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change attitude_infrared subsystem to ahrs_infrared in all airframe files and print a warning if old attitude_infrared subsystem is still used (but will work as it just includes ahrs_infrared)

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This commit is contained in:
Felix Ruess
2011-08-23 21:57:32 +02:00
parent fe192847b6
commit 449942e361
41 changed files with 42 additions and 81 deletions
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conf/airframes/CDW/LisaFw.xml
+1 -1
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@@ -193,7 +193,7 @@
<!-- Sensors -->
<subsystem name="radio_control" type="ppm"/>
<!--<subsystem name="attitude" type="infrared">
<!--<subsystem name="ahrs" type="infrared">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_2"/>
<configure name="ADC_IR_TOP" value="ADC_0"/>
conf/airframes/CDW/TinyFw.xml
+1 -1
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@@ -186,7 +186,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
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@@ -19,7 +19,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+1 -1
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@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="navigation" />
<!-- <subsystem name="attitude" type="infrared"/>-->
<!-- <subsystem name="ahrs" type="infrared"/>-->
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
</firmware>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+1 -1
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@@ -33,7 +33,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/LAAS/mmlaas_N1.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<subsystem name="ahrs" type="infrared">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
conf/airframes/LAAS/mmlaas_N2.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<subsystem name="ahrs" type="infrared">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
conf/airframes/LAAS/mmlaas_N3.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<subsystem name="ahrs" type="infrared">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
conf/airframes/Poine/funjet42.xml
+1 -1
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@@ -15,7 +15,7 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/Poine/swift_1.xml
+1 -1
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@@ -15,7 +15,7 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/TU_Delft/MicrojetBR.xml
+1 -1
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@@ -260,7 +260,7 @@
<!-- <subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_3" />
</subsystem>
--> <subsystem name="attitude" type="infrared"/>
--> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>
conf/airframes/delta_wing_minimal_example.xml
+1 -1
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@@ -17,7 +17,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/easy_glider_example.xml
+1 -1
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@@ -168,7 +168,7 @@
<!-- Actuators are automatically chosen according to board -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/easystar_ets_example.xml
+1 -1
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@@ -24,7 +24,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
</firmware>
conf/airframes/easystar_example.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/funjet_cam_example.xml
+1 -1
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@@ -27,7 +27,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
conf/airframes/funjet_example.xml
+1 -1
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@@ -27,7 +27,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
conf/airframes/jsbsim.xml
+1 -1
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@@ -216,7 +216,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
conf/airframes/mentor_tum.xml
+1 -1
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@@ -23,7 +23,7 @@
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
</firmware>
conf/airframes/microjet_example.xml
+1 -1
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@@ -187,7 +187,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
conf/airframes/mm/extra/probe_t.xml
+1 -1
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@@ -16,7 +16,7 @@
</target>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mm/extra/turbine_trigger.xml
+1 -1
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@@ -9,7 +9,7 @@
</target>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/mm/fixed-wing/drops.xml
+1 -1
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@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control_adaptive"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="navigation_bomb"/>
conf/airframes/mm/fixed-wing/funjet43.xml
+1 -1
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@@ -20,7 +20,7 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<!-- Interfaces -->
conf/airframes/mm/fixed-wing/funjetdca.xml
+1 -1
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@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/funjetdcb.xml
+1 -1
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@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/funjetdcc.xml
+1 -1
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@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/funjetgfi8.xml
+1 -1
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@@ -28,7 +28,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/funjetlisa.xml
+1 -1
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@@ -16,7 +16,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
conf/airframes/mm/fixed-wing/funjetlisam.xml
+1 -1
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@@ -16,7 +16,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
conf/airframes/mm/fixed-wing/funjetmm.xml
+1 -1
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@@ -36,7 +36,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="mediatek_diy"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+1 -1
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@@ -34,7 +34,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/merlin.xml
+1 -1
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@@ -181,7 +181,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/slowfast.xml
+1 -1
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@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/slowfast2.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
conf/airframes/osam_xsens_twog.xml
+1 -1
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@@ -31,7 +31,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ugear"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/twinjet_example.xml
+1 -1
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@@ -21,7 +21,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
conf/airframes/twinjet_overo.xml
+1 -1
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@@ -24,7 +24,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox_hitl"/>
<subsystem name="navigation"/>
conf/airframes/twinstar_example.xml
+1 -1
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@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/usb_test.xml
+1 -1
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@@ -14,7 +14,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
+2 -41
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@@ -1,42 +1,3 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude via IR sensors
include $(CFG_FIXEDWING)/ahrs_infrared.makefile
#
# default values for tiny and twog are:
# ADC_IR1 = ADC_1
# ADC_IR2 = ADC_2
# ADC_IR_TOP = ADC_0
# ADC_IR_NB_SAMPLES = 16
#
# to change just redefine these before including this file
#
#
# LPC only has one ADC
#
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
endif
#
# On STM32 let's hardwire infrared sensors to AD1 for now
#
ifeq ($(ARCH), stm32)
ap.CFLAGS += -DUSE_AD1
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1_CHAN) -DUSE_AD1_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2_CHAN) -DUSE_AD1_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP_CHAN) -DUSE_AD1_$(ADC_IR_TOP)
endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
$(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).srcs += subsystems/sensors/infrared.c
$(TARGET).srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
# is already added to sources in autopilot.makefile
#jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
$(warning Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace <subsystem name="attitude" type="infrared"/> with <subsystem name="ahrs" type="infrared"/> in your airframe file.)