Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 20:38:27 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

[imu] remove ImuFloat

Browse Source 
not really used anywhere anymore and we want to get rid of the global imu struct anyway...
This commit is contained in:
Felix Ruess
2015-01-19 22:21:01 +01:00
parent 4da2e88786
commit 4273677ece
2 changed files with 1 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/imu.c
+1 -21
View File
@@ -43,22 +43,6 @@
#if PERIODIC_TELEMETRY #if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h" #include "subsystems/datalink/telemetry.h"
#if USE_IMU_FLOAT
static void send_accel(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_IMU_ACCEL(trans, dev, AC_ID,
&imuf.accel.x, &imuf.accel.y, &imuf.accel.z);
}
static void send_gyro(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_IMU_GYRO(trans, dev, AC_ID,
&imuf.gyro.p, &imuf.gyro.q, &imuf.gyro.r);
}
#else // !USE_IMU_FLOAT
static void send_accel_raw(struct transport_tx *trans, struct link_device *dev) static void send_accel_raw(struct transport_tx *trans, struct link_device *dev)
{ {
pprz_msg_send_IMU_ACCEL_RAW(trans, dev, AC_ID, pprz_msg_send_IMU_ACCEL_RAW(trans, dev, AC_ID,
@@ -118,12 +102,10 @@ static void send_mag(struct transport_tx *trans, struct link_device *dev)
pprz_msg_send_IMU_MAG(trans, dev, AC_ID, pprz_msg_send_IMU_MAG(trans, dev, AC_ID,
&mag_float.x, &mag_float.y, &mag_float.z); &mag_float.x, &mag_float.y, &mag_float.z);
} }
#endif // !USE_IMU_FLOAT
#endif #endif /* PERIODIC_TELEMETRY */
struct Imu imu; struct Imu imu;
struct ImuFloat imuf;
void imu_init(void) void imu_init(void)
{ {
@@ -154,7 +136,6 @@ void imu_init(void)
#if PERIODIC_TELEMETRY #if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel); register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro); register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#if !USE_IMU_FLOAT
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw); register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled); register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel); register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
@@ -164,7 +145,6 @@ void imu_init(void)
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
#endif // !USE_IMU_FLOAT
#endif // DOWNLINK #endif // DOWNLINK
imu_impl_init(); imu_impl_init();
sw/airborne/subsystems/imu.h
-12
View File
@@ -58,20 +58,8 @@ struct Imu {
bool_t b2i_set_current; bool_t b2i_set_current;
}; };
/** abstract IMU interface providing floating point interface */
struct ImuFloat {
struct FloatRates gyro;
struct FloatVect3 accel;
struct FloatVect3 mag;
struct FloatRates gyro_prev;
uint32_t sample_count;
};
/** global IMU state */ /** global IMU state */
extern struct Imu imu; extern struct Imu imu;
extern struct ImuFloat imuf;
/* underlying hardware */ /* underlying hardware */
#ifdef IMU_TYPE_H #ifdef IMU_TYPE_H