO_Q_NEUTRAL;
-  booz_imu.gyro_neutral.r = IMU_GYRO_R_NEUTRAL;
+  imu.gyro_neutral.r = IMU_GYRO_R_NEUTRAL;
 
-  booz_imu.mag_neutral.x = IMU_MAG_X_NEUTRAL;
+  imu.mag_neutral.x = IMU_MAG_X_NEUTRAL;
-  booz_imu.mag_neutral.y = IMU_MAG_Y_NEUTRAL;
+  imu.mag_neutral.y = IMU_MAG_Y_NEUTRAL;
-  booz_imu.mag_neutral.z = IMU_MAG_Z_NEUTRAL;
+  imu.mag_neutral.z = IMU_MAG_Z_NEUTRAL;
   // Also TODO: set scenario to aerospace
   // set magnetic declination angle
   // Probably quicker to just set everything once via MT Manager software
@@ -301,18 +301,18 @@ void xsens_parse_msg( uint8_t xsens_id ) {
     uint8_t offset = 0;
     // test RAW modes else calibrated modes 
       if (XSENS_MASK_RAWInertial(xsens_output_mode[xsens_id])){// || (XSENS_MASK_RAWGPS(xsens2_output_mode))) {
-	booz_imu.accel_unscaled.x = XSENS_DATA_RAWInertial_accZ(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.accel_unscaled.x = XSENS_DATA_RAWInertial_accZ(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.accel_unscaled.y = XSENS_DATA_RAWInertial_accY(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.accel_unscaled.y = XSENS_DATA_RAWInertial_accY(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.accel_unscaled.z = XSENS_DATA_RAWInertial_accX(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.accel_unscaled.z = XSENS_DATA_RAWInertial_accX(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.gyro_unscaled.p = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.gyro_unscaled.p = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.gyro_unscaled.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.gyro_unscaled.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.gyro_unscaled.r = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.gyro_unscaled.r = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf[xsens_id][buf_slot],offset);
-        booz_imu.mag_unscaled.x  = XSENS_DATA_RAWInertial_magZ(xsens_msg_buf[xsens_id][buf_slot],offset);
+        imu.mag_unscaled.x  = XSENS_DATA_RAWInertial_magZ(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.mag_unscaled.y  = XSENS_DATA_RAWInertial_magY(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.mag_unscaled.y  = XSENS_DATA_RAWInertial_magY(xsens_msg_buf[xsens_id][buf_slot],offset);
-	booz_imu.mag_unscaled.z  = XSENS_DATA_RAWInertial_magX(xsens_msg_buf[xsens_id][buf_slot],offset);
+	imu.mag_unscaled.z  = XSENS_DATA_RAWInertial_magX(xsens_msg_buf[xsens_id][buf_slot],offset);
-	BoozImuScaleGyro(booz_imu);
+	ImuScaleGyro(imu);
-	BoozImuScaleAccel(booz_imu);
+	ImuScaleAccel(imu);
-	BoozImuScaleMag(booz_imu);
+	ImuScaleMag(imu);
 	
 	// Copied from booz2_main -- 5143134f060fcc57ce657e17d8b7fc2e72119fd7
 	// mmt 6/15/09

sw/airborne/csc/mercury_xsens.h

@@ -65,21 +65,21 @@ extern int xsens_setzero;
 #include "booz_ahrs.h"
 
 #define PERIODIC_SEND_BOOZ2_GYRO() {			\
-    DOWNLINK_SEND_BOOZ2_GYRO(&booz_imu.gyro.p,		\
+    DOWNLINK_SEND_BOOZ2_GYRO(&imu.gyro.p,		\
-			     &booz_imu.gyro.q,		\
+			     &imu.gyro.q,		\
-			     &booz_imu.gyro.r);		\
+			     &imu.gyro.r);		\
   }
 
 #define PERIODIC_SEND_BOOZ2_ACCEL() {				\
-    DOWNLINK_SEND_BOOZ2_ACCEL(&booz_imu.accel.x,		\
+    DOWNLINK_SEND_BOOZ2_ACCEL(&imu.accel.x,		\
-			      &booz_imu.accel.y,		\
+			      &imu.accel.y,		\
-			      &booz_imu.accel.z);		\
+			      &imu.accel.z);		\
   }
 
 #define PERIODIC_SEND_BOOZ2_MAG() {				\
-    DOWNLINK_SEND_BOOZ2_MAG(&booz_imu.mag.x,			\
+    DOWNLINK_SEND_BOOZ2_MAG(&imu.mag.x,			\
-			    &booz_imu.mag.y,			\
+			    &imu.mag.y,			\
-			    &booz_imu.mag.z);			\
+			    &imu.mag.z);			\
   }
 
 #define PERIODIC_SEND_BOOZ2_AHRS_EULER() {			\

sw/airborne/firmwares/rotorcraft/imu.c

@@ -21,18 +21,18 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "airframe.h"
 
-struct BoozImu booz_imu;
+struct Imu imu;
 
-void booz_imu_init(void) {
+void imu_init(void) {
 
   /* initialises neutrals */
-  RATES_ASSIGN(booz_imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
+  RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
-  VECT3_ASSIGN(booz_imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
+  VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
-  VECT3_ASSIGN(booz_imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
+  VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
 
   /*
     Compute quaternion and rotation matrix
@@ -43,10 +43,10 @@ void booz_imu_init(void) {
     { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
       ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
       ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
-  INT32_QUAT_OF_EULERS(booz_imu.body_to_imu_quat, body_to_imu_eulers);
+  INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
-  INT32_QUAT_NORMALISE(booz_imu.body_to_imu_quat);
+  INT32_QUAT_NORMALISE(imu.body_to_imu_quat);
-  INT32_RMAT_OF_EULERS(booz_imu.body_to_imu_rmat, body_to_imu_eulers);
+  INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
 #endif
 
-  booz_imu_impl_init();
+  imu_impl_init();
 }

sw/airborne/firmwares/rotorcraft/imu.h

@@ -28,10 +28,10 @@
 #include "math/pprz_algebra_float.h"
 
 /* must be defined by underlying hardware */
-extern void booz_imu_impl_init(void);
+extern void imu_impl_init(void);
-extern void booz_imu_periodic(void);
+extern void imu_periodic(void);
 
-struct BoozImu {
+struct Imu {
   struct Int32Rates gyro;
   struct Int32Vect3 accel;
   struct Int32Vect3 mag;
@@ -48,7 +48,7 @@ struct BoozImu {
 };
 
 /* abstract IMU interface providing floating point interface  */
-struct BoozImuFloat {
+struct ImuFloat {
   struct FloatRates   gyro;
   struct FloatVect3   accel;
   struct FloatVect3   mag;
@@ -64,11 +64,11 @@ struct BoozImuFloat {
 #include BOOZ_IMU_TYPE_H
 #endif
 
-extern struct BoozImu booz_imu;
+extern struct Imu imu;
 
-extern void booz_imu_init(void);
+extern void imu_init(void);
 
-#define BoozImuScaleGyro(_imu) {					\
+#define ImuScaleGyro(_imu) {					\
     RATES_COPY(_imu.gyro_prev, _imu.gyro);				\
     _imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
     _imu.gyro.q = ((_imu.gyro_unscaled.q - _imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
@@ -76,7 +76,7 @@ extern void booz_imu_init(void);
   }
 
 
-#define BoozImuScaleAccel(_imu) {					\
+#define ImuScaleAccel(_imu) {					\
     VECT3_COPY(_imu.accel_prev, _imu.accel);				\
     _imu.accel.x = ((_imu.accel_unscaled.x - _imu.accel_neutral.x)*IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN; \
     _imu.accel.y = ((_imu.accel_unscaled.y - _imu.accel_neutral.y)*IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN; \
@@ -84,7 +84,7 @@ extern void booz_imu_init(void);
   }
 
 #if defined IMU_MAG_45_HACK
-#define BoozImuScaleMag(_imu) {						\
+#define ImuScaleMag(_imu) {						\
     int32_t msx = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN * IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
     int32_t msy = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN * IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
     _imu.mag.x = msx - msy;						\
@@ -92,7 +92,7 @@ extern void booz_imu_init(void);
     _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN * IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
   }
 #else
-#define BoozImuScaleMag(_imu) {						\
+#define ImuScaleMag(_imu) {						\
     _imu.mag.x = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN * IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
     _imu.mag.y = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN * IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
     _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN * IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \

sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c

@@ -21,9 +21,9 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
-volatile uint8_t booz_imu_ssp_status;
+volatile uint8_t imu_ssp_status;
 static void SSP_ISR(void) __attribute__((naked));
 #if 0
 static inline bool_t isr_try_mag(void);
@@ -52,18 +52,18 @@ static inline bool_t isr_try_mag(void);
 #define SSP_PINSEL1_MOSI (2<<6)
 
 
-#define BoozImuSetSSP8bits() { \
+#define ImuSetSSP8bits() { \
     SSPCR0 = SSPCR0_VAL8;      \
 }
 
-#define BoozImuSetSSP16bits() { \
+#define ImuSetSSP16bits() { \
     SSPCR0 = SSPCR0_VAL16;	\
 }
 
 
-void booz_imu_b2_arch_init(void) {
+void imu_b2_arch_init(void) {
 
-  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+  imu_ssp_status = IMU_SSP_STA_IDLE;
 
   /* setup pins for SSP (SCK, MISO, MOSI) */
   PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
@@ -82,14 +82,14 @@ void booz_imu_b2_arch_init(void) {
 }
 
 
-void booz_imu_periodic(void) {
+void imu_periodic(void) {
   // check ssp idle
-  // ASSERT((booz_imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
+  // ASSERT((imu_status == IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
 
   // setup 16 bits
-  BoozImuSetSSP16bits();
+  ImuSetSSP16bits();
   // read adc
-  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
+  imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
   booz_max1168_read();
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
   RunOnceEvery(10, { ami601_read(); });
@@ -147,36 +147,36 @@ static void SSP_ISR(void) {
 static void SSP_ISR(void) {
  ISR_ENTRY();
 
- switch (booz_imu_ssp_status) {
+ switch (imu_ssp_status) {
- case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
+ case IMU_SSP_STA_BUSY_MAX1168:
    Max1168OnSpiInt();
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
   if (ms2001_status == MS2001_IDLE || ms2001_status == MS2001_GOT_EOC) {
-     BoozImuSetSSP8bits();
+     ImuSetSSP8bits();
      if (ms2001_status == MS2001_IDLE) {
        Ms2001SendReq();
      }
      else { /* MS2001_GOT_EOC */
        Ms2001ReadRes();
      }
-     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+     imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
    }
    else {
 #endif
-     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+     imu_ssp_status = IMU_SSP_STA_IDLE;
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
    }
 #endif
   break;
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
- case BOOZ_IMU_SSP_STA_BUSY_MS2100:
+ case IMU_SSP_STA_BUSY_MS2100:
    Ms2001OnSpiIt();
    if (ms2001_status == MS2001_IDLE) {
     Ms2001SendReq();
-    booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+    imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
    }
    else
-     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+     imu_ssp_status = IMU_SSP_STA_IDLE;
    break;
 #endif
    // default:

sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.h

@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_B2_ARCH_H
+#ifndef IMU_B2_ARCH_H
-#define BOOZ_IMU_B2_ARCH_H
+#define IMU_B2_ARCH_H
 
 /*
 
@@ -41,12 +41,12 @@
 #include "LPC21xx.h"
 #include "interrupt_hw.h"
 
-#define BOOZ_IMU_SSP_STA_IDLE           0
+#define IMU_SSP_STA_IDLE           0
-#define BOOZ_IMU_SSP_STA_BUSY_MAX1168   1
+#define IMU_SSP_STA_BUSY_MAX1168   1
-#define BOOZ_IMU_SSP_STA_BUSY_MS2100    2
+#define IMU_SSP_STA_BUSY_MS2100    2
-extern volatile uint8_t booz_imu_ssp_status;
+extern volatile uint8_t imu_ssp_status;
 
 
 
 
-#endif /* BOOZ_IMU_B2_ARCH_H */
+#endif /* IMU_B2_ARCH_H */

sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c

@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "LPC21xx.h"
 #include "armVIC.h"
@@ -55,7 +55,7 @@
 static void SPI1_ISR(void) __attribute__((naked));
 static uint8_t channel;
 
-void booz_imu_crista_arch_init(void) {
+void imu_crista_arch_init(void) {
   channel = 0;
 
   /* setup pins for SSP (SCK, MISO, MOSI) */

sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h

@@ -28,7 +28,7 @@
 
 
 
-#define BoozImuCristaArchPeriodic() {		\
+#define ImuCristaArchPeriodic() {		\
     ADS8344_start();				\
   }
 

sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c

@@ -21,21 +21,21 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "airframe.h"
 
-void booz_imu_b2_arch_init(void) {
+void imu_b2_arch_init(void) {
 
 }
 
-void booz_imu_periodic(void) {
+void imu_periodic(void) {
 
 }
 
 #include "nps_sensors.h"
 
-void booz_imu_feed_gyro_accel(void) {
+void imu_feed_gyro_accel(void) {
   booz_max1168_values[IMU_GYRO_P_CHAN]  = sensors.gyro.value.x;
   booz_max1168_values[IMU_GYRO_Q_CHAN]  = sensors.gyro.value.y;
   booz_max1168_values[IMU_GYRO_R_CHAN]  = sensors.gyro.value.z;
@@ -46,7 +46,7 @@ void booz_imu_feed_gyro_accel(void) {
 }
 
 
-void booz_imu_feed_mag(void) {
+void imu_feed_mag(void) {
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
   ms2001_values[IMU_MAG_X_CHAN] = sensors.mag.value.x;
   ms2001_values[IMU_MAG_Y_CHAN] = sensors.mag.value.y;

sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.h

@@ -30,8 +30,8 @@
 #define BOOZ2_IMU_B2_ARCH_H
 
 
-extern void booz_imu_feed_gyro_accel(void);
+extern void imu_feed_gyro_accel(void);
-extern void booz_imu_feed_mag(void);
+extern void imu_feed_mag(void);
 
 
 #endif /* BOOZ2_IMU_B2_HW_H */

sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c

@@ -2,18 +2,18 @@
  * simulator ARCH for rotorcraft imu crista
  */
 
-#include "booz/booz_imu.h"
+#include "imu.h"
 
 #include "airframe.h"
 
-void booz_imu_crista_arch_init(void) {
+void imu_crista_arch_init(void) {
 
 }
 
 
 #include "nps_sensors.h"
 
-void booz_imu_feed_gyro_accel(void) {
+void imu_feed_gyro_accel(void) {
   ADS8344_values[IMU_GYRO_P_CHAN]  = sensors.gyro.value.x;
   ADS8344_values[IMU_GYRO_Q_CHAN]  = sensors.gyro.value.y;
   ADS8344_values[IMU_GYRO_R_CHAN]  = sensors.gyro.value.z;
@@ -23,7 +23,7 @@ void booz_imu_feed_gyro_accel(void) {
   ADS8344_available = TRUE;
 }
 
-void booz_imu_feed_mag(void) {
+void imu_feed_mag(void) {
   ami601_values[IMU_MAG_X_CHAN] = sensors.mag.value.x;
   ami601_values[IMU_MAG_Y_CHAN] = sensors.mag.value.y;
   ami601_values[IMU_MAG_Z_CHAN] = sensors.mag.value.z;

sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h

@@ -29,13 +29,13 @@
 #ifndef BOOZ_IMU_CRISTA_ARCH_H
 #define BOOZ_IMU_CRISTA_ARCH_H
 
-#include "booz/booz_imu.h"
+#include "imu.h"
 
 
-#define BoozImuCristaArchPeriodic() {}
+#define ImuCristaArchPeriodic() {}
 
-extern void booz_imu_feed_gyro_accel(void);
+extern void imu_feed_gyro_accel(void);
-extern void booz_imu_feed_mag(void);
+extern void imu_feed_mag(void);
 
 
 #endif /* BOOZ_IMU_CRISTA_HW_H */

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c

@@ -1,4 +1,4 @@
-#include "booz_imu.h"
+#include "imu.h"
 
 #include <stm32/gpio.h>
 #include <stm32/misc.h>
@@ -21,7 +21,7 @@ void exti2_irq_handler(void);
 /* accelerometer dma end of rx handler */
 void dma1_c4_irq_handler(void);
 
-void booz_imu_aspirin_arch_init(void) {
+void imu_aspirin_arch_init(void) {
 
   GPIO_InitTypeDef GPIO_InitStructure;
   EXTI_InitTypeDef EXTI_InitStructure;

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h

@@ -1,11 +1,11 @@
 #ifndef BOOZ_IMU_ASPIRIN_ARCH_H
 #define BOOZ_IMU_ASPIRIN_ARCH_H
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "led.h"
 
-extern void booz_imu_aspirin_arch_init(void);
+extern void imu_aspirin_arch_init(void);
 extern void adxl345_write_to_reg(uint8_t addr, uint8_t val);
 extern void adxl345_clear_rx_buf(void);
 extern void adxl345_start_reading_data(void);

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c

@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
@@ -34,12 +34,12 @@
 #define BOOZ_IMU_SSP_STA_BUSY_MAX1168   1
 #define BOOZ_IMU_SSP_STA_BUSY_MS2100    2
 
-volatile uint8_t booz_imu_ssp_status;
+volatile uint8_t imu_ssp_status;
 
 void dma1_c4_irq_handler(void);
 void spi2_irq_handler(void);
 
-void booz_imu_b2_arch_init(void) {
+void imu_b2_arch_init(void) {
 
   /* Enable SPI2 Periph clock -------------------------------------------------*/
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
@@ -70,13 +70,13 @@ void booz_imu_b2_arch_init(void) {
   };
   NVIC_Init(&NVIC_init_structure_spi);
 
-  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+  imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
 }
 
-void booz_imu_periodic(void) {
+void imu_periodic(void) {
   // check ssp idle
-  // ASSERT((booz_imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
+  // ASSERT((imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
-  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
+  imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
   Max1168ConfigureSPI();
   SPI_Cmd(SPI2, ENABLE);
   booz_max1168_read();
@@ -84,27 +84,27 @@ void booz_imu_periodic(void) {
 }
 
 void dma1_c4_irq_handler(void) {
-  switch (booz_imu_ssp_status) {
+  switch (imu_ssp_status) {
   case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
     Max1168OnDmaIrq();
     SPI_Cmd(SPI2, DISABLE);
     if (ms2001_status == MS2001_IDLE) {
       Ms2001SendReq();
-      booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+      imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
     }
     else if (ms2001_status == MS2001_WAITING_EOC && Ms2001HasEOC()) {
       Ms2001ReadRes();
-      booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+      imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
     }
     else
-      booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+      imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
     break;
   case BOOZ_IMU_SSP_STA_BUSY_MS2100:
     Ms2001OnDmaIrq();
     break;
   default:
     // POST_ERROR(DEBUG_IMU, IMU_ERR_SUPRIOUS_DMA1_C4_IRQ);
-    booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+    imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
   }
 }
 

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h

@@ -1,6 +1,6 @@
 /*
- * $Id: booz_imu_b2_arch.h 3732 2009-07-20 17:46:54Z poine $
+ * $Id: imu_b2_arch.h 3732 2009-07-20 17:46:54Z poine $
- *
+ *  
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c

@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
@@ -44,7 +44,7 @@ static uint8_t buf_out[4];
 extern void dma1_c4_irq_handler(void);
 static void ADS8344_read_channel( void );
 
-void booz_imu_crista_arch_init(void) {
+void imu_crista_arch_init(void) {
 
   channel = 0;
   /* Enable SPI2 Periph clock -------------------------------------------------*/

sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h

@@ -24,7 +24,7 @@
 #define BOOZ_IMU_CRISTA_ARCH_H
 
 
-#define BoozImuCristaArchPeriodic() {		\
+#define ImuCristaArchPeriodic() {		\
     ADS8344_start();				\
   }
 

sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c

@@ -1,8 +1,8 @@
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "i2c.h"
 
-struct BoozImuAspirin imu_aspirin;
+struct ImuAspirin imu_aspirin;
 
 /* initialize peripherals */
 static void configure_gyro(void);
@@ -10,7 +10,7 @@ static void configure_mag(void);
 static void configure_accel(void);
 
 
-void booz_imu_impl_init(void) {
+void imu_impl_init(void) {
 
   imu_aspirin.status = AspirinStatusUninit;
   imu_aspirin.gyro_available = FALSE;
@@ -19,12 +19,12 @@ void booz_imu_impl_init(void) {
   imu_aspirin.mag_available = FALSE;
   imu_aspirin.accel_available = FALSE;
 
-  booz_imu_aspirin_arch_init();
+  imu_aspirin_arch_init();
 
 }
 
 
-void booz_imu_periodic(void) {
+void imu_periodic(void) {
   if (imu_aspirin.status == AspirinStatusUninit) {
     configure_gyro();
     configure_mag();

sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h

@@ -21,11 +21,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_ASPIRIN_H
+#ifndef IMU_ASPIRIN_H
-#define BOOZ_IMU_ASPIRIN_H
+#define IMU_ASPIRIN_H
 
 #include "airframe.h"
-#include "booz_imu.h"
+#include "imu.h"
 
 #include "i2c.h"
 #include "booz/peripherals/booz_itg3200.h"
@@ -56,7 +56,7 @@ enum AspirinStatus
     AspirinStatusReadingMag
   };
 
-struct BoozImuAspirin {
+struct ImuAspirin {
   volatile enum AspirinStatus status;
   struct i2c_transaction i2c_trans_gyro;
   struct i2c_transaction i2c_trans_mag;
@@ -69,18 +69,18 @@ struct BoozImuAspirin {
   volatile uint8_t accel_rx_buf[7];
 };
 
-extern struct BoozImuAspirin imu_aspirin;
+extern struct ImuAspirin imu_aspirin;
 
-#define BoozImuMagEvent(_mag_handler) {}
+#define ImuMagEvent(_mag_handler) {}
 
 
-#define BoozImuEvent(_gyro_accel_handler, _mag_handler) {		\
+#define ImuEvent(_gyro_accel_handler, _mag_handler) {		\
     if (imu_aspirin.status == AspirinStatusReadingGyro &&		\
-	imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess) {		\
+    imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess) {		\
       int16_t gp = imu_aspirin.i2c_trans_gyro.buf[0]<<8 | imu_aspirin.i2c_trans_gyro.buf[1]; \
       int16_t gq = imu_aspirin.i2c_trans_gyro.buf[2]<<8 | imu_aspirin.i2c_trans_gyro.buf[3]; \
       int16_t gr = imu_aspirin.i2c_trans_gyro.buf[4]<<8 | imu_aspirin.i2c_trans_gyro.buf[5]; \
-      RATES_ASSIGN(booz_imu.gyro_unscaled, gp, gq, gr);			\
+      RATES_ASSIGN(imu.gyro_unscaled, gp, gq, gr);			\
       if (imu_aspirin.mag_ready_for_read ) {				\
 	/* read mag */							\
 	imu_aspirin.i2c_trans_mag.type = I2CTransRx;			\
@@ -91,15 +91,15 @@ extern struct BoozImuAspirin imu_aspirin;
 	imu_aspirin.status = AspirinStatusReadingMag;			\
       }									\
       else {								\
-	imu_aspirin.status = AspirinStatusIdle;				\
+    imu_aspirin.status = AspirinStatusIdle;				\
       }									\
     }									\
     if (imu_aspirin.status == AspirinStatusReadingMag &&		\
-	imu_aspirin.i2c_trans_mag.status == I2CTransSuccess) {		\
+    imu_aspirin.i2c_trans_mag.status == I2CTransSuccess) {		\
       int16_t mx   = imu_aspirin.i2c_trans_mag.buf[0]<<8 | imu_aspirin.i2c_trans_mag.buf[1]; \
       int16_t my   = imu_aspirin.i2c_trans_mag.buf[2]<<8 | imu_aspirin.i2c_trans_mag.buf[3]; \
       int16_t mz   = imu_aspirin.i2c_trans_mag.buf[4]<<8 | imu_aspirin.i2c_trans_mag.buf[5]; \
-      VECT3_ASSIGN(booz_imu.mag_unscaled, mx, my, mz);			\
+      VECT3_ASSIGN(imu.mag_unscaled, mx, my, mz);			\
       imu_aspirin.mag_available = TRUE;					\
       imu_aspirin.status = AspirinStatusIdle;				\
 									\
@@ -117,15 +117,15 @@ extern struct BoozImuAspirin imu_aspirin;
       const int16_t ax = imu_aspirin.accel_rx_buf[1] | (imu_aspirin.accel_rx_buf[2]<<8); \
       const int16_t ay = imu_aspirin.accel_rx_buf[3] | (imu_aspirin.accel_rx_buf[4]<<8); \
       const int16_t az = imu_aspirin.accel_rx_buf[5] | (imu_aspirin.accel_rx_buf[6]<<8); \
-      VECT3_ASSIGN(booz_imu.accel_unscaled, ax, ay, az);		\
+      VECT3_ASSIGN(imu.accel_unscaled, ax, ay, az);		\
       _gyro_accel_handler();						\
     }									\
   }
 
 
 /* underlying architecture */
-#include "imu/booz_imu_aspirin_arch.h"
+#include "imu_aspirin_arch.h"
 /* must be implemented by underlying architecture */
-extern void booz_imu_b2_arch_init(void);
+extern void imu_b2_arch_init(void);
 
-#endif /* BOOZ_IMU_ASPIRIN_H */
+#endif /* IMU_ASPIRIN_H */

sw/airborne/firmwares/rotorcraft/imu/imu_b2.c

@@ -21,11 +21,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
-void booz_imu_impl_init(void) {
+void imu_impl_init(void) {
 
-  booz_imu_b2_arch_init();
+  imu_b2_arch_init();
 
   booz_max1168_init();
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001

sw/airborne/firmwares/rotorcraft/imu/imu_b2.h

@@ -21,10 +21,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_B2_H
+#ifndef IMU_B2_H
-#define BOOZ_IMU_B2_H
+#define IMU_B2_H
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "airframe.h"
 
 #include "peripherals/booz_max1168.h"
@@ -112,11 +112,11 @@
 
 #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
 #include "peripherals/booz_ms2001.h"
-#define BoozImuMagEvent(_mag_handler) {					\
+#define ImuMagEvent(_mag_handler) {					\
     if (ms2001_status == MS2001_DATA_AVAILABLE) {			\
-      booz_imu.mag_unscaled.x = ms2001_values[IMU_MAG_X_CHAN];		\
+      imu.mag_unscaled.x = ms2001_values[IMU_MAG_X_CHAN];		\
-      booz_imu.mag_unscaled.y = ms2001_values[IMU_MAG_Y_CHAN];		\
+      imu.mag_unscaled.y = ms2001_values[IMU_MAG_Y_CHAN];		\
-      booz_imu.mag_unscaled.z = ms2001_values[IMU_MAG_Z_CHAN];		\
+      imu.mag_unscaled.z = ms2001_values[IMU_MAG_Z_CHAN];		\
       ms2001_status = MS2001_IDLE;					\
       _mag_handler();							\
     }									\
@@ -124,40 +124,40 @@
 #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
 #include "peripherals/booz_ami601.h"
 #define foo_handler() {}
-#define BoozImuMagEvent(_mag_handler) {					\
+#define ImuMagEvent(_mag_handler) {					\
     AMI601Event(foo_handler);						\
     if (ami601_status == AMI601_DATA_AVAILABLE) {			\
-      booz_imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];		\
+      imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];		\
-      booz_imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];		\
+      imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];		\
-      booz_imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];		\
+      imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];		\
       ami601_status = AMI601_IDLE;					\
       _mag_handler();							\
     }									\
   }
 #else
-#define BoozImuMagEvent(_mag_handler) {}
+#define ImuMagEvent(_mag_handler) {}
 #endif
 
 
-#define BoozImuEvent(_gyro_accel_handler, _mag_handler) {		\
+#define ImuEvent(_gyro_accel_handler, _mag_handler) {		\
     if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {		\
-      booz_imu.gyro_unscaled.p  = booz_max1168_values[IMU_GYRO_P_CHAN]; \
+      imu.gyro_unscaled.p  = booz_max1168_values[IMU_GYRO_P_CHAN]; \
-      booz_imu.gyro_unscaled.q  = booz_max1168_values[IMU_GYRO_Q_CHAN]; \
+      imu.gyro_unscaled.q  = booz_max1168_values[IMU_GYRO_Q_CHAN]; \
-      booz_imu.gyro_unscaled.r  = booz_max1168_values[IMU_GYRO_R_CHAN]; \
+      imu.gyro_unscaled.r  = booz_max1168_values[IMU_GYRO_R_CHAN]; \
-      booz_imu.accel_unscaled.x = booz_max1168_values[IMU_ACCEL_X_CHAN]; \
+      imu.accel_unscaled.x = booz_max1168_values[IMU_ACCEL_X_CHAN]; \
-      booz_imu.accel_unscaled.y = booz_max1168_values[IMU_ACCEL_Y_CHAN]; \
+      imu.accel_unscaled.y = booz_max1168_values[IMU_ACCEL_Y_CHAN]; \
-      booz_imu.accel_unscaled.z = booz_max1168_values[IMU_ACCEL_Z_CHAN]; \
+      imu.accel_unscaled.z = booz_max1168_values[IMU_ACCEL_Z_CHAN]; \
       booz_max1168_status = STA_MAX1168_IDLE;				\
       _gyro_accel_handler();						\
     }									\
-    BoozImuMagEvent(_mag_handler);					\
+    ImuMagEvent(_mag_handler);					\
   }
 
 
 /* underlying architecture */
-#include "imu/booz_imu_b2_arch.h"
+#include "imu_b2_arch.h"
 /* must be implemented by underlying architecture */
-extern void booz_imu_b2_arch_init(void);
+extern void imu_b2_arch_init(void);
 
 
-#endif /* BOOZ_IMU_B2_H */
+#endif /* IMU_B2_H */

sw/airborne/firmwares/rotorcraft/imu/imu_crista.c

@@ -21,16 +21,16 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_imu.h"
+#include "imu.h"
 
 volatile bool_t ADS8344_available;
 uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
 
-void booz_imu_impl_init(void) {
+void imu_impl_init(void) {
 
   ADS8344_available = FALSE;
 
-  booz_imu_crista_arch_init();
+  imu_crista_arch_init();
 
 #ifdef USE_AMI601
   ami601_init();
@@ -38,9 +38,9 @@ void booz_imu_impl_init(void) {
 
 }
 
-void booz_imu_periodic(void) {
+void imu_periodic(void) {
 
-  BoozImuCristaArchPeriodic();
+  ImuCristaArchPeriodic();
 #ifdef USE_AMI601
   RunOnceEvery(10, { ami601_read(); });
 #endif

sw/airborne/firmwares/rotorcraft/imu/imu_crista.h

@@ -21,53 +21,53 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_CRISTA_H
+#ifndef IMU_CRISTA_H
-#define BOOZ_IMU_CRISTA_H
+#define IMU_CRISTA_H
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "airframe.h"
 
 #define ADS8344_NB_CHANNELS 8
 extern uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
 extern volatile bool_t ADS8344_available;
 
-#define BoozImuEvent(_gyro_accel_handler, _mag_handler) {		\
+#define ImuEvent(_gyro_accel_handler, _mag_handler) {		\
     if (ADS8344_available) {						\
       ADS8344_available = FALSE;					\
-      booz_imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN];	\
+      imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN];	\
-      booz_imu.gyro_unscaled.q = ADS8344_values[IMU_GYRO_Q_CHAN];	\
+      imu.gyro_unscaled.q = ADS8344_values[IMU_GYRO_Q_CHAN];	\
-      booz_imu.gyro_unscaled.r = ADS8344_values[IMU_GYRO_R_CHAN];	\
+      imu.gyro_unscaled.r = ADS8344_values[IMU_GYRO_R_CHAN];	\
-      booz_imu.accel_unscaled.x = ADS8344_values[IMU_ACCEL_X_CHAN];	\
+      imu.accel_unscaled.x = ADS8344_values[IMU_ACCEL_X_CHAN];	\
-      booz_imu.accel_unscaled.y = ADS8344_values[IMU_ACCEL_Y_CHAN];	\
+      imu.accel_unscaled.y = ADS8344_values[IMU_ACCEL_Y_CHAN];	\
-      booz_imu.accel_unscaled.z = ADS8344_values[IMU_ACCEL_Z_CHAN];	\
+      imu.accel_unscaled.z = ADS8344_values[IMU_ACCEL_Z_CHAN];	\
       /* spare 3, temp 7 */						\
       _gyro_accel_handler();						\
     }									\
-    BoozImuMagEvent(_mag_handler);					\
+    ImuMagEvent(_mag_handler);					\
   }
 
 #ifdef USE_AMI601
 #include "peripherals/booz_ami601.h"
 #define foo_handler() {}
-#define BoozImuMagEvent(_mag_handler) {					\
+#define ImuMagEvent(_mag_handler) {					\
     AMI601Event(foo_handler);						\
     if (ami601_status == AMI601_DATA_AVAILABLE) {			\
-      booz_imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];		\
+      imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];		\
-      booz_imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];		\
+      imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];		\
-      booz_imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];		\
+      imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];		\
       ami601_status = AMI601_IDLE;					\
       _mag_handler();							\
     }									\
   }
 #else
-#define BoozImuMagEvent(_mag_handler) {}
+#define ImuMagEvent(_mag_handler) {}
 #endif
 
 /* underlying architecture */
-#include "imu/booz_imu_crista_arch.h"
+#include "imu_crista_arch.h"
 /* must be defined by underlying architecture */
-extern void booz_imu_crista_arch_init(void);
+extern void imu_crista_arch_init(void);
 
 
 
-#endif /* BOOZ_IMU_CRISTA_H */
+#endif /* IMU_CRISTA_H */

sw/airborne/firmwares/rotorcraft/main.c

@@ -38,7 +38,7 @@
 #include "booz_actuators.h"
 #include "booz_radio_control.h"
 
-#include "booz_imu.h"
+#include "imu.h"
 #include "booz_gps.h"
 
 #include "booz/booz2_analog.h"
@@ -110,7 +110,7 @@ STATIC_INLINE void booz2_main_init( void ) {
 #endif
 
   booz2_battery_init();
-  booz_imu_init();
+  imu_init();
 
   booz_fms_init();
   autopilot_init();
@@ -137,7 +137,7 @@ STATIC_INLINE void booz2_main_init( void ) {
 
 STATIC_INLINE void booz2_main_periodic( void ) {
 
-  booz_imu_periodic();
+  imu_periodic();
 
   /* run control loops */
   autopilot_periodic();
@@ -199,7 +199,7 @@ STATIC_INLINE void booz2_main_event( void ) {
     RadioControlEvent(autopilot_on_rc_frame);
   }
 
-  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+  ImuEvent(on_gyro_accel_event, on_mag_event);
 
   BaroEvent(on_baro_abs_event, on_baro_dif_event);
 
@@ -217,8 +217,8 @@ STATIC_INLINE void booz2_main_event( void ) {
 
 static inline void on_gyro_accel_event( void ) {
 
-  BoozImuScaleGyro(booz_imu);
+  ImuScaleGyro(imu);
-  BoozImuScaleAccel(booz_imu);
+  ImuScaleAccel(imu);
 
   if (booz_ahrs.status == BOOZ_AHRS_UNINIT) {
     booz_ahrs_aligner_run();
@@ -248,7 +248,7 @@ static inline void on_gps_event(void) {
 }
 
 static inline void on_mag_event(void) {
-  BoozImuScaleMag(booz_imu);
+  ImuScaleMag(imu);
   if (booz_ahrs.status == BOOZ_AHRS_RUNNING)
     booz_ahrs_update_mag();
 }

sw/airborne/fms/fms_spi_autopilot_msg.c

@@ -42,11 +42,11 @@
 
 #include "airframe.h"
 #include "actuators.h"
-#include "rdyb_booz_imu.h"
+#include "rdyb_imu.h"
 #include "booz_radio_control.h"
 #include "rdyb_mahrs.h"
 
-static struct BoozImuFloat imu;
+static struct ImuFloat imu;
 static struct FloatQuat body_to_imu_quat = IMU_POSE_BODY_TO_IMU_QUAT;
 
 static void (* vane_callback)(uint8_t vane_id, float alpha, float beta) = NULL;
@@ -163,7 +163,7 @@ static void passthrough_up_parse(struct AutopilotMessagePTUp *msg_up)
   imu.mag.z = MAG_FLOAT_OF_BFP(msg_up->mag.z);
 
   if (msg_up->valid.imu)
-    rdyb_booz_imu_update(&imu);
+    rdyb_imu_update(&imu);
 }
 
 static void passthrough_down_fill(struct AutopilotMessagePTDown *msg_down)

sw/airborne/fms/overo_test_passthrough.h

@@ -2,14 +2,14 @@
 #define OVERO_TEST_PASSTHROUGH_H
 
 #include "std.h"
-#include "booz/booz_imu.h"
+#include "imu.h"
 
 struct OveroTestPassthrough {
   /* our network connection */
   char* gs_gw;
 
   /* our sensors            */
-  struct BoozImuFloat imu;
+  struct ImuFloat imu;
   uint8_t  rc_status;
   int32_t  baro_abs;
   int32_t  baro_diff;