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fix simulation, sim_ir and sim_ahrs are now always compiled so the ocaml sim does not complain about non-existent functions

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This commit is contained in:
Felix Ruess
2011-10-05 21:40:23 +02:00
parent 283dd64e7c
commit 35e2d34130
8 changed files with 17 additions and 65 deletions
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conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+3 -18
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@@ -18,28 +18,13 @@ ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
# since there is currently no ocaml SITL sim for the IMU, we use the infrared sim
# and the ahrs_infrared subsystem
ifeq ($(TARGET), sim)
sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DUSE_INFRARED
sim.srcs += subsystems/sensors/infrared.c
sim.srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_imu.c
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_infrared.h\"
sim.CFLAGS += -DUSE_AHRS
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
sim.CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_infrared.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
endif
conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+3 -17
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@@ -22,27 +22,13 @@ ap.srcs += $(AHRS_SRCS)
# since there is currently no ocaml SITL sim for the IMU, we use the infrared sim
# and the ahrs_infrared subsystem
ifeq ($(TARGET), sim)
sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DUSE_INFRARED
sim.srcs += subsystems/sensors/infrared.c
sim.srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_imu.c
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_infrared.h\"
sim.CFLAGS += -DUSE_AHRS
sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
sim.CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_infrared.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
endif
conf/autopilot/subsystems/fixedwing/autopilot.makefile
+3
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@@ -195,6 +195,9 @@ sim.srcs += downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/sim_gps.c $(SRC_
sim.srcs += subsystems/settings.c
sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
# hack: always compile some of the sim functions, so ocaml sim does not complain about no-existing functions
sim.srcs += $(SRC_ARCH)/sim_ahrs.c $(SRC_ARCH)/sim_ir.c
######################################################################
##
## JSBSIM THREAD SPECIFIC
conf/modules/infrared_adc.xml
-3
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@@ -35,9 +35,6 @@ endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
</raw>
</makefile>
<makefile target="sim">
<file_arch name="sim_ir.c" dir="."/>
</makefile>
</module>
conf/modules/infrared_i2c.xml
-3
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@@ -14,8 +14,5 @@
<file name="infrared.c" dir="subsystems/sensors"/>
<file name="infrared_i2c.c" dir="subsystems/sensors"/>
</makefile>
<makefile target="sim">
<file_arch name="sim_ir.c" dir="."/>
</makefile>
</module>
sw/airborne/arch/sim/sim_ir.c
+2 -2
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@@ -23,11 +23,11 @@ value set_ir_and_airspeed(
value air_speed
) {
// INFRARED_TELEMETRY : Stupid hack to use with modules
//#if defined USE_INFRARED || USE_INFRARED_TELEMETRY
#if defined USE_INFRARED || USE_INFRARED_TELEMETRY
infrared.roll = Int_val(roll);
infrared.pitch = Int_val(front);
infrared.top = Int_val(top);
//#endif
#endif
sim_air_speed = Double_val(air_speed);
return Val_unit;
}
sw/airborne/firmwares/fixedwing/main_ap.c
+1 -1
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@@ -768,7 +768,7 @@ static inline void on_mag_event(void)
#endif
}
#else // USE_IMU
#else // USE_IMU not defined
static inline void on_ahrs_event(void)
{
#ifdef AHRS_UPDATE_FW_ESTIMATOR
sw/airborne/subsystems/ahrs/ahrs_sim.c
+5 -21
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@@ -28,21 +28,10 @@
#include <inttypes.h>
#include <caml/mlvalues.h>
float sim_phi;
float sim_theta;
float sim_psi;
bool_t ahrs_sim_available;
// Updates from Ocaml sim
value set_attitude(value phi, value theta, value psi) {
sim_phi = Double_val(phi);
sim_theta = Double_val(theta);
sim_psi = Double_val(psi);
ahrs_sim_available = TRUE;
return Val_unit;
}
extern float sim_phi;
extern float sim_theta;
extern float sim_psi;
extern bool_t ahrs_sim_available;
void compute_body_orientation_and_rates(void);
@@ -50,9 +39,7 @@ void compute_body_orientation_and_rates(void);
void update_attitude_from_sim(void) {
ahrs_float.ltp_to_imu_euler.phi = sim_phi;
ahrs_float.ltp_to_imu_euler.theta = sim_theta;
ahrs_float.ltp_to_imu_euler.psi = -sim_psi;
FLOAT_ANGLE_NORMALIZE(ahrs_float.ltp_to_imu_euler.psi);
ahrs_float.ltp_to_imu_euler.psi += M_PI/2.;
ahrs_float.ltp_to_imu_euler.psi = sim_psi;
/* set quaternion and rotation matrix representations as well */
FLOAT_QUAT_OF_EULERS(ahrs_float.ltp_to_imu_quat, ahrs_float.ltp_to_imu_euler);
@@ -98,15 +85,12 @@ void ahrs_align(void)
void ahrs_propagate(void) {
update_attitude_from_sim();
}
void ahrs_update_accel(void) {
update_attitude_from_sim();
}
void ahrs_update_mag(void) {
update_attitude_from_sim();
}