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[abi] allow to pass variables by value

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before the generated ABI callbacks always had a signature with `const type *var` where type was e.g float.
Now the generated signature is simply `type var`.
To pass const pointers again, set it accordingly in abi.xml, e.g. type="const float *" instead of type="float"
This commit is contained in:
Felix Ruess
2015-02-05 17:57:53 +01:00
parent 953b1a605d
commit 30df14eb05
37 changed files with 83 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/boards/apogee/baro_board.c
+2 -2
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@@ -101,9 +101,9 @@ void apogee_baro_event(void)
mpl3115_event(&apogee_baro);
if (apogee_baro.data_available && startup_cnt == 0) {
float pressure = ((float)apogee_baro.pressure / (1 << 2));
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
float temp = apogee_baro.temperature / 16.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
apogee_baro.data_available = FALSE;
}
}
sw/airborne/boards/ardrone/baro_board.c
+2 -2
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@@ -95,13 +95,13 @@ void ardrone_baro_event(void)
if (baro_calibrated) {
// first read temperature because pressure calibration depends on temperature
float temp_deg = 0.1 * baro_apply_calibration_temp(navdata.temperature_pressure);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp_deg);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp_deg);
int32_t press_pascal = baro_apply_calibration(navdata.pressure);
#if USE_BARO_MEDIAN_FILTER
press_pascal = update_median_filter(&baro_median, press_pascal);
#endif
float pressure = (float)press_pascal;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
}
navdata_baro_available = FALSE;
}
sw/airborne/boards/ardrone/navdata.c
+1 -1
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@@ -550,7 +550,7 @@ void navdata_update()
// Check if there is a new sonar measurement and update the sonar
if (navdata.ultrasound >> 15) {
float sonar_meas = (float)((navdata.ultrasound & 0x7FFF) - SONAR_OFFSET) * SONAR_SCALE;
AbiSendMsgAGL(AGL_SONAR_ARDRONE2_ID, &sonar_meas);
AbiSendMsgAGL(AGL_SONAR_ARDRONE2_ID, sonar_meas);
}
#endif
sw/airborne/boards/baro_board_ms5611_i2c.c
+2 -2
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@@ -98,9 +98,9 @@ void baro_event(void)
if (bb_ms5611.data_available) {
float pressure = (float)bb_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
float temp = bb_ms5611.data.temperature / 100.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
bb_ms5611.data_available = FALSE;
#ifdef BARO_LED
sw/airborne/boards/baro_board_ms5611_spi.c
+2 -2
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@@ -87,9 +87,9 @@ void baro_event(void)
if (bb_ms5611.data_available) {
float pressure = (float)bb_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
float temp = bb_ms5611.data.temperature / 100.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
bb_ms5611.data_available = FALSE;
#ifdef BARO_LED
sw/airborne/boards/booz/baro_board.c
+1 -1
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@@ -86,7 +86,7 @@ void baro_periodic(void)
RunOnceEvery(10, { baro_board_calibrate();});
} else {
float pressure = 101325.0 - BOOZ_BARO_SENS * (BOOZ_ANALOG_BARO_THRESHOLD - baro_board.absolute);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
}
}
sw/airborne/boards/hbmini/baro_board.c
+1 -1
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@@ -57,7 +57,7 @@ void bmp_baro_event(void)
if (baro_bmp085.data_available) {
float pressure = (float)baro_bmp085.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
baro_bmp085.data_available = FALSE;
#ifdef BARO_LED
RunOnceEvery(10, LED_TOGGLE(BARO_LED));
sw/airborne/boards/lisa_l/baro_board.c
+2 -2
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@@ -139,7 +139,7 @@ void lisa_l_baro_event(void)
if (baro_trans.status == I2CTransSuccess) {
int16_t tmp = baro_trans.buf[0] << 8 | baro_trans.buf[1];
float pressure = LISA_L_BARO_SENS * (float)tmp;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
}
} else if (baro_board.status == LBS_READING_DIFF &&
baro_trans.status != I2CTransPending) {
@@ -147,7 +147,7 @@ void lisa_l_baro_event(void)
if (baro_trans.status == I2CTransSuccess) {
int16_t tmp = baro_trans.buf[0] << 8 | baro_trans.buf[1];
float diff = LISA_L_DIFF_SENS * (float)tmp;
AbiSendMsgBARO_DIFF(BARO_BOARD_SENDER_ID, &diff);
AbiSendMsgBARO_DIFF(BARO_BOARD_SENDER_ID, diff);
}
}
}
sw/airborne/boards/lisa_m/baro_board.c
+2 -2
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@@ -75,9 +75,9 @@ void baro_event(void)
if (baro_bmp085.data_available) {
float pressure = (float)baro_bmp085.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
float temp = baro_bmp085.temperature / 10.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
baro_bmp085.data_available = FALSE;
#ifdef BARO_LED
RunOnceEvery(10, LED_TOGGLE(BARO_LED));
sw/airborne/boards/navgo/baro_board.c
+1 -1
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@@ -86,7 +86,7 @@ void navgo_baro_event(void)
if (startup_cnt == 0) {
// Send data when init phase is done
float pressure = NAVGO_BARO_SENS * (mcp355x_data + NAVGO_BARO_OFFSET);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
}
mcp355x_data_available = FALSE;
}
sw/airborne/boards/navstik/baro_board.c
+2 -2
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@@ -60,9 +60,9 @@ void baro_event(void)
if (baro_bmp085.data_available) {
float pressure = (float)baro_bmp085.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
float temp = baro_bmp085.temperature / 10.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
baro_bmp085.data_available = FALSE;
#ifdef BARO_LED
RunOnceEvery(10, LED_TOGGLE(BARO_LED));
sw/airborne/boards/umarim/baro_board.c
+1 -1
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@@ -78,7 +78,7 @@ void umarim_baro_event(void)
if (BARO_ABS_ADS.data_available) {
if (startup_cnt == 0) {
float pressure = UMARIM_BARO_SENS * Ads1114GetValue(BARO_ABS_ADS);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
}
BARO_ABS_ADS.data_available = FALSE;
}
sw/airborne/modules/air_data/air_data.c
+6 -6
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@@ -95,9 +95,9 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_AIR_DATA automatically set to TRUE")
static uint8_t baro_health_counter;
static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
air_data.pressure = *pressure;
air_data.pressure = pressure;
// calculate QNH from pressure and absolute alitude if that is available
if (air_data.calc_qnh_once && stateIsGlobalCoordinateValid()) {
@@ -116,9 +116,9 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const flo
baro_health_counter = 10;
}
static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
air_data.differential = *pressure;
air_data.differential = pressure;
if (air_data.calc_airspeed) {
air_data.airspeed = tas_from_dynamic_pressure(air_data.differential);
#if USE_AIRSPEED_AIR_DATA
@@ -127,9 +127,9 @@ static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, const fl
}
}
static void temperature_cb(uint8_t __attribute__((unused)) sender_id, const float *temp)
static void temperature_cb(uint8_t __attribute__((unused)) sender_id, float temp)
{
air_data.temperature = *temp;
air_data.temperature = temp;
if (air_data.calc_tas_factor && baro_health_counter > 0 && air_data.pressure > 0) {
air_data.tas_factor = get_tas_factor(air_data.pressure, air_data.temperature);
}
sw/airborne/modules/computer_vision/opticflow_module.c
+4 -4
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@@ -65,12 +65,12 @@ struct PPRZinfo opticflow_module_data;
#define OPTICFLOW_AGL_ID ABI_BROADCAST
#endif
abi_event agl_ev;
static void agl_cb(uint8_t sender_id, const float *distance);
static void agl_cb(uint8_t sender_id, float distance);
static void agl_cb(uint8_t sender_id __attribute__((unused)), const float *distance)
static void agl_cb(uint8_t sender_id __attribute__((unused)), float distance)
{
if (*distance > 0) {
opticflow_module_data.agl = *distance;
if (distance > 0) {
opticflow_module_data.agl = distance;
}
}
sw/airborne/modules/meteo/meteo_stick.c
+2 -2
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@@ -183,14 +183,14 @@ void meteo_stick_event(void)
// send absolute pressure data over ABI as soon as available
if (meteo_stick.pressure.data_available) {
float abs = MS_PRESSURE_SCALE * (float)((int32_t)meteo_stick.pressure.data - MS_PRESSURE_OFFSET);
AbiSendMsgBARO_ABS(METEO_STICK_SENDER_ID, &abs);
AbiSendMsgBARO_ABS(METEO_STICK_SENDER_ID, abs);
meteo_stick.pressure.data_available = FALSE;
}
// send differential pressure data over ABI as soon as available
if (meteo_stick.diff_pressure.data_available) {
float diff = MS_DIFF_PRESSURE_SCALE * (float)((int32_t)meteo_stick.diff_pressure.data - MS_DIFF_PRESSURE_OFFSET);
AbiSendMsgBARO_DIFF(METEO_STICK_SENDER_ID, &diff);
AbiSendMsgBARO_DIFF(METEO_STICK_SENDER_ID, diff);
meteo_stick.diff_pressure.data_available = FALSE;
}
}
sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
+2 -2
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@@ -202,10 +202,10 @@ void ms45xx_i2c_event(void)
ms45xx.temperature = ((uint32_t)temp_raw * 2000) / 2047 - 500;
// Send differential pressure via ABI
AbiSendMsgBARO_DIFF(MS45XX_SENDER_ID, &ms45xx.diff_pressure);
AbiSendMsgBARO_DIFF(MS45XX_SENDER_ID, ms45xx.diff_pressure);
// Send temperature as float in deg Celcius via ABI
float temp = ms45xx.temperature / 10.0f;
AbiSendMsgTEMPERATURE(MS45XX_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(MS45XX_SENDER_ID, temp);
// Compute airspeed
ms45xx.airspeed = sqrtf(Max(ms45xx.diff_pressure * ms45xx.airspeed_scale, 0));
sw/airborne/modules/sensors/baro_MS5534A.c
+1 -1
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@@ -273,7 +273,7 @@ void baro_MS5534A_event(void)
DOWNLINK_SEND_BARO_MS5534A(DefaultChannel, DefaultDevice, &baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z);
#endif
float pressure = (float)baro_MS5534A_pressure;
AbiSendMsgBARO_ABS(BARO_MS5534A_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_MS5534A_SENDER_ID, pressure);
}
}
}
sw/airborne/modules/sensors/baro_amsys.c
+1 -1
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@@ -169,7 +169,7 @@ void baro_amsys_read_event(void)
baro_amsys_p = (float)(pBaroRaw - BARO_AMSYS_OFFSET_MIN) * BARO_AMSYS_MAX_PRESSURE / (float)(
BARO_AMSYS_OFFSET_MAX - BARO_AMSYS_OFFSET_MIN);
// Send pressure over ABI
AbiSendMsgBARO_ABS(BARO_AMSYS_SENDER_ID, &baro_amsys_p);
AbiSendMsgBARO_ABS(BARO_AMSYS_SENDER_ID, baro_amsys_p);
// compute altitude localy
if (!baro_amsys_offset_init) {
--baro_amsys_cnt;
sw/airborne/modules/sensors/baro_bmp.c
+2 -2
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@@ -90,9 +90,9 @@ void baro_bmp_event(void)
baro_bmp_alt = 44330 * (1.0 - tmp);
float pressure = (float)baro_bmp.pressure;
AbiSendMsgBARO_ABS(BARO_BMP_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_BMP_SENDER_ID, pressure);
float temp = baro_bmp.temperature / 10.0f;
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
baro_bmp.data_available = FALSE;
#ifdef SENSOR_SYNC_SEND
sw/airborne/modules/sensors/baro_ets.c
+1 -1
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@@ -187,7 +187,7 @@ void baro_ets_read_event(void)
baro_ets_altitude = ground_alt + BARO_ETS_ALT_SCALE * (float)(baro_ets_offset - baro_ets_adc);
// New value available
float pressure = BARO_ETS_SCALE * (float) baro_ets_adc + BARO_ETS_PRESSURE_OFFSET;
AbiSendMsgBARO_ABS(BARO_ETS_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_ETS_SENDER_ID, pressure);
#ifdef BARO_ETS_SYNC_SEND
DOWNLINK_SEND_BARO_ETS(DefaultChannel, DefaultDevice, &baro_ets_adc, &baro_ets_offset, &baro_ets_altitude);
#endif
sw/airborne/modules/sensors/baro_hca.c
+1 -1
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@@ -98,7 +98,7 @@ void baro_hca_read_event(void)
}
float pressure = BARO_HCA_SCALE * (float)pBaroRaw + BARO_HCA_PRESSURE_OFFSET;
AbiSendMsgBARO_ABS(BARO_HCA_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_HCA_SENDER_ID, pressure);
}
baro_hca_i2c_trans.status = I2CTransDone;
sw/airborne/modules/sensors/baro_mpl3115.c
+2 -2
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@@ -64,9 +64,9 @@ void baro_mpl3115_read_event(void)
mpl3115_event(&baro_mpl);
if (baro_mpl.data_available) {
float pressure = (float)baro_mpl.pressure / (1 << 2);
AbiSendMsgBARO_ABS(BARO_MPL3115_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_MPL3115_SENDER_ID, pressure);
float temp = (float)baro_mpl.pressure / 16.0f;
AbiSendMsgTEMPERATURE(BARO_MPL3115_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_MPL3115_SENDER_ID, temp);
#ifdef SENSOR_SYNC_SEND
DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &baro_mpl.pressure, &baro_mpl.temperature, &baro_mpl.alt);
#endif
sw/airborne/modules/sensors/baro_ms5611_i2c.c
+2 -2
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@@ -94,9 +94,9 @@ void baro_ms5611_event(void)
if (baro_ms5611.data_available) {
float pressure = (float)baro_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, pressure);
float temp = baro_ms5611.data.temperature / 100.0f;
AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp);
baro_ms5611.data_available = FALSE;
baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure);
sw/airborne/modules/sensors/baro_ms5611_spi.c
+2 -2
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@@ -94,9 +94,9 @@ void baro_ms5611_event(void)
if (baro_ms5611.data_available) {
float pressure = (float)baro_ms5611.data.pressure;
AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, pressure);
float temp = baro_ms5611.data.temperature / 100.0f;
AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, &temp);
AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp);
baro_ms5611.data_available = FALSE;
baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure);
sw/airborne/modules/sensors/baro_scp.c
+1 -1
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@@ -189,7 +189,7 @@ void baro_scp_event(void)
{
if (baro_scp_available == TRUE) {
float pressure = (float)baro_scp_pressure;
AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, pressure);
#ifdef SENSOR_SYNC_SEND
DOWNLINK_SEND_SCP_STATUS(DefaultChannel, DefaultDevice, &baro_scp_pressure, &baro_scp_temperature);
#endif
sw/airborne/modules/sensors/baro_scp_i2c.c
+1 -1
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@@ -102,7 +102,7 @@ void baro_scp_event(void)
baro_scp_pressure *= 25;
float pressure = (float) baro_scp_pressure;
AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_SCP_SENDER_ID, pressure);
#ifdef SENSOR_SYNC_SEND
DOWNLINK_SEND_SCP_STATUS(DefaultChannel, DefaultDevice, &baro_scp_pressure, &baro_scp_temperature);
#endif
sw/airborne/modules/sensors/baro_sim.c
+1 -1
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@@ -39,5 +39,5 @@ void baro_sim_init(void)
void baro_sim_periodic(void)
{
float pressure = pprz_isa_pressure_of_altitude(gps.hmsl / 1000.0);
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, pressure);
}
sw/airborne/modules/sensors/pressure_board_navarro.c
+1 -1
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@@ -143,7 +143,7 @@ void pbn_read_event(void)
} else {
// Compute pressure
float pressure = PBN_ALTITUDE_SCALE * (float) pbn.altitude_adc + PBN_PRESSURE_OFFSET;
AbiSendMsgBARO_ABS(BARO_PBN_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_PBN_SENDER_ID, pressure);
// Compute airspeed and altitude
//pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
uint16_t diff = Max(pbn.airspeed_adc - pbn.airspeed_offset, 0);
sw/airborne/modules/sonar/agl_dist.c
+4 -4
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@@ -50,7 +50,7 @@ float agl_dist_value_filtered;
abi_event sonar_ev;
static void sonar_cb(uint8_t sender_id, const float *distance);
static void sonar_cb(uint8_t sender_id, float distance);
void agl_dist_init(void)
{
@@ -63,10 +63,10 @@ void agl_dist_init(void)
}
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *distance)
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance)
{
if (*distance < AGL_DIST_SONAR_MAX_RANGE && *distance > AGL_DIST_SONAR_MIN_RANGE) {
agl_dist_value = *distance;
if (distance < AGL_DIST_SONAR_MAX_RANGE && distance > AGL_DIST_SONAR_MIN_RANGE) {
agl_dist_value = distance;
agl_dist_valid = TRUE;
agl_dist_value_filtered = (AGL_DIST_SONAR_FILTER * agl_dist_value_filtered + agl_dist_value) /
(AGL_DIST_SONAR_FILTER + 1);
sw/airborne/modules/sonar/sonar_adc.c
+1 -1
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@@ -76,7 +76,7 @@ void sonar_adc_read(void)
#endif // SITL
// Send ABI message
AbiSendMsgAGL(AGL_SONAR_ADC_ID, &sonar_adc.distance);
AbiSendMsgAGL(AGL_SONAR_ADC_ID, sonar_adc.distance);
#ifdef SENSOR_SYNC_SEND_SONAR
// Send Telemetry report
sw/airborne/subsystems/ins/ins_alt_float.c
+5 -5
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@@ -67,7 +67,7 @@ PRINT_CONFIG_MSG("USE_BAROMETER is TRUE: Using baro for altitude estimation.")
#endif
PRINT_CONFIG_VAR(INS_BARO_ID)
abi_event baro_ev;
static void baro_cb(uint8_t sender_id, const float *pressure);
static void baro_cb(uint8_t sender_id, float pressure);
#endif /* USE_BAROMETER */
static void alt_kalman_reset(void);
@@ -138,7 +138,7 @@ void ins_reset_altitude_ref(void)
#if USE_BAROMETER
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
// timestamp in usec when last callback was received
static uint32_t last_ts = 0;
@@ -152,17 +152,17 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
Bound(dt, 0.002, 1.0)
if (!ins_impl.baro_initialized) {
ins_impl.qfe = *pressure;
ins_impl.qfe = pressure;
ins_impl.baro_initialized = TRUE;
}
if (ins_impl.reset_alt_ref) {
ins_impl.reset_alt_ref = FALSE;
ins_impl.alt = ground_alt;
ins_impl.alt_dot = 0.0f;
ins_impl.qfe = *pressure;
ins_impl.qfe = pressure;
alt_kalman_reset();
} else { /* not realigning, so normal update with baro measurement */
ins_impl.baro_alt = ground_alt + pprz_isa_height_of_pressure(*pressure, ins_impl.qfe);
ins_impl.baro_alt = ground_alt + pprz_isa_height_of_pressure(pressure, ins_impl.qfe);
/* run the filter */
alt_kalman(ins_impl.baro_alt, dt);
/* set new altitude, just copy old horizontal position */
sw/airborne/subsystems/ins/ins_float_invariant.c
+7 -7
View File
@@ -180,7 +180,7 @@ bool_t ins_baro_initialized;
#endif
PRINT_CONFIG_VAR(INS_BARO_ID)
abi_event baro_ev;
static void baro_cb(uint8_t sender_id, const float *pressure);
static void baro_cb(uint8_t sender_id, float pressure);
/* gps */
bool_t ins_gps_fix_once;
@@ -501,7 +501,7 @@ void ahrs_update_gps(void)
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
static float ins_qfe = 101325.0f;
static float alpha = 10.0f;
@@ -513,10 +513,10 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
// try to find a stable qfe
// TODO generic function in pprz_isa ?
if (i == 1) {
baro_moy = *pressure;
baro_prev = *pressure;
baro_moy = pressure;
baro_prev = pressure;
}
baro_moy = (baro_moy * (i - 1) + *pressure) / i;
baro_moy = (baro_moy * (i - 1) + pressure) / i;
alpha = (10.*alpha + (baro_moy - baro_prev)) / (11.0f);
baro_prev = baro_moy;
// test stop condition
@@ -525,12 +525,12 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
ins_baro_initialized = TRUE;
}
if (i == 250) {
ins_qfe = *pressure;
ins_qfe = pressure;
ins_baro_initialized = TRUE;
}
i++;
} else { /* normal update with baro measurement */
ins_impl.meas.baro_alt = -pprz_isa_height_of_pressure(*pressure, ins_qfe); // Z down
ins_impl.meas.baro_alt = -pprz_isa_height_of_pressure(pressure, ins_qfe); // Z down
}
}
sw/airborne/subsystems/ins/ins_int.c
+10 -10
View File
@@ -67,7 +67,7 @@
#define INS_SONAR_ID ABI_BROADCAST
#endif
abi_event sonar_ev;
static void sonar_cb(uint8_t sender_id, const float *distance);
static void sonar_cb(uint8_t sender_id, float distance);
#ifdef INS_SONAR_THROTTLE_THRESHOLD
#include "firmwares/rotorcraft/stabilization.h"
@@ -114,7 +114,7 @@ PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
#endif
PRINT_CONFIG_VAR(INS_BARO_ID)
abi_event baro_ev;
static void baro_cb(uint8_t sender_id, const float *pressure);
static void baro_cb(uint8_t sender_id, float pressure);
struct InsInt ins_impl;
@@ -271,22 +271,22 @@ void ins_propagate(float dt)
ins_ned_to_state();
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
if (!ins_impl.baro_initialized && *pressure > 1e-7) {
if (!ins_impl.baro_initialized && pressure > 1e-7) {
// wait for a first positive value
ins_impl.qfe = *pressure;
ins_impl.qfe = pressure;
ins_impl.baro_initialized = TRUE;
}
if (ins_impl.baro_initialized) {
if (ins_impl.vf_reset) {
ins_impl.vf_reset = FALSE;
ins_impl.qfe = *pressure;
ins_impl.qfe = pressure;
vff_realign(0.);
ins_update_from_vff();
} else {
ins_impl.baro_z = -pprz_isa_height_of_pressure(*pressure, ins_impl.qfe);
ins_impl.baro_z = -pprz_isa_height_of_pressure(pressure, ins_impl.qfe);
#if USE_VFF_EXTENDED
vff_update_baro(ins_impl.baro_z);
#else
@@ -354,12 +354,12 @@ void ins_update_gps(void)
#if USE_SONAR
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *distance)
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance)
{
static float last_offset = 0.;
/* update filter assuming a flat ground */
if (*distance < INS_SONAR_MAX_RANGE && *distance > INS_SONAR_MIN_RANGE
if (distance < INS_SONAR_MAX_RANGE && distance > INS_SONAR_MIN_RANGE
#ifdef INS_SONAR_THROTTLE_THRESHOLD
&& stabilization_cmd[COMMAND_THRUST] < INS_SONAR_THROTTLE_THRESHOLD
#endif
@@ -368,7 +368,7 @@ static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *dis
#endif
&& ins_impl.update_on_agl
&& ins_impl.baro_initialized) {
vff_update_z_conf(-(*distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(*distance));
vff_update_z_conf(-(distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(distance));
last_offset = vff.offset;
} else {
/* update offset with last value to avoid divergence */
sw/airborne/test/test_baro_board.c
+2 -2
View File
@@ -78,9 +78,9 @@ int main(void)
return 0;
}
static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
float p = *pressure;
float p = pressure;
float foo = 42.;
DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &p, &foo);
}
sw/simulator/nps/nps_autopilot_fixedwing.c
+1 -1
View File
@@ -114,7 +114,7 @@ void nps_autopilot_run_step(double time) {
if (nps_sensors_baro_available()) {
float pressure = (float) sensors.baro.value;
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, pressure);
Fbw(event_task);
Ap(event_task);
}
sw/simulator/nps/nps_autopilot_rotorcraft.c
+2 -2
View File
@@ -99,14 +99,14 @@ void nps_autopilot_run_step(double time) {
if (nps_sensors_baro_available()) {
float pressure = (float) sensors.baro.value;
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, &pressure);
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, pressure);
main_event();
}
#if USE_SONAR
if (nps_sensors_sonar_available()) {
float dist = (float) sensors.sonar.value;
AbiSendMsgAGL(AGL_SONAR_NPS_ID, &dist);
AbiSendMsgAGL(AGL_SONAR_NPS_ID, dist);
uint16_t foo = 0;
DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &foo, &dist);
sw/tools/generators/gen_abi.ml
+2 -2
View File
@@ -99,8 +99,8 @@ module Gen_onboard = struct
let rec args = fun h l ->
match l with
[] -> Printf.fprintf h ")"
| [(n,t)] -> Printf.fprintf h ", const %s * %s)" t n
| (n,t)::l' -> Printf.fprintf h ", const %s * %s" t n; args h l'
| [(n,t)] -> Printf.fprintf h ", %s %s)" t n
| (n,t)::l' -> Printf.fprintf h ", %s %s" t n; args h l'
in
Printf.fprintf h "(uint8_t sender_id";
args h fields