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temporary fix for ins_chimu module:

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- use ahrs_update_gps instead of ins_periodic_task in ins_chimu

All the ins modules need to be cleaned up properly.
This commit is contained in:
Felix Ruess
2012-02-02 11:49:03 +01:00
parent def7def1ef
commit 5e0cfd6f3a
4 changed files with 17 additions and 7 deletions
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conf/modules/ins_chimu_spi.xml
+1 -1
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@@ -4,9 +4,9 @@
<!-- <depend conflict="ins" --> <!-- <depend conflict="ins" -->
<header> <header>
<file name="ins_module.h"/> <file name="ins_module.h"/>
<file name="ins_chimu.h"/>
</header> </header>
<init fun="ins_init()"/> <init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="8"/>
<event fun="parse_ins_msg()"/> <event fun="parse_ins_msg()"/>
<makefile> <makefile>
<define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/> <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
conf/modules/ins_chimu_uart.xml
+1
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@@ -10,6 +10,7 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
<!-- <depend conflict="ins" --> <!-- <depend conflict="ins" -->
<header> <header>
<file name="ins_module.h"/> <file name="ins_module.h"/>
<file name="ins_chimu.h"/>
</header> </header>
<init fun="ins_init()"/> <init fun="ins_init()"/>
<!--<periodic fun="ins_periodic_task()" freq="60"/>--> <!--<periodic fun="ins_periodic_task()" freq="60"/>-->
sw/airborne/modules/ins/ins_chimu_spi.c
+10 -6
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@@ -95,18 +95,16 @@ void parse_ins_msg( void )
} }
//Frequency defined in conf *.xml void ahrs_update_gps( void )
void ins_periodic_task( void )
{ {
// Send SW Centripetal Corrections // Send SW Centripetal Corrections
uint8_t centripedal[19] = {0xae, 0xae, 0x0d, 0xaa, 0x0b, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc2 }; uint8_t centripedal[19] = {0xae, 0xae, 0x0d, 0xaa, 0x0b, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc2 };
float gps_speed = 0; float gps_speed = 0;
if (gps.fix == GPS_FIX_3D) if (gps.fix == GPS_FIX_3D) {
{ gps_speed = gps.speed_3d/100.;
gps_speed = gps.speed_3d/100.; }
}
gps_speed = FloatSwap(gps_speed); gps_speed = FloatSwap(gps_speed);
memmove (&centripedal[6], &gps_speed, 4); memmove (&centripedal[6], &gps_speed, 4);
@@ -118,3 +116,9 @@ void ins_periodic_task( void )
// Downlink Send // Downlink Send
} }
//Frequency defined in conf *.xml
void ins_periodic_task( void )
{
}
sw/airborne/modules/ins/ins_chimu_uart.c
+5
View File
@@ -97,3 +97,8 @@ void ins_periodic_task( void )
{ {
// Downlink Send // Downlink Send
} }
void ahrs_update_gps( void )
{
}