renamed attitude_dcm subsystem to ahrs_dcm, prints error if old name is used

conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml

@@ -244,7 +244,7 @@
     <subsystem name="imu" type="aspirin_i2c"/>
     -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="attitude" type="dcm">
+    <subsystem name="ahrs" type="dcm">
 <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
 

conf/airframes/TU_Delft/MicrojetBRimu.xml

@@ -295,7 +295,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="ahrs" type="dcm"/>
     <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_lea4p"/>

conf/airframes/TU_Delft/MicrojetCDW.xml

@@ -214,7 +214,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
-    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="ahrs" type="dcm"/>
     <subsystem name="gps" type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 

conf/airframes/example_twog_analogimu.xml

@@ -212,7 +212,7 @@
       <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
-    <subsystem name="attitude"  type="dcm"/>
+    <subsystem name="ahrs"  type="dcm"/>
     <subsystem name="gps"       type="ublox_lea5h"/>
     <subsystem name="navigation"/>
   </firmware>

conf/airframes/flixr_discovery.xml

@@ -36,7 +36,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="ahrs" type="dcm"/>
 
     <subsystem name="i2c"/>
 

conf/airframes/test_hb.xml

@@ -13,7 +13,7 @@
     <subsystem name="control"/>
 
     <!-- Attitude Estimation -->
-    <subsystem name="attitude" 		type="dcm"/>
+    <subsystem name="ahrs" 		type="dcm"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="hb"/>

conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile

@@ -0,0 +1,52 @@
+# attitude estimation for fixedwings via dcm algorithm
+
+
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+
+ifeq ($(ARCH), lpc21)
+
+ap.CFLAGS += -DUSE_AHRS
+
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
+
+ifdef AHRS_ALIGNER_LED
+  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+
+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=$(AHRS_CORRECT_FREQUENCY)
+
+endif
+
+# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
+sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
+
+sim.CFLAGS += -DUSE_INFRARED
+sim.srcs += subsystems/sensors/infrared.c
+
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_imu.c
+
+endif
+
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c

conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile

@@ -1,52 +1,4 @@
 # attitude estimation for fixedwings via dcm algorithm
 
 
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+$(error The attitude_dcm subsystem has been renamed, please replace <subsystem name="attitude" type="dcm"/> with <subsystem name="ahrs" type="dcm"/>)
-
-ifeq ($(ARCH), lpc21)
-
-ap.CFLAGS += -DUSE_AHRS
-
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
-
-ifdef AHRS_ALIGNER_LED
-  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-
-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=$(AHRS_CORRECT_FREQUENCY)
-
-endif
-
-# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
-
-ifeq ($(TARGET), sim)
-
-sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
-sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
-
-sim.CFLAGS += -DUSE_INFRARED
-sim.srcs += subsystems/sensors/infrared.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-sim.srcs += $(SRC_ARCH)/sim_imu.c
-
-endif
-
-jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c