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[ins] use weak functions for things that don't need to be implemented by each algorithm

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This commit is contained in:
Felix Ruess
2014-02-27 15:41:01 +01:00
parent 5277c8f593
commit 59d167d206
8 changed files with 49 additions and 127 deletions
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sw/airborne/modules/ins/ins_xsens.c
-19
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@@ -256,25 +256,6 @@ void ins_periodic(void) {
xsens_periodic();
}
void ins_reset_local_origin(void) {
}
void ins_reset_altitude_ref(void) {
}
void ins_reset_utm_zone(struct UtmCoor_f * utm) {
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
}
void ins_update_gps(void) {
struct UtmCoor_f utm;
utm.east = gps.utm_pos.east / 100.;
sw/airborne/subsystems/ins.c
+40
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@@ -27,5 +27,45 @@
#include "subsystems/ins.h"
#if USE_GPS
// for ins_reset_utm_zone
#include "subsystems/gps.h"
#include "state.h"
#endif
struct Ins ins;
#define WEAK __attribute__((weak))
// weak functions, used if not explicitly provided by implementation
void WEAK ins_periodic(void) {}
void WEAK ins_reset_local_origin(void) {}
void WEAK ins_reset_altitude_ref(void) {}
#if USE_GPS
void WEAK ins_reset_utm_zone(struct UtmCoor_f * utm) {
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
}
#else
void WEAK ins_reset_utm_zone(struct UtmCoor_f * utm __attribute__((unused))) {}
#endif
void WEAK ins_propagate(void) {}
void WEAK ins_update_baro(void) {}
void WEAK ins_update_gps(void) {}
void WEAK ins_update_sonar(void) {}
sw/airborne/subsystems/ins.h
+9 -11
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@@ -56,51 +56,49 @@ extern struct Ins ins;
extern void ins_init(void);
/** INS periodic call.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_periodic(void);
/** INS local origin reset.
* Reset horizontal and vertical reference to the current position.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_reset_local_origin(void);
/** INS altitude reference reset.
* Reset only vertical reference to the current altitude.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_reset_altitude_ref(void);
/** INS utm zone reset.
* Reset UTM zone according te the actual position.
* Needs to be implemented by each INS algorithm but is only
* used with fixedwing firmware.
* Only used with fixedwing firmware.
* Can be overwritte by specifc INS implementation.
* @param utm initial utm zone, returns the corrected utm position
*/
extern void ins_reset_utm_zone(struct UtmCoor_f * utm);
/** Propagation. Usually integrates the gyro rates to angles.
* Reads the global #imu data struct.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_propagate(void);
/** Update INS state with barometer measurements.
* Reads the global #baro data struct.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_update_baro(void);
/** Update INS state with GPS measurements.
* Reads the global #gps data struct.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_update_gps(void);
/** Update INS state with sonar measurements.
* Reads the global #sonar data struct.
* Needs to be implemented by each INS algorithm.
* Does nothing if not implemented by specific INS algorithm.
*/
extern void ins_update_sonar(void);
sw/airborne/subsystems/ins/ins_alt_float.c
-23
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@@ -91,8 +91,6 @@ void ins_init(void) {
ins.status = INS_RUNNING;
}
void ins_periodic(void) {
}
/** Reset the geographic reference to the current GPS fix */
void ins_reset_local_origin(void) {
@@ -129,23 +127,6 @@ void ins_reset_altitude_ref(void) {
ins_impl.reset_alt_ref = TRUE;
}
void ins_reset_utm_zone(struct UtmCoor_f * utm) {
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
}
void ins_propagate(void) {
}
void ins_update_baro(void) {}
#if USE_BAROMETER
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure) {
@@ -205,9 +186,6 @@ void ins_update_gps(void) {
#endif
}
void ins_update_sonar(void) {
}
#ifndef GPS_DT
#define GPS_DT 0.25
@@ -215,7 +193,6 @@ void ins_update_sonar(void) {
#define GPS_SIGMA2 1.
#define GPS_R 2.
static float p[2][2];
static void alt_kalman_reset(void) {
sw/airborne/subsystems/ins/ins_ardrone2.c
-8
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@@ -105,10 +105,6 @@ void ins_propagate() {
#endif
}
void ins_update_baro() {
}
void ins_update_gps(void) {
#if USE_GPS
@@ -139,7 +135,3 @@ void ins_update_gps(void) {
}
#endif /* USE_GPS */
}
void ins_update_sonar() {
}
sw/airborne/subsystems/ins/ins_float_invariant.c
-21
View File
@@ -268,9 +268,6 @@ void ins_init() {
#endif
}
void ins_periodic(void) {}
void ins_propagate(void) {}
void ins_reset_local_origin( void ) {
#if INS_UPDATE_FW_ESTIMATOR
@@ -312,21 +309,6 @@ void ins_reset_altitude_ref( void ) {
#endif
}
#if INS_UPDATE_FW_ESTIMATOR
void ins_reset_utm_zone(struct UtmCoor_f * utm) {
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
}
#endif
void ahrs_init(void) {
ahrs.status = AHRS_UNINIT;
}
@@ -492,9 +474,6 @@ void ahrs_update_gps(void) {
}
void ins_update_gps(void) {}
void ins_update_baro(void) {}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure) {
static float ins_qfe = 101325.0;
sw/airborne/subsystems/ins/ins_gps_passthrough.c
-26
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@@ -42,22 +42,6 @@ void ins_init(void) {
ins.status = INS_RUNNING;
}
void ins_periodic(void) {
}
void ins_reset_utm_zone(struct UtmCoor_f * utm) {
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
}
void ins_reset_local_origin(void) {
struct UtmCoor_f utm;
#ifdef GPS_USE_LATLONG
@@ -102,13 +86,3 @@ void ins_update_gps(void) {
// set velocity
stateSetSpeedNed_f(&ned_vel);
}
void ins_propagate(void) {
}
void ins_update_baro(void) {
}
void ins_update_sonar(void) {
}
sw/airborne/subsystems/ins/ins_int.c
-19
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@@ -171,21 +171,6 @@ void ins_periodic(void) {
ins.status = INS_RUNNING;
}
void ins_reset_utm_zone(struct UtmCoor_f * utm) {
#if USE_GPS
struct LlaCoor_f lla0;
lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
#else
utm->zone = gps.utm_pos.zone;
#endif
utm_of_lla_f(utm, &lla0);
stateSetLocalUtmOrigin_f(utm);
#endif
}
void ins_reset_local_origin(void) {
ins_impl.ltp_initialized = FALSE;
#if USE_HFF
@@ -257,10 +242,6 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
}
void ins_update_baro(void) {
}
void ins_update_gps(void) {
#if USE_GPS
if (gps.fix == GPS_FIX_3D) {