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[fixedwing] removed ALT_KALMAN, not needed with ins_alt_float anymore

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like before:
* the kalman filter is still disabled by default (unless a baro is used)
* to enable define ALT_KALMAN_ENABLED
This commit is contained in:
Felix Ruess
2012-09-19 19:17:06 +02:00
parent 3c50828daf
commit 3684536f97
44 changed files with 24 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/CDW/ChimuLisaFw.xml
-2
View File
@@ -144,7 +144,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -157,7 +156,6 @@
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
</firmware> </firmware>
conf/airframes/CDW/ChimuTinyFwSpi.xml
-2
View File
@@ -163,14 +163,12 @@
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- <define name="NB_CHANNELS" value="5" /> --> <!-- <define name="NB_CHANNELS" value="5" /> -->
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" /> <subsystem name="gps" type="ublox" />
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="xbee_api"> <subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/> <configure name="MODEM_BAUD" value="B9600"/>
conf/airframes/CDW/LisaAspirin2.xml
+1 -1
View File
@@ -214,7 +214,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors --> <!-- Sensors -->
<!-- <!--
@@ -227,6 +226,7 @@
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
</subsystem> </subsystem>
<subsystem name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/CDW/debug_i2c_lpc.xml
-1
View File
@@ -178,7 +178,6 @@
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
conf/airframes/CDW/yapa3_aspirin2.xml
+1 -2
View File
@@ -238,7 +238,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors --> <!-- Sensors -->
<!-- <!--
@@ -252,7 +251,7 @@
<!-- <configure name="USE_MAGNETOMETER" /> --> <!-- <configure name="USE_MAGNETOMETER" /> -->
</subsystem> </subsystem>
<subsystem name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<!-- Communication --> <!-- Communication -->
conf/airframes/ENAC/fixed-wing/firestorm.xml
+1 -1
View File
@@ -14,7 +14,6 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<!--define name="PITCH_TRIM"/--> <!--define name="PITCH_TRIM"/-->
@@ -37,6 +36,7 @@
<subsystem name="ahrs" type="float_dcm"> <subsystem name="ahrs" type="float_dcm">
<define name="USE_HIGH_ACCEL_FLAG"/> <define name="USE_HIGH_ACCEL_FLAG"/>
</subsystem> </subsystem>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="adaptive"/> <subsystem name="control" type="adaptive"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<!-- Sensors --> <!-- Sensors -->
conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
View File
@@ -18,7 +18,6 @@
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
<define name="USE_I2C1"/> <define name="USE_I2C1"/>
<!--define name="AGR_CLIMB"/--> <!--define name="AGR_CLIMB"/-->
<define name="ALT_KALMAN"/>
<define name="USE_AIRSPEED"/> <define name="USE_AIRSPEED"/>
<!--define name="LOITER_TRIM"/--> <!--define name="LOITER_TRIM"/-->
<!--define name="PITCH_TRIM"/--> <!--define name="PITCH_TRIM"/-->
@@ -38,6 +37,7 @@
<subsystem name="ahrs" type="float_dcm"> <subsystem name="ahrs" type="float_dcm">
<define name="USE_HIGH_ACCEL_FLAG"/> <define name="USE_HIGH_ACCEL_FLAG"/>
</subsystem> </subsystem>
<subsystem name="ins" typee="alt_float"/>
<subsystem name="control" type="new"/> <subsystem name="control" type="new"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<!-- Sensors --> <!-- Sensors -->
conf/airframes/LAAS/mmlaas_N1.xml
+1 -3
View File
@@ -6,12 +6,10 @@
<target name="sim" board="pc"> <target name="sim" board="pc">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<target name="ap" board="tiny_0.99"> <target name="ap" board="tiny_0.99">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -26,7 +24,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/LAAS/mmlaas_N2.xml
+1 -3
View File
@@ -6,12 +6,10 @@
<target name="sim" board="pc"> <target name="sim" board="pc">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<target name="ap" board="tiny_1.1"> <target name="ap" board="tiny_1.1">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -26,7 +24,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/LAAS/mmlaas_N3.xml
+1 -3
View File
@@ -6,12 +6,10 @@
<target name="sim" board="pc"> <target name="sim" board="pc">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<target name="ap" board="tiny_1.1"> <target name="ap" board="tiny_1.1">
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -26,7 +24,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+1 -2
View File
@@ -230,7 +230,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors --> <!-- Sensors -->
<!-- <!--
@@ -243,7 +242,7 @@
<subsystem name="ahrs" type="float_dcm"> <subsystem name="ahrs" type="float_dcm">
<!-- <configure name="USE_MAGNETOMETER" /> --> <!-- <configure name="USE_MAGNETOMETER" /> -->
</subsystem> </subsystem>
<subsystem name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_fw.xml
+1
View File
@@ -25,6 +25,7 @@
</subsystem> </subsystem>
<subsystem name="ahrs" type="float_dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<servos> <servos>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
+1
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@@ -24,6 +24,7 @@
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="ahrs" type="float_dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
</firmware> </firmware>
conf/airframes/examples/bixler_lisa_m_2.xml
+1 -1
View File
@@ -21,7 +21,6 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
<define name="USE_MAGNETOMETER" value="FALSE"/> <define name="USE_MAGNETOMETER" value="FALSE"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -31,6 +30,7 @@
<subsystem name="ahrs" type="float_dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<!-- commands section --> <!-- commands section -->
conf/airframes/examples/easy_glider.xml
+1 -1
View File
@@ -160,7 +160,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -175,6 +174,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/examples/easystar.xml
+4 -8
View File
@@ -10,15 +10,10 @@
<airframe name="EasyStar TWOGv1"> <airframe name="EasyStar TWOGv1">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0"/>
<define name="LOITER_TRIM"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
</target>
<target name="sim" board="pc"> <define name="LOITER_TRIM"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
@@ -26,6 +21,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/examples/easystar_ets.xml
-1
View File
@@ -16,7 +16,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/> <define name="USE_AIRSPEED"/>
<define name="USE_BARO_ETS"/> <define name="USE_BARO_ETS"/>
conf/airframes/examples/funjet.xml
-2
View File
@@ -16,7 +16,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/> <subsystem name="joystick"/>
@@ -111,7 +110,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/examples/funjet_cam.xml
-2
View File
@@ -16,7 +16,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/> <subsystem name="joystick"/>
@@ -120,7 +119,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/examples/microjet.xml
+1 -2
View File
@@ -170,7 +170,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -187,7 +186,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<modules> <modules>
conf/airframes/examples/microjet_imu_xsens.xml
+1 -2
View File
@@ -14,7 +14,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -30,6 +29,7 @@
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="control"/> <subsystem name="control"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<modules> <modules>
@@ -197,7 +197,6 @@
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
conf/airframes/examples/microjet_lisa_m.xml
-1
View File
@@ -14,7 +14,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="STRONG_WIND"/> <define name="STRONG_WIND"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/examples/microjet_lisa_m_xsens.xml
+1 -1
View File
@@ -14,7 +14,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -29,6 +28,7 @@
<subsystem name="control"/> <subsystem name="control"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<modules> <modules>
conf/airframes/examples/twinjet.xml
-1
View File
@@ -15,7 +15,6 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/examples/twinstar.xml
-2
View File
@@ -16,7 +16,6 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -127,7 +126,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/examples/twog_analogimu.xml
+1
View File
@@ -210,6 +210,7 @@
<subsystem name="ahrs" type="float_dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/examples/umarim_lite_v2.xml
+1 -1
View File
@@ -11,7 +11,6 @@
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
<define name="USE_I2C1"/> <define name="USE_I2C1"/>
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="ALT_KALMAN"/>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="umarim_lite_2.0"/> <target name="ap" board="umarim_lite_2.0"/>
@@ -28,6 +27,7 @@
<subsystem name="navigation"/> <subsystem name="navigation"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
conf/airframes/flixr_discovery.xml
+1 -1
View File
@@ -27,7 +27,6 @@
<define name="USE_GYRO_PITCH_RATE"/> <define name="USE_GYRO_PITCH_RATE"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
@@ -42,6 +41,7 @@
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/> <define name="AHRS_USE_GPS_HEADING" value="1"/>
</subsystem> </subsystem>
<subsystem name="ins" type="alt_float"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="b2_v1.0"> <subsystem name="imu" type="b2_v1.0">
conf/airframes/jsbsim.xml
-1
View File
@@ -194,7 +194,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/mentor_tum.xml
+1 -1
View File
@@ -17,7 +17,6 @@
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>--> <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
@@ -26,6 +25,7 @@
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/> <subsystem name="navigation" type="extra"/>
<subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
conf/airframes/mm/fixed-wing/drops.xml
-2
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@@ -14,7 +14,6 @@
<target name="ap" board="tiny_2.1"> <target name="ap" board="tiny_2.1">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
</target> </target>
@@ -137,7 +136,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/mm/fixed-wing/funjetdcb.xml
-3
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@@ -13,7 +13,6 @@
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
</target> </target>
@@ -21,7 +20,6 @@
<target name="sim" board="pc"> <target name="sim" board="pc">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
</target> </target>
@@ -132,7 +130,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/mm/fixed-wing/funjetgfi3.xml
-1
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@@ -91,7 +91,6 @@
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/> <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
-3
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@@ -12,7 +12,6 @@
<target name="sim" board="pc"> <target name="sim" board="pc">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
</target> </target>
@@ -20,7 +19,6 @@
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
@@ -124,7 +122,6 @@
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> --> <!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/mm/fixed-wing/merlin.xml
-2
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@@ -89,7 +89,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
@@ -167,7 +166,6 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<define name="USE_I2C0"/> <define name="USE_I2C0"/>
conf/airframes/mm/fixed-wing/slowfast.xml
-2
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@@ -14,7 +14,6 @@
<target name="ap" board="tiny_2.1"> <target name="ap" board="tiny_2.1">
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
</target> </target>
@@ -121,7 +120,6 @@
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> --> <!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/airframes/twinjet_overo.xml
-1
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@@ -18,7 +18,6 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/usb_test.xml
-1
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@@ -109,7 +109,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
conf/firmwares/fixedwing.xml
-1
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@@ -7,7 +7,6 @@
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB" />
<define name="TRAFFIC_INFO"/> <define name="TRAFFIC_INFO"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
</target> </target>
<target name="sim" description="The simulator"> <target name="sim" description="The simulator">
conf/settings/estimation/fw_baro_kalman.xml
+1 -1
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@@ -6,7 +6,7 @@
<dl_settings> <dl_settings>
<dl_settings NAME="alt_baro"> <dl_settings NAME="alt_baro">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="subsystems/ins/ins_float"/> <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="subsystems/ins/ins_alt_float"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
sw/airborne/modules/ins/ins_xsens.c
-3
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@@ -374,9 +374,6 @@ void handle_ins_msg(void) {
#endif /* USE_IMU */ #endif /* USE_IMU */
#if USE_GPS_XSENS #if USE_GPS_XSENS
#ifndef ALT_KALMAN
#warning NO_VZ
#endif
// Horizontal speed // Horizontal speed
float fspeed = sqrt(ins_vx*ins_vx + ins_vy*ins_vy); float fspeed = sqrt(ins_vx*ins_vx + ins_vy*ins_vy);
sw/airborne/modules/sensors/pressure_board_navarro.c
-2
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@@ -142,8 +142,6 @@ void pbn_read_event( void ) {
#if USE_AIRSPEED #if USE_AIRSPEED
stateSetAirspeed_f(&pbn_airspeed); stateSetAirspeed_f(&pbn_airspeed);
#endif #endif
//alt_kalman(pbn_altitude);
} }
} }
sw/airborne/subsystems/ins/ins_alt_float.c
-6
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@@ -58,9 +58,7 @@ void ins_init() {
stateSetPositionUtm_f(&utm0); stateSetPositionUtm_f(&utm0);
#ifdef ALT_KALMAN
alt_kalman_init(); alt_kalman_init();
#endif
#if USE_BAROMETER #if USE_BAROMETER
ins_qfe = 0;; ins_qfe = 0;;
@@ -137,8 +135,6 @@ void ins_update_sonar() {
bool_t alt_kalman_enabled; bool_t alt_kalman_enabled;
#ifdef ALT_KALMAN
#ifndef ALT_KALMAN_ENABLED #ifndef ALT_KALMAN_ENABLED
#define ALT_KALMAN_ENABLED FALSE #define ALT_KALMAN_ENABLED FALSE
#endif #endif
@@ -232,5 +228,3 @@ void alt_kalman(float z_meas) {
#endif #endif
} }
#endif // ALT_KALMAN
sw/airborne/subsystems/ins/ins_alt_float.h
-8
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@@ -56,13 +56,9 @@ extern float estimator_z; ///< altitude above MSL in meters
extern float estimator_z_dot; extern float estimator_z_dot;
extern bool_t alt_kalman_enabled; extern bool_t alt_kalman_enabled;
#ifdef ALT_KALMAN
extern void alt_kalman_reset( void ); extern void alt_kalman_reset( void );
extern void alt_kalman_init( void ); extern void alt_kalman_init( void );
extern void alt_kalman( float ); extern void alt_kalman( float );
#endif
#ifdef ALT_KALMAN
#if USE_BAROMETER #if USE_BAROMETER
/* Kalman filter cannot be disabled in this mode (no z_dot) */ /* Kalman filter cannot be disabled in this mode (no z_dot) */
@@ -77,8 +73,4 @@ extern void alt_kalman( float );
} }
#endif /* ! USE_BAROMETER */ #endif /* ! USE_BAROMETER */
#else /* ALT_KALMAN */
#define EstimatorSetAlt(z) { estimator_z = z; }
#endif
#endif /* INS_FLOAT_H */ #endif /* INS_FLOAT_H */