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renamed ahrs_float_cmpl_rmat to ahrs_float_cmpl as it can be used with rmat or quat rotation representations

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This commit is contained in:
Felix Ruess
2012-02-12 18:36:48 +01:00
parent 9de3620b5d
commit 4bb8df6533
10 changed files with 96 additions and 90 deletions
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conf/airframes/flixr_discovery.xml
+1 -1
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@@ -40,7 +40,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- Control -->
<subsystem name="control" type="new"/>
<subsystem name="navigation" type="extra"/>
<subsystem name="ahrs" type="float_cmpl_rmat"/>
<subsystem name="ahrs" type="float_cmpl"/>
<!-- Sensors -->
<subsystem name="imu" type="b2_v1.0">
conf/autopilot/lisa_test_progs.makefile
+3 -3
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@@ -404,14 +404,14 @@ test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
endif
ifeq ($(AHRS), fcr2)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_rmat.c
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl.c
endif
ifeq ($(AHRS), fcq)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
+58
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@@ -0,0 +1,58 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
# Extra stuff for fixedwings
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
jsbsim.CFLAGS += $(ahrssim_CFLAGS)
jsbsim.srcs += $(ahrssim_srcs)
conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+2 -57
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@@ -1,58 +1,3 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
include $(CFG_FIXEDWING)/ahrs_float_cmpl.makefile
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_rmat.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
# Extra stuff for fixedwings
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#
# Simple simulation of the AHRS result
#
ahrssim_CFLAGS = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
ahrssim_srcs = $(SRC_SUBSYSTEMS)/ahrs.c
ahrssim_srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
sim.CFLAGS += $(ahrssim_CFLAGS)
sim.srcs += $(ahrssim_srcs)
jsbsim.CFLAGS += $(ahrssim_CFLAGS)
jsbsim.srcs += $(ahrssim_srcs)
$(warning The ahrs_float_cmpl_rmat subsystem has been renamed, please replace <subsystem name="ahrs" type="float_cmpl_rmat"/> with <subsystem name="ahrs" type="float_cmpl"/> in your airframe file.)
conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
+23
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@@ -0,0 +1,23 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
+2 -22
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@@ -1,23 +1,3 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
include $(CFG_ROTORCRAFT)/ahrs_float_cmpl.makefile
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_rmat.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
$(warning The ahrs_float_cmpl_rmat subsystem has been renamed, please replace <subsystem name="ahrs" type="float_cmpl_rmat"/> with <subsystem name="ahrs" type="float_cmpl"/> in your airframe file.)
sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c → sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+1 -1
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@@ -20,7 +20,7 @@
*/
#include "subsystems/ahrs.h"
#include "subsystems/ahrs/ahrs_float_cmpl_rmat.h"
#include "subsystems/ahrs/ahrs_float_cmpl.h"
#include "subsystems/ahrs/ahrs_float_utils.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "subsystems/imu.h"
sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.h → sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
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sw/airborne/test/ahrs/Makefile
+5 -5
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@@ -37,7 +37,7 @@ all: run_ahrs_fcr_on_flight_log run_ahrs_ice_on_flight_log
#run_ahrs_flq_on_flight_log: ../../subsystems/ahrs/ahrs_float_lkf_quat.c $(SRCS)
# $(CC) -DAHRS_TYPE=AHRS_TYPE_FLQ $(CFLAGS) -o $@ $^ $(LDFLAGS)
run_ahrs_fcr_on_flight_log: ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c $(SRCS)
run_ahrs_fcr_on_flight_log: ../../subsystems/ahrs/ahrs_float_cmpl.c $(SRCS)
$(CC) -DAHRS_TYPE=AHRS_TYPE_FCR $(CFLAGS) -o $@ $^ $(LDFLAGS)
run_ahrs_ice_on_flight_log: ../../subsystems/ahrs/ahrs_int_cmpl_euler.c $(SRCS)
@@ -120,14 +120,14 @@ AHRS_CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_dcm.c
endif
ifeq ($(AHRS_TYPE), AHRS_TYPE_FCR2)
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c
AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_cmpl.c
endif
ifeq ($(AHRS_TYPE), AHRS_TYPE_FCQ)
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c
AHRS_SRCS += ../../subsystems/ahrs/ahrs_float_cmpl.c
endif
sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
+1 -1
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@@ -25,7 +25,7 @@
#include "subsystems/ahrs/ahrs_float_lkf_quat.h"
#define OUT_FILE "./out_flq.txt"
#elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_FCR
#include "subsystems/ahrs/ahrs_float_cmpl_rmat.h"
#include "subsystems/ahrs/ahrs_float_cmpl.h"
#define OUT_FILE "./out_fcr.txt"
#elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_ICE
#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"