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

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This commit is contained in:
Felix Ruess
2011-06-21 20:38:39 +02:00
parent aa4f0c1a00
commit 5adfef323b
8 changed files with 69 additions and 65 deletions
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conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+1 -1
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -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
+11 -11
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@@ -10,7 +10,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<airframe name="Discovery">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
@@ -20,7 +20,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="USE_I2C0"/>
<define name="I2C0_VIC_SLOT" value="12"/>
</target>
<target name="sim" board="pc"/>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
@@ -36,8 +36,8 @@ 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"/>
<!-- Sensors -->
@@ -80,16 +80,16 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="AILERON_LEFT" no="4" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
</servos>
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="2000"/>
<axis name="HATCH" failsafe_value="-9599"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="2000"/>
<axis name="HATCH" failsafe_value="-9599"/>
<!-- maybe set to open position so we can insert the payload -->
</commands>
@@ -215,7 +215,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
<!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
<!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
or fly a long range mission you define the wanted mode behaviour here.
conf/airframes/test_hb.xml
+1 -1
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@@ -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
+52
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@@ -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 -49
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@@ -1,52 +1,4 @@
# 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
$(error The attitude_dcm subsystem has been renamed, please replace <subsystem name="attitude" type="dcm"/> with <subsystem name="ahrs" type="dcm"/>)