Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 16:58:48 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

remove unused util files and remove unused functions of analogimu

Browse Source
This commit is contained in:
Felix Ruess
2010-12-09 20:17:59 +01:00
parent 63261b3b78
commit 486c979e92
3 changed files with 0 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/ahrs/dcm/analogimu.h
-2
View File
@@ -37,9 +37,7 @@ extern float imu_pitch_neutral;
//functions
void analog_imu_init( void );
void analog_imu_update( void );
void analog_imu_downlink( void );
void analogconversion( void );
void estimator_update_state_analog_imu( void );
void analog_imu_offset_set( void );
sw/airborne/subsystems/ahrs/dcm/analogimu_util.c
-100
View File
@@ -1,100 +0,0 @@
/*
* $Id: analogimu_util.c $
*
* Copyright (C) 2010 Christoph Niemann
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file analogimu_util.c
* \brief Analog IMU Utilities
*
*/
#include "mcu_periph/adc.h"
#include "mcu_periph/uart.h"
#include "std.h"
#include "subsystems/nav.h"
#include "estimator.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "inter_mcu.h"
#include "analogimu_util.h"
uint16_t analog_raw[NB_ADC];
// variables
/** gyro rate in rad */
volatile float gyro[G_LAST] = {0.};
/** gyro rate offset in rad */
volatile float gyro_to_zero[G_LAST] = {0.};
/** acceleration in ms2 */
volatile float accel[ACC_LAST] = {0.};
/** angle in rad */
volatile float angle[ANG_LAST] = {0.};
/** magnet heading \todo heading ? */
volatile float heading;
void analogimu_delay( void ) {
volatile int i,j;
for (i=0;i<1000;i++)
for (j=0;j<1000;j++);
}
bool_t analog_imu_reset( void ) {
#ifndef ANALOGIMU_ZERO_AVERAGE
gyro_to_zero[GO_ROLL] = gyro[G_ROLL];
gyro_to_zero[GO_PITCH] = gyro[G_PITCH];
gyro_to_zero[GO_YAW] = gyro[G_YAW];
#else
/** temp_value for calculating the average */
volatile float gyro_to_zero_temp[G_LAST] = {0.};
gyro_to_zero_temp[GO_ROLL] = gyro[G_ROLL];
gyro_to_zero_temp[GO_PITCH] = gyro[G_PITCH];
gyro_to_zero_temp[GO_YAW] = gyro[G_YAW];
analogimu_delay();
gyro_to_zero_temp[GO_ROLL] += gyro[G_ROLL];
gyro_to_zero_temp[GO_PITCH] += gyro[G_PITCH];
gyro_to_zero_temp[GO_YAW] += gyro[G_YAW];
analogimu_delay();
gyro_to_zero_temp[GO_ROLL] += gyro[G_ROLL];
gyro_to_zero_temp[GO_PITCH] += gyro[G_PITCH];
gyro_to_zero_temp[GO_YAW] += gyro[G_YAW];
gyro_to_zero_temp[GO_ROLL] /= 3;
gyro_to_zero_temp[GO_PITCH] /= 3;
gyro_to_zero_temp[GO_YAW] /= 3;
gyro_to_zero[GO_ROLL] = gyro_to_zero_temp[G_ROLL];
gyro_to_zero[GO_PITCH] = gyro_to_zero_temp[G_PITCH];
gyro_to_zero[GO_YAW] = gyro_to_zero_temp[G_YAW];
#endif
return FALSE;
}
sw/airborne/subsystems/ahrs/dcm/analogimu_util.h
-66
View File
@@ -1,66 +0,0 @@
/*
* $Id: analogimu_imu.h $
*
* Copyright (C) 2010 Christoph Niemann
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file analogimu_util.h
* \brief Analog IMU Utilities
*
*/
#ifndef _ANALOGIMU_UTIL_H_
#define _ANALOGIMU_UTIL_H_
#include "std.h"
// defines
/** defines for gyro[] indicies */
enum gyro_idx_t { G_ROLL, G_PITCH, G_YAW, G_LAST };
/** defines for accel[] indicies */
enum accel_idx_t { ACC_X, ACC_Y, ACC_Z, ACC_LAST };
/** defines for stick[] indicies */
enum stick_idx_t { STICK_ROLL, STICK_PITCH, STICK_YAW, STICK_THRUST,
STICK_SWR, STICK_SWL, STICK_CH6, STICK_CH7, STICK_LAST };
/** defines for angle[] indicies */
enum angle_idx_t { ANG_ROLL, ANG_PITCH, ANG_YAW, ANG_LAST };
/** defines for gyro_to_zero[] indicies */
enum gyro_to_zero_idx_t { GO_ROLL, GO_PITCH, GO_YAW, GO_LAST };
// variables
extern volatile float gyro[];
/** acceleration in ms2 */
extern volatile float accel[];
/** angle in rad */
extern volatile float angle[];
/** magnet heading \todo heading ? */
extern volatile float heading;
/** analog_raw[] analog downlink arry */
extern uint16_t analog_raw[];
extern volatile float gyro_to_zero[];
extern bool_t analog_imu_reset( void );
void analogimu_delay( void );
#endif