diff --git a/sw/airborne/arch/chibios/modules/core/shell_arch.c b/sw/airborne/arch/chibios/modules/core/shell_arch.c index 1fb315ba39..371f0f7913 100644 --- a/sw/airborne/arch/chibios/modules/core/shell_arch.c +++ b/sw/airborne/arch/chibios/modules/core/shell_arch.c @@ -27,7 +27,7 @@ #include "modules/core/microrl/microrlShell.h" #include "mcu_periph/uart.h" #include "printf.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /************************* * Basic static commands * diff --git a/sw/airborne/boards/apogee/baro_board.c b/sw/airborne/boards/apogee/baro_board.c index ecbca702ff..e13e9e50d3 100644 --- a/sw/airborne/boards/apogee/baro_board.c +++ b/sw/airborne/boards/apogee/baro_board.c @@ -33,7 +33,7 @@ // to get MPU status #include "boards/apogee/imu_apogee.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" // sd-log diff --git a/sw/airborne/boards/apogee/imu_apogee.c b/sw/airborne/boards/apogee/imu_apogee.c index 50c44d49ef..4c4f2ee354 100644 --- a/sw/airborne/boards/apogee/imu_apogee.c +++ b/sw/airborne/boards/apogee/imu_apogee.c @@ -31,7 +31,7 @@ #include "boards/apogee/imu_apogee.h" #include "mcu_periph/i2c.h" #include "led.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // Downlink #include "mcu_periph/uart.h" diff --git a/sw/airborne/boards/ardrone/baro_board.c b/sw/airborne/boards/ardrone/baro_board.c index 1e68be8229..ac88e7867e 100644 --- a/sw/airborne/boards/ardrone/baro_board.c +++ b/sw/airborne/boards/ardrone/baro_board.c @@ -27,7 +27,7 @@ */ #include "subsystems/sensors/baro.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "baro_board.h" #include "navdata.h" diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c index 17084d3325..1472dd8ed1 100644 --- a/sw/airborne/boards/ardrone/navdata.c +++ b/sw/airborne/boards/ardrone/navdata.c @@ -45,7 +45,7 @@ #include "navdata.h" #include "subsystems/ins.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/gpio.h" /* Internal used functions */ diff --git a/sw/airborne/boards/baro_board_ms5611_i2c.c b/sw/airborne/boards/baro_board_ms5611_i2c.c index 0cf33a8c7a..e7c58ce74a 100644 --- a/sw/airborne/boards/baro_board_ms5611_i2c.c +++ b/sw/airborne/boards/baro_board_ms5611_i2c.c @@ -35,7 +35,7 @@ #include "mcu_periph/sys_time.h" #include "led.h" #include "std.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" diff --git a/sw/airborne/boards/baro_board_ms5611_spi.c b/sw/airborne/boards/baro_board_ms5611_spi.c index 5b00293adb..ae79e08d3b 100644 --- a/sw/airborne/boards/baro_board_ms5611_spi.c +++ b/sw/airborne/boards/baro_board_ms5611_spi.c @@ -33,7 +33,7 @@ #include "mcu_periph/sys_time.h" #include "led.h" #include "std.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" diff --git a/sw/airborne/boards/bebop/actuators.c b/sw/airborne/boards/bebop/actuators.c index 92bf18f2a4..86cbd12096 100644 --- a/sw/airborne/boards/bebop/actuators.c +++ b/sw/airborne/boards/bebop/actuators.c @@ -30,7 +30,7 @@ #include "actuators.h" #include "led_hw.h" #include "autopilot.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" diff --git a/sw/airborne/boards/disco/actuators.c b/sw/airborne/boards/disco/actuators.c index 73683e11e1..b7cc9ca130 100644 --- a/sw/airborne/boards/disco/actuators.c +++ b/sw/airborne/boards/disco/actuators.c @@ -34,7 +34,7 @@ #include "modules/energy/electrical.h" #include "actuators.h" #include "autopilot.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #include diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c index a30a68911b..7804e9861c 100644 --- a/sw/airborne/boards/krooz/imu_krooz.c +++ b/sw/airborne/boards/krooz/imu_krooz.c @@ -34,7 +34,7 @@ #include "mcu_periph/i2c.h" #include "led.h" #include "filters/median_filter.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // Downlink #include "mcu_periph/uart.h" diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.c b/sw/airborne/boards/krooz/imu_krooz_memsic.c index 203d471e48..d9a1d23c8c 100644 --- a/sw/airborne/boards/krooz/imu_krooz_memsic.c +++ b/sw/airborne/boards/krooz/imu_krooz_memsic.c @@ -36,7 +36,7 @@ #include "led.h" #include "filters/median_filter.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if !defined KROOZ_LOWPASS_FILTER && !defined KROOZ_SMPLRT_DIV #define KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ diff --git a/sw/airborne/boards/lia/baro_board.c b/sw/airborne/boards/lia/baro_board.c index 21121a1f37..aa0e585fea 100644 --- a/sw/airborne/boards/lia/baro_board.c +++ b/sw/airborne/boards/lia/baro_board.c @@ -29,7 +29,7 @@ #include "peripherals/bmp085.h" #include "peripherals/bmp085_regs.h" #include -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c index b5666c0ab2..e1cb4a0e83 100644 --- a/sw/airborne/boards/lisa_l/baro_board.c +++ b/sw/airborne/boards/lisa_l/baro_board.c @@ -23,7 +23,7 @@ #include "std.h" #include "subsystems/sensors/baro.h" #include "mcu_periph/i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" enum LisaBaroStatus { diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c index 21121a1f37..aa0e585fea 100644 --- a/sw/airborne/boards/lisa_m/baro_board.c +++ b/sw/airborne/boards/lisa_m/baro_board.c @@ -29,7 +29,7 @@ #include "peripherals/bmp085.h" #include "peripherals/bmp085_regs.h" #include -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/boards/lisa_mx/baro_board.c b/sw/airborne/boards/lisa_mx/baro_board.c index 1981286d20..b336dae864 100644 --- a/sw/airborne/boards/lisa_mx/baro_board.c +++ b/sw/airborne/boards/lisa_mx/baro_board.c @@ -29,7 +29,7 @@ #include "peripherals/bmp085.h" #include "peripherals/bmp085_regs.h" #include -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/boards/lisa_mxs/baro_board.c b/sw/airborne/boards/lisa_mxs/baro_board.c index 1981286d20..b336dae864 100644 --- a/sw/airborne/boards/lisa_mxs/baro_board.c +++ b/sw/airborne/boards/lisa_mxs/baro_board.c @@ -29,7 +29,7 @@ #include "peripherals/bmp085.h" #include "peripherals/bmp085_regs.h" #include -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/boards/navstik/baro_board.c b/sw/airborne/boards/navstik/baro_board.c index ee020002be..e76b59e773 100644 --- a/sw/airborne/boards/navstik/baro_board.c +++ b/sw/airborne/boards/navstik/baro_board.c @@ -29,7 +29,7 @@ #include "peripherals/bmp085.h" #include "peripherals/bmp085_regs.h" #include -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/boards/swing/baro_board.c b/sw/airborne/boards/swing/baro_board.c index f75f289de7..739ff2cde7 100644 --- a/sw/airborne/boards/swing/baro_board.c +++ b/sw/airborne/boards/swing/baro_board.c @@ -25,7 +25,7 @@ */ #include "subsystems/sensors/baro.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "baro_board.h" #include #include diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c index 9baa3ae7ff..b1c4696a84 100644 --- a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c +++ b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c @@ -34,7 +34,7 @@ #include "subsystems/datalink/telemetry.h" #include "subsystems/datalink/datalink.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" #include "generated/settings.h" diff --git a/sw/airborne/firmwares/fixedwing/autopilot_static.c b/sw/airborne/firmwares/fixedwing/autopilot_static.c index 312a8a0d7d..8ef5f05cd3 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot_static.c +++ b/sw/airborne/firmwares/fixedwing/autopilot_static.c @@ -62,7 +62,7 @@ static inline void copy_from_to_fbw(void); /// @todo, properly implement or remove #ifdef AHRS_TRIGGERED_ATTITUDE_LOOP -#include "subsystems/abi.h" +#include "modules/core/abi.h" volatile uint8_t new_ins_attitude = 0; static abi_event new_att_ev; static void new_att_cb(uint8_t sender_id __attribute__((unused)), diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c index 0012608a98..ca77a6c9e9 100644 --- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c +++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c @@ -66,7 +66,7 @@ #include "firmwares/fixedwing/nav.h" #include "generated/airframe.h" #include "autopilot.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /////// DEFAULT GUIDANCE_V NECESSITIES ////// diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index f9ec1a5559..2a33f21438 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -42,7 +42,7 @@ #include "generated/airframe.h" #include "generated/modules.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c index 7fca1ee535..ecf1ac4464 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c @@ -46,7 +46,7 @@ #include "stabilization/stabilization_attitude_ref_quat_int.h" #include "firmwares/rotorcraft/stabilization.h" #include "filters/low_pass_filter.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // The acceleration reference is calculated with these gains. If you use GPS, // they are probably limited by the update rate of your GPS. The default diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c index dce99a8790..d95e1781d5 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c @@ -43,7 +43,7 @@ #include "firmwares/rotorcraft/stabilization.h" #include "stdio.h" #include "filters/low_pass_filter.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h" diff --git a/sw/airborne/firmwares/rotorcraft/main_ap.c b/sw/airborne/firmwares/rotorcraft/main_ap.c index f6794c5a5f..025d5991b8 100644 --- a/sw/airborne/firmwares/rotorcraft/main_ap.c +++ b/sw/airborne/firmwares/rotorcraft/main_ap.c @@ -42,7 +42,7 @@ #endif #include "generated/modules.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /* if PRINT_CONFIG is defined, print some config options */ PRINT_CONFIG_VAR(PERIODIC_FREQUENCY) diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c index 8497d483b3..32f8ed0c0f 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c @@ -40,7 +40,7 @@ #include "generated/airframe.h" #include "subsystems/radio_control.h" #include "subsystems/actuators.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/low_pass_filter.h" #include "wls/wls_alloc.h" #include diff --git a/sw/airborne/firmwares/rover/main_ap.c b/sw/airborne/firmwares/rover/main_ap.c index c10b2d694c..19505b8256 100644 --- a/sw/airborne/firmwares/rover/main_ap.c +++ b/sw/airborne/firmwares/rover/main_ap.c @@ -37,7 +37,7 @@ #include "firmwares/rover/main_ap.h" #include "generated/modules.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /* if PRINT_CONFIG is defined, print some config options */ PRINT_CONFIG_VAR(PERIODIC_FREQUENCY) diff --git a/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c b/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c index cc65971d8e..3381bf50ba 100644 --- a/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c +++ b/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c @@ -26,7 +26,7 @@ #include "modules/ahrs/ahrs_madgwick_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "message_pragmas.h" #include "state.h" diff --git a/sw/airborne/modules/air_data/air_data.c b/sw/airborne/modules/air_data/air_data.c index 5ee8f6f8d2..daec983a5c 100644 --- a/sw/airborne/modules/air_data/air_data.c +++ b/sw/airborne/modules/air_data/air_data.c @@ -29,7 +29,7 @@ */ #include "modules/air_data/air_data.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_isa.h" #include "state.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/calibration/mag_calib_ukf.c b/sw/airborne/modules/calibration/mag_calib_ukf.c index 51fca8e4c0..5d730252cc 100644 --- a/sw/airborne/modules/calibration/mag_calib_ukf.c +++ b/sw/airborne/modules/calibration/mag_calib_ukf.c @@ -31,7 +31,7 @@ #include "math/pprz_algebra_double.h" #include "state.h" #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" #include "subsystems/ahrs/ahrs_magnetic_field_model.h" #include "subsystems/datalink/telemetry.h" diff --git a/sw/airborne/modules/computer_vision/colorfilter.c b/sw/airborne/modules/computer_vision/colorfilter.c index 3800c8cb18..1c84608578 100644 --- a/sw/airborne/modules/computer_vision/colorfilter.c +++ b/sw/airborne/modules/computer_vision/colorfilter.c @@ -53,7 +53,7 @@ uint8_t color_cr_max = 255; // Result volatile int color_count = 0; -#include "subsystems/abi.h" +#include "modules/core/abi.h" // Function static struct image_t *colorfilter_func(struct image_t *img, uint8_t camera_id __attribute__((unused))) diff --git a/sw/airborne/modules/computer_vision/cv_detect_color_object.c b/sw/airborne/modules/computer_vision/cv_detect_color_object.c index fe84092d4b..981ff9e690 100644 --- a/sw/airborne/modules/computer_vision/cv_detect_color_object.c +++ b/sw/airborne/modules/computer_vision/cv_detect_color_object.c @@ -28,7 +28,7 @@ // Own header #include "modules/computer_vision/cv_detect_color_object.h" #include "modules/computer_vision/cv.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "std.h" #include diff --git a/sw/airborne/modules/computer_vision/cv_target_localization.c b/sw/airborne/modules/computer_vision/cv_target_localization.c index 104fcc99fa..27aa68d7e6 100644 --- a/sw/airborne/modules/computer_vision/cv_target_localization.c +++ b/sw/airborne/modules/computer_vision/cv_target_localization.c @@ -31,7 +31,7 @@ #include "math/pprz_algebra_float.h" #include "math/pprz_geodetic_float.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/downlink.h" #include "subsystems/navigation/waypoints.h" #include "generated/flight_plan.h" diff --git a/sw/airborne/modules/computer_vision/detect_gate.c b/sw/airborne/modules/computer_vision/detect_gate.c index 4757da6585..69d9aa9690 100644 --- a/sw/airborne/modules/computer_vision/detect_gate.c +++ b/sw/airborne/modules/computer_vision/detect_gate.c @@ -14,8 +14,8 @@ #include "math/pprz_algebra.h" #include "math/pprz_algebra_float.h" #include "math/pprz_simple_matrix.h" -#include "subsystems/abi.h" -#include "subsystems/abi_sender_ids.h" +#include "modules/core/abi.h" +#include "modules/core/abi_sender_ids.h" #include "modules/computer_vision/snake_gate_detection.h" diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c index 670e754cc8..bfe005e96c 100644 --- a/sw/airborne/modules/computer_vision/opticflow_module.c +++ b/sw/airborne/modules/computer_vision/opticflow_module.c @@ -30,7 +30,7 @@ #include #include #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "lib/v4l/v4l2.h" #include "lib/encoding/jpeg.h" diff --git a/sw/airborne/subsystems/abi.h b/sw/airborne/modules/core/abi.h similarity index 97% rename from sw/airborne/subsystems/abi.h rename to sw/airborne/modules/core/abi.h index d0289b13b4..5cc226f0e6 100644 --- a/sw/airborne/subsystems/abi.h +++ b/sw/airborne/modules/core/abi.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/abi.h + * @file modules/core/abi.h * * Main include for ABI (AirBorneInterface). * @todo explain how to use ABI diff --git a/sw/airborne/subsystems/abi_common.h b/sw/airborne/modules/core/abi_common.h similarity index 96% rename from sw/airborne/subsystems/abi_common.h rename to sw/airborne/modules/core/abi_common.h index 4b7f8d60de..0ec3821767 100644 --- a/sw/airborne/subsystems/abi_common.h +++ b/sw/airborne/modules/core/abi_common.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/abi_common.h + * @file modules/core/abi_common.h * * Common tools for ABI middelware. */ @@ -37,7 +37,7 @@ * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure */ -#include "subsystems/abi_sender_ids.h" +#include "modules/core/abi_sender_ids.h" /* Some magic to avoid to compile C code, only headers */ #ifdef ABI_C diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/modules/core/abi_sender_ids.h similarity index 99% rename from sw/airborne/subsystems/abi_sender_ids.h rename to sw/airborne/modules/core/abi_sender_ids.h index 7701212bc2..fa4b643038 100644 --- a/sw/airborne/subsystems/abi_sender_ids.h +++ b/sw/airborne/modules/core/abi_sender_ids.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/abi_sender_ids.h + * @file modules/core/abi_sender_ids.h * * Convenience defines for ABI sender IDs. */ diff --git a/sw/airborne/modules/ctrl/object_tracking.c b/sw/airborne/modules/ctrl/object_tracking.c index fbe7fd6672..c184cb9472 100644 --- a/sw/airborne/modules/ctrl/object_tracking.c +++ b/sw/airborne/modules/ctrl/object_tracking.c @@ -26,7 +26,7 @@ #include "modules/ctrl/object_tracking.h" #include "firmwares/rotorcraft/navigation.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" #include "generated/modules.h" diff --git a/sw/airborne/modules/ctrl/optical_flow_hover.c b/sw/airborne/modules/ctrl/optical_flow_hover.c index 914a3d9ff7..33da940468 100644 --- a/sw/airborne/modules/ctrl/optical_flow_hover.c +++ b/sw/airborne/modules/ctrl/optical_flow_hover.c @@ -23,7 +23,7 @@ #include "generated/airframe.h" #include "paparazzi.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/rotorcraft/stabilization.h" #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h" #include "modules/energy/electrical.h" diff --git a/sw/airborne/modules/ctrl/optical_flow_landing.c b/sw/airborne/modules/ctrl/optical_flow_landing.c index 75b9ba4927..19229e23a9 100644 --- a/sw/airborne/modules/ctrl/optical_flow_landing.c +++ b/sw/airborne/modules/ctrl/optical_flow_landing.c @@ -45,7 +45,7 @@ #include "generated/airframe.h" #include "paparazzi.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/rotorcraft/stabilization.h" #include "firmwares/rotorcraft/guidance/guidance_v_adapt.h" diff --git a/sw/airborne/modules/ctrl/shift_tracking.c b/sw/airborne/modules/ctrl/shift_tracking.c index 084491427e..4c6c677510 100644 --- a/sw/airborne/modules/ctrl/shift_tracking.c +++ b/sw/airborne/modules/ctrl/shift_tracking.c @@ -30,7 +30,7 @@ #include "firmwares/fixedwing/nav.h" #include "autopilot.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_algebra_float.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c index fd0765a4f1..f5414ec4d2 100644 --- a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c +++ b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c @@ -28,7 +28,7 @@ #include "generated/airframe.h" #include "paparazzi.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/rotorcraft/stabilization.h" /* Default sonar/agl to use */ diff --git a/sw/airborne/modules/decawave/decawave_anchorless_communication.c b/sw/airborne/modules/decawave/decawave_anchorless_communication.c index cdd4976065..942214c62a 100644 --- a/sw/airborne/modules/decawave/decawave_anchorless_communication.c +++ b/sw/airborne/modules/decawave/decawave_anchorless_communication.c @@ -42,7 +42,7 @@ #include "subsystems/radio_control.h" #include "state.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #define UWB_SERIAL_PORT (&((SERIAL_UART).device)) diff --git a/sw/airborne/modules/decawave/dw1000_arduino.c b/sw/airborne/modules/decawave/dw1000_arduino.c index 435f070a8b..761784992b 100644 --- a/sw/airborne/modules/decawave/dw1000_arduino.c +++ b/sw/airborne/modules/decawave/dw1000_arduino.c @@ -29,7 +29,7 @@ #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "modules/decawave/trilateration.h" #include "subsystems/gps.h" #include "state.h" diff --git a/sw/airborne/modules/dragspeed/dragspeed.c b/sw/airborne/modules/dragspeed/dragspeed.c index 1eac19563e..b269764d98 100644 --- a/sw/airborne/modules/dragspeed/dragspeed.c +++ b/sw/airborne/modules/dragspeed/dragspeed.c @@ -38,8 +38,8 @@ #include "modules/dragspeed/dragspeed.h" -#include "subsystems/abi.h" -#include "subsystems/abi_common.h" +#include "modules/core/abi.h" +#include "modules/core/abi_common.h" #include "subsystems/datalink/telemetry.h" #include diff --git a/sw/airborne/modules/geo_mag/geo_mag.c b/sw/airborne/modules/geo_mag/geo_mag.c index 809548191e..77482083de 100644 --- a/sw/airborne/modules/geo_mag/geo_mag.c +++ b/sw/airborne/modules/geo_mag/geo_mag.c @@ -30,7 +30,7 @@ #include "math/pprz_geodetic_wmm2020.h" #include "math/pprz_algebra_double.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" //FIXME: should not be in this spot //for kill_throttle check diff --git a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c index 9e230e6758..b0b3dd7df4 100644 --- a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c +++ b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c @@ -30,7 +30,7 @@ // Own Header #include "guidance_opticflow_hover.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // Stabilization #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h" diff --git a/sw/airborne/modules/helicopter/throttle_curve.c b/sw/airborne/modules/helicopter/throttle_curve.c index 1544c9148b..77156211e2 100644 --- a/sw/airborne/modules/helicopter/throttle_curve.c +++ b/sw/airborne/modules/helicopter/throttle_curve.c @@ -28,7 +28,7 @@ #include "modules/core/commands.h" #include "autopilot.h" #include "subsystems/radio_control.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /* The switching values for the Throttle Curve Mode switch */ #define THROTTLE_CURVE_SWITCH_VAL (MAX_PPRZ*2/THROTTLE_CURVES_NB) diff --git a/sw/airborne/modules/imu/filter_1euro_imu.c b/sw/airborne/modules/imu/filter_1euro_imu.c index 6f9ffca965..0d3c156e07 100644 --- a/sw/airborne/modules/imu/filter_1euro_imu.c +++ b/sw/airborne/modules/imu/filter_1euro_imu.c @@ -27,7 +27,7 @@ #include "filters/1e_filter.h" #include "math/pprz_algebra_int.h" #include "math/pprz_algebra_float.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" /** Enable by default */ diff --git a/sw/airborne/modules/imu/imu_bmi088_i2c.c b/sw/airborne/modules/imu/imu_bmi088_i2c.c index 91ec8f73b4..0959131aa0 100644 --- a/sw/airborne/modules/imu/imu_bmi088_i2c.c +++ b/sw/airborne/modules/imu/imu_bmi088_i2c.c @@ -28,7 +28,7 @@ #include "subsystems/imu.h" #include "mcu_periph/i2c.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" PRINT_CONFIG_VAR(IMU_BMI088_GYRO_RANGE) PRINT_CONFIG_VAR(IMU_BMI088_ACCEL_RANGE) diff --git a/sw/airborne/modules/imu/imu_vectornav.c b/sw/airborne/modules/imu/imu_vectornav.c index 362331a929..0c2bcc6f9d 100644 --- a/sw/airborne/modules/imu/imu_vectornav.c +++ b/sw/airborne/modules/imu/imu_vectornav.c @@ -32,7 +32,7 @@ #include "mcu_periph/sys_time.h" // Abi -#include "subsystems/abi.h" +#include "modules/core/abi.h" // Generated #include "generated/airframe.h" diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c index f5edc7fd15..34e5e610da 100644 --- a/sw/airborne/modules/ins/ahrs_chimu_spi.c +++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c @@ -39,7 +39,7 @@ struct AhrsChimu ahrs_chimu; void ahrs_chimu_update_gps(uint8_t gps_fix, uint16_t gps_speed_3d); -#include "subsystems/abi.h" +#include "modules/core/abi.h" /** ABI binding for gps data. * Used for GPS ABI messages. */ diff --git a/sw/airborne/modules/ins/imu_xsens.c b/sw/airborne/modules/ins/imu_xsens.c index 46e0bbd24b..07c62f9680 100644 --- a/sw/airborne/modules/ins/imu_xsens.c +++ b/sw/airborne/modules/ins/imu_xsens.c @@ -31,7 +31,7 @@ #include "generated/airframe.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" static void handle_ins_msg(void); diff --git a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c index 38448fd3a4..79021d0ef4 100644 --- a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c +++ b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c @@ -32,7 +32,7 @@ #include "subsystems/ahrs/ahrs_aligner.h" #endif #include "subsystems/ins.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_isa.h" #include "state.h" diff --git a/sw/airborne/modules/ins/ins_skeleton.c b/sw/airborne/modules/ins/ins_skeleton.c index 454f9754ec..049e7fef13 100644 --- a/sw/airborne/modules/ins/ins_skeleton.c +++ b/sw/airborne/modules/ins/ins_skeleton.c @@ -25,7 +25,7 @@ */ #include "modules/ins/ins_skeleton.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "message_pragmas.h" diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c index 011a1d13ec..ec6a36b998 100644 --- a/sw/airborne/modules/ins/ins_xsens.c +++ b/sw/airborne/modules/ins/ins_xsens.c @@ -30,7 +30,7 @@ #include "generated/airframe.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #if USE_GPS_XSENS diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c index 8c3a280b16..e28b7ffac1 100644 --- a/sw/airborne/modules/ins/ins_xsens700.c +++ b/sw/airborne/modules/ins/ins_xsens700.c @@ -39,7 +39,7 @@ #error "USE_GPS needs to be 1 to use the Xsens GPS!" #endif #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_geodetic_wgs84.h" #include "math/pprz_geodetic_float.h" #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */ diff --git a/sw/airborne/modules/joystick/joystick.c b/sw/airborne/modules/joystick/joystick.c index 52bba0c29c..cda57f7ec2 100644 --- a/sw/airborne/modules/joystick/joystick.c +++ b/sw/airborne/modules/joystick/joystick.c @@ -25,7 +25,7 @@ #include "modules/joystick/joystick.h" #include "subsystems/datalink/datalink.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "pprzlink/dl_protocol.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/lidar/lidar_lite.c b/sw/airborne/modules/lidar/lidar_lite.c index 1fe5c69447..d8d6d15a65 100644 --- a/sw/airborne/modules/lidar/lidar_lite.c +++ b/sw/airborne/modules/lidar/lidar_lite.c @@ -32,7 +32,7 @@ * */ #include "modules/lidar/lidar_lite.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/median_filter.h" // State interface for rotation compensation diff --git a/sw/airborne/modules/lidar/lidar_sf11.c b/sw/airborne/modules/lidar/lidar_sf11.c index 0d88e746f2..a189e19c5d 100644 --- a/sw/airborne/modules/lidar/lidar_sf11.c +++ b/sw/airborne/modules/lidar/lidar_sf11.c @@ -24,7 +24,7 @@ * @brief driver for the Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus. */ #include "modules/lidar/lidar_sf11.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/median_filter.h" // State interface for rotation compensation diff --git a/sw/airborne/modules/lidar/tfmini.c b/sw/airborne/modules/lidar/tfmini.c index c81115e798..dfaf467acc 100644 --- a/sw/airborne/modules/lidar/tfmini.c +++ b/sw/airborne/modules/lidar/tfmini.c @@ -26,7 +26,7 @@ */ #include "tfmini.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // State interface for rotation compensation #include "state.h" diff --git a/sw/airborne/modules/lidar/tfmini_i2c.c b/sw/airborne/modules/lidar/tfmini_i2c.c index ae8bb57a6a..4a2ea19452 100644 --- a/sw/airborne/modules/lidar/tfmini_i2c.c +++ b/sw/airborne/modules/lidar/tfmini_i2c.c @@ -28,7 +28,7 @@ #include "generated/airframe.h" #include "modules/lidar/tfmini_i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" diff --git a/sw/airborne/modules/mav_course_exercise/mav_exercise.c b/sw/airborne/modules/mav_course_exercise/mav_exercise.c index bd5d6c223c..2c62dce5c8 100644 --- a/sw/airborne/modules/mav_course_exercise/mav_exercise.c +++ b/sw/airborne/modules/mav_course_exercise/mav_exercise.c @@ -19,7 +19,7 @@ */ #include "mav_exercise.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/rotorcraft/navigation.h" #include "state.h" #include "autopilot_static.h" diff --git a/sw/airborne/modules/meteo/meteo_stick.c b/sw/airborne/modules/meteo/meteo_stick.c index 3e7bbe8c9d..a879701e73 100644 --- a/sw/airborne/modules/meteo/meteo_stick.c +++ b/sw/airborne/modules/meteo/meteo_stick.c @@ -21,7 +21,7 @@ #include "modules/meteo/meteo_stick.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "peripherals/ads1220.h" #include "mcu_periph/pwm_input.h" #include "generated/airframe.h" diff --git a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c index a948a62df6..8cff7fc1d1 100644 --- a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c +++ b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c @@ -19,7 +19,7 @@ * */ #include "math/pprz_algebra_float.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/datalink.h" #include "autopilot.h" #include "modules/multi/fc_rotor/fc_rotor.h" diff --git a/sw/airborne/modules/multi/rssi.c b/sw/airborne/modules/multi/rssi.c index 3189fa024d..7947c3ae3f 100644 --- a/sw/airborne/modules/multi/rssi.c +++ b/sw/airborne/modules/multi/rssi.c @@ -28,7 +28,7 @@ #include "subsystems/datalink/datalink.h" #include "pprzlink/messages.h" -#include "subsystems/abi.h" // rssi messages subscription +#include "modules/core/abi.h" // rssi messages subscription #include "generated/airframe.h" // AC_ID #ifndef NB_ACS_ID diff --git a/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c index 45c4d0a134..49c739a95f 100644 --- a/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c +++ b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c @@ -28,7 +28,7 @@ #include #include "mateksys_3901_l0x.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // State interface for rotation compensation #include "state.h" diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c index 5c93311add..2718145ee4 100644 --- a/sw/airborne/modules/optical_flow/px4flow.c +++ b/sw/airborne/modules/optical_flow/px4flow.c @@ -29,7 +29,7 @@ #include "modules/optical_flow/px4flow.h" #include "modules/datalink/mavlink_decoder.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // State interface for rotation compensation #include "state.h" diff --git a/sw/airborne/modules/optical_flow/px4flow_i2c.c b/sw/airborne/modules/optical_flow/px4flow_i2c.c index f9af7718c0..07ef1876cd 100644 --- a/sw/airborne/modules/optical_flow/px4flow_i2c.c +++ b/sw/airborne/modules/optical_flow/px4flow_i2c.c @@ -28,7 +28,7 @@ */ #include "modules/optical_flow/px4flow_i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/median_filter.h" // State interface for rotation compensation diff --git a/sw/airborne/modules/orange_avoider/orange_avoider.c b/sw/airborne/modules/orange_avoider/orange_avoider.c index b488aa406a..dca80f072e 100644 --- a/sw/airborne/modules/orange_avoider/orange_avoider.c +++ b/sw/airborne/modules/orange_avoider/orange_avoider.c @@ -21,7 +21,7 @@ #include "firmwares/rotorcraft/navigation.h" #include "generated/airframe.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #include diff --git a/sw/airborne/modules/orange_avoider/orange_avoider_guided.c b/sw/airborne/modules/orange_avoider/orange_avoider_guided.c index 866fb5eddd..b4db1657a5 100644 --- a/sw/airborne/modules/orange_avoider/orange_avoider_guided.c +++ b/sw/airborne/modules/orange_avoider/orange_avoider_guided.c @@ -29,7 +29,7 @@ #include "firmwares/rotorcraft/guidance/guidance_h.h" #include "generated/airframe.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #include diff --git a/sw/airborne/modules/pca9685/pca9685_i2c.c b/sw/airborne/modules/pca9685/pca9685_i2c.c index ebb5e96178..aa10a54c10 100644 --- a/sw/airborne/modules/pca9685/pca9685_i2c.c +++ b/sw/airborne/modules/pca9685/pca9685_i2c.c @@ -36,7 +36,7 @@ #include "math/pprz_isa.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #if DOWNLINK diff --git a/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c b/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c index fc2d4c244e..e22cf3c872 100644 --- a/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c +++ b/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c @@ -27,7 +27,7 @@ #include "peripherals/pca95xx.h" #include "peripherals/vl53l1x_nonblocking.h" #include "peripherals/vl53l1x_api.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/downlink.h" // By default, do early init to be compatible with the flow_deck diff --git a/sw/airborne/modules/range_finder/laser_range_array.c b/sw/airborne/modules/range_finder/laser_range_array.c index 250b3b27a5..c88589f9ec 100644 --- a/sw/airborne/modules/range_finder/laser_range_array.c +++ b/sw/airborne/modules/range_finder/laser_range_array.c @@ -32,7 +32,7 @@ #include "pprzlink/intermcu_msg.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "message_pragmas.h" diff --git a/sw/airborne/modules/range_finder/teraranger_one.c b/sw/airborne/modules/range_finder/teraranger_one.c index 61697cf998..9811461ea3 100644 --- a/sw/airborne/modules/range_finder/teraranger_one.c +++ b/sw/airborne/modules/range_finder/teraranger_one.c @@ -25,7 +25,7 @@ #include "modules/range_finder/teraranger_one.h" #include "mcu_periph/i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/downlink.h" // check if I2C device is selected diff --git a/sw/airborne/modules/range_forcefield/range_forcefield.c b/sw/airborne/modules/range_forcefield/range_forcefield.c index c7bb251091..ddd236d010 100644 --- a/sw/airborne/modules/range_forcefield/range_forcefield.c +++ b/sw/airborne/modules/range_forcefield/range_forcefield.c @@ -26,7 +26,7 @@ #include "modules/range_forcefield/range_forcefield.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" //abi for range sensors #ifndef RANGE_FORCEFIELD_RECIEVE_ID diff --git a/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c b/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c index d16359ce5f..839511c76d 100644 --- a/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c +++ b/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c @@ -28,7 +28,7 @@ #include "state.h" // To get current states #include "modules/datalink/extra_pprz_dl.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_algebra.h" #include "math/pprz_algebra_int.h" diff --git a/sw/airborne/modules/sensors/airspeed_adc.c b/sw/airborne/modules/sensors/airspeed_adc.c index d52b08dca2..9fe536fc90 100644 --- a/sw/airborne/modules/sensors/airspeed_adc.c +++ b/sw/airborne/modules/sensors/airspeed_adc.c @@ -28,7 +28,7 @@ #include BOARD_CONFIG #include "generated/airframe.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #ifndef USE_AIRSPEED_ADC #define USE_AIRSPEED_ADC TRUE diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c index be01618bd4..197ef657f8 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.c +++ b/sw/airborne/modules/sensors/airspeed_ets.c @@ -45,7 +45,7 @@ #include "mcu_periph/uart.h" #include "mcu_periph/sys_time.h" #include "pprzlink/messages.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/downlink.h" #include diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c index b28e0da54a..955a777808 100644 --- a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c +++ b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c @@ -29,7 +29,7 @@ #include "mcu_periph/i2c.h" #include "modules/sensors/airspeed_ms45xx_i2c.h" #include "filters/low_pass_filter.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" diff --git a/sw/airborne/modules/sensors/airspeed_sdp3x.c b/sw/airborne/modules/sensors/airspeed_sdp3x.c index 0381377844..897ccb32a0 100644 --- a/sw/airborne/modules/sensors/airspeed_sdp3x.c +++ b/sw/airborne/modules/sensors/airspeed_sdp3x.c @@ -26,7 +26,7 @@ #include "mcu_periph/i2c.h" #include "modules/sensors/airspeed_sdp3x.h" #include "filters/low_pass_filter.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" diff --git a/sw/airborne/modules/sensors/aoa_adc.c b/sw/airborne/modules/sensors/aoa_adc.c index c1147eb78b..3da6f59113 100644 --- a/sw/airborne/modules/sensors/aoa_adc.c +++ b/sw/airborne/modules/sensors/aoa_adc.c @@ -30,7 +30,7 @@ #include "modules/sensors/aoa_adc.h" #include "generated/airframe.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" // Messages diff --git a/sw/airborne/modules/sensors/aoa_pwm.c b/sw/airborne/modules/sensors/aoa_pwm.c index 14f8918ebe..071fcb93c0 100644 --- a/sw/airborne/modules/sensors/aoa_pwm.c +++ b/sw/airborne/modules/sensors/aoa_pwm.c @@ -36,7 +36,7 @@ #include "mcu_periph/pwm_input.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" #if LOG_AOA diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c index 902224c363..6b32f80309 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.c +++ b/sw/airborne/modules/sensors/baro_MS5534A.c @@ -33,7 +33,7 @@ #ifndef BARO_NO_DOWNLINK #include "subsystems/datalink/downlink.h" #endif -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "firmwares/fixedwing/nav.h" #include "state.h" diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c index 88cc10adac..ae8a2207ec 100644 --- a/sw/airborne/modules/sensors/baro_amsys.c +++ b/sw/airborne/modules/sensors/baro_amsys.c @@ -25,7 +25,7 @@ #include "sensors/baro_amsys.h" #include "mcu_periph/i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #include #include "generated/flight_plan.h" // for ground alt diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c index 1791a64be4..8ac3e839f4 100644 --- a/sw/airborne/modules/sensors/baro_bmp.c +++ b/sw/airborne/modules/sensors/baro_bmp.c @@ -36,7 +36,7 @@ #include "mcu_periph/i2c.h" #include "led.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/modules/sensors/baro_bmp280_i2c.c b/sw/airborne/modules/sensors/baro_bmp280_i2c.c index 4840ac204a..94a0b89988 100644 --- a/sw/airborne/modules/sensors/baro_bmp280_i2c.c +++ b/sw/airborne/modules/sensors/baro_bmp280_i2c.c @@ -28,7 +28,7 @@ #include "baro_bmp280_i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/modules/sensors/baro_bmp3.c b/sw/airborne/modules/sensors/baro_bmp3.c index 3119daea8c..17bb73afa6 100644 --- a/sw/airborne/modules/sensors/baro_bmp3.c +++ b/sw/airborne/modules/sensors/baro_bmp3.c @@ -29,7 +29,7 @@ #include "baro_bmp3.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c index 0e7a6da0ca..d7182dfb15 100644 --- a/sw/airborne/modules/sensors/baro_ets.c +++ b/sw/airborne/modules/sensors/baro_ets.c @@ -42,7 +42,7 @@ #include "sensors/baro_ets.h" #include "mcu_periph/i2c.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #include "mcu_periph/sys_time.h" diff --git a/sw/airborne/modules/sensors/baro_hca.c b/sw/airborne/modules/sensors/baro_hca.c index b2c915477e..a63b723b33 100644 --- a/sw/airborne/modules/sensors/baro_hca.c +++ b/sw/airborne/modules/sensors/baro_hca.c @@ -22,7 +22,7 @@ #include "sensors/baro_hca.h" #include "mcu_periph/i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include //Messages diff --git a/sw/airborne/modules/sensors/baro_mpl3115.c b/sw/airborne/modules/sensors/baro_mpl3115.c index 4f101e3c8f..771802b4c3 100644 --- a/sw/airborne/modules/sensors/baro_mpl3115.c +++ b/sw/airborne/modules/sensors/baro_mpl3115.c @@ -28,7 +28,7 @@ #include "modules/sensors/baro_mpl3115.h" #include "peripherals/mpl3115.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" //Messages #include "mcu_periph/uart.h" diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c index e2e3319b2c..7b67e3ff01 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_i2c.c +++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.c @@ -31,7 +31,7 @@ #include "math/pprz_isa.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.c b/sw/airborne/modules/sensors/baro_ms5611_spi.c index 786d1ce12c..2e8a108249 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_spi.c +++ b/sw/airborne/modules/sensors/baro_ms5611_spi.c @@ -31,7 +31,7 @@ #include "math/pprz_isa.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c index 8d7a885f13..8aecdef9a2 100644 --- a/sw/airborne/modules/sensors/baro_scp_i2c.c +++ b/sw/airborne/modules/sensors/baro_scp_i2c.c @@ -9,7 +9,7 @@ #include "mcu_periph/sys_time.h" #include "mcu_periph/i2c.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #include "mcu_periph/uart.h" diff --git a/sw/airborne/modules/sensors/baro_sim.c b/sw/airborne/modules/sensors/baro_sim.c index c156218112..8c92acb8b5 100644 --- a/sw/airborne/modules/sensors/baro_sim.c +++ b/sw/airborne/modules/sensors/baro_sim.c @@ -27,7 +27,7 @@ #include "math/pprz_isa.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" PRINT_CONFIG_VAR(BARO_SIM_SENDER_ID) diff --git a/sw/airborne/modules/sensors/cameras/jevois.c b/sw/airborne/modules/sensors/cameras/jevois.c index 325522e6bc..7b496911a0 100644 --- a/sw/airborne/modules/sensors/cameras/jevois.c +++ b/sw/airborne/modules/sensors/cameras/jevois.c @@ -27,7 +27,7 @@ #include "std.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_algebra_float.h" #include "subsystems/datalink/downlink.h" #include diff --git a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c index 7020be2341..43fb046f01 100644 --- a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c +++ b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c @@ -41,8 +41,8 @@ #include "autopilot.h" #include "generated/modules.h" -#include "subsystems/abi.h" -#include "subsystems/abi_sender_ids.h" +#include "modules/core/abi.h" +#include "modules/core/abi_sender_ids.h" #include "std.h" #include "subsystems/datalink/telemetry.h" diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c index 0c1c179a98..09ec640a91 100644 --- a/sw/airborne/modules/sensors/mag_hmc58xx.c +++ b/sw/airborne/modules/sensors/mag_hmc58xx.c @@ -52,7 +52,7 @@ #if MODULE_HMC58XX_UPDATE_AHRS #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if defined HMC58XX_MAG_TO_IMU_PHI && defined HMC58XX_MAG_TO_IMU_THETA && defined HMC58XX_MAG_TO_IMU_PSI #define USE_MAG_TO_IMU 1 diff --git a/sw/airborne/modules/sensors/mag_ist8310.c b/sw/airborne/modules/sensors/mag_ist8310.c index 251a7a346b..6569463041 100644 --- a/sw/airborne/modules/sensors/mag_ist8310.c +++ b/sw/airborne/modules/sensors/mag_ist8310.c @@ -51,7 +51,7 @@ #if MODULE_IST8310_UPDATE_AHRS #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if defined IST8310_MAG_TO_IMU_PHI && defined IST8310_MAG_TO_IMU_THETA && defined IST8310_MAG_TO_IMU_PSI #define USE_MAG_TO_IMU 1 diff --git a/sw/airborne/modules/sensors/mag_lis3mdl.c b/sw/airborne/modules/sensors/mag_lis3mdl.c index 4320592379..7b89a0fa61 100644 --- a/sw/airborne/modules/sensors/mag_lis3mdl.c +++ b/sw/airborne/modules/sensors/mag_lis3mdl.c @@ -51,7 +51,7 @@ #if MODULE_LIS3MDL_UPDATE_AHRS #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if defined LIS3MDL_MAG_TO_IMU_PHI && defined LIS3MDL_MAG_TO_IMU_THETA && defined LIS3MDL_MAG_TO_IMU_PSI #define USE_MAG_TO_IMU 1 diff --git a/sw/airborne/modules/sensors/mag_pitot_uart.c b/sw/airborne/modules/sensors/mag_pitot_uart.c index b442f99097..2853081571 100644 --- a/sw/airborne/modules/sensors/mag_pitot_uart.c +++ b/sw/airborne/modules/sensors/mag_pitot_uart.c @@ -29,7 +29,7 @@ #include "pprzlink/pprz_transport.h" #include "pprzlink/intermcu_msg.h" #include "mcu_periph/uart.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/imu.h" #include "state.h" diff --git a/sw/airborne/modules/sensors/mag_rm3100.c b/sw/airborne/modules/sensors/mag_rm3100.c index 7c985bdb61..d0641c59cc 100644 --- a/sw/airborne/modules/sensors/mag_rm3100.c +++ b/sw/airborne/modules/sensors/mag_rm3100.c @@ -59,7 +59,7 @@ #if MODULE_RM3100_UPDATE_AHRS #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if defined RM3100_MAG_TO_IMU_PHI && defined RM3100_MAG_TO_IMU_THETA && defined RM3100_MAG_TO_IMU_PSI #define USE_MAG_TO_IMU 1 diff --git a/sw/airborne/modules/sensors/opticflow_pmw3901.c b/sw/airborne/modules/sensors/opticflow_pmw3901.c index fa31a525be..e92729d3e3 100644 --- a/sw/airborne/modules/sensors/opticflow_pmw3901.c +++ b/sw/airborne/modules/sensors/opticflow_pmw3901.c @@ -25,7 +25,7 @@ #include "modules/sensors/opticflow_pmw3901.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/datalink/downlink.h" #include "generated/modules.h" diff --git a/sw/airborne/modules/sensors/rpm_sensor.c b/sw/airborne/modules/sensors/rpm_sensor.c index 951461727c..2771109c42 100644 --- a/sw/airborne/modules/sensors/rpm_sensor.c +++ b/sw/airborne/modules/sensors/rpm_sensor.c @@ -26,7 +26,7 @@ #include "modules/sensors/rpm_sensor.h" #include "mcu_periph/pwm_input.h" #include "modules/energy/electrical.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/low_pass_filter.h" static struct FirstOrderLowPass rpm_lp; diff --git a/sw/airborne/modules/sonar/agl_dist.c b/sw/airborne/modules/sonar/agl_dist.c index c5aaba5879..b9e5fa836e 100644 --- a/sw/airborne/modules/sonar/agl_dist.c +++ b/sw/airborne/modules/sonar/agl_dist.c @@ -27,7 +27,7 @@ */ #include "modules/sonar/agl_dist.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" float agl_dist_valid; diff --git a/sw/airborne/modules/sonar/sonar_adc.c b/sw/airborne/modules/sonar/sonar_adc.c index e2fbabf90a..a11b73f421 100644 --- a/sw/airborne/modules/sonar/sonar_adc.c +++ b/sw/airborne/modules/sonar/sonar_adc.c @@ -23,7 +23,7 @@ #include "modules/sonar/sonar_adc.h" #include "generated/airframe.h" #include "mcu_periph/adc.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #ifdef SITL #include "state.h" #endif diff --git a/sw/airborne/modules/sonar/sonar_bebop.c b/sw/airborne/modules/sonar/sonar_bebop.c index 730cba09a2..f5017eab3e 100644 --- a/sw/airborne/modules/sonar/sonar_bebop.c +++ b/sw/airborne/modules/sonar/sonar_bebop.c @@ -37,7 +37,7 @@ #include "mcu_periph/adc.h" #include "mcu_periph/spi.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include #include #include "subsystems/datalink/downlink.h"//FIXME, include only when link need diff --git a/sw/airborne/modules/sonar/sonar_pwm.c b/sw/airborne/modules/sonar/sonar_pwm.c index 64d08c4dac..fcabe2234b 100644 --- a/sw/airborne/modules/sonar/sonar_pwm.c +++ b/sw/airborne/modules/sonar/sonar_pwm.c @@ -36,7 +36,7 @@ #include "modules/sonar/sonar_pwm.h" #include "mcu_periph/pwm_input.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "filters/median_filter.h" diff --git a/sw/airborne/modules/sonar/sonar_vl53l1x.c b/sw/airborne/modules/sonar/sonar_vl53l1x.c index b7f7589063..e68ed286b8 100644 --- a/sw/airborne/modules/sonar/sonar_vl53l1x.c +++ b/sw/airborne/modules/sonar/sonar_vl53l1x.c @@ -24,7 +24,7 @@ #include "mcu_periph/i2c.h" #include "peripherals/vl53l1x_nonblocking.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #ifdef SITL #include "state.h" diff --git a/sw/airborne/modules/stereocam/stereocam.c b/sw/airborne/modules/stereocam/stereocam.c index 54e30c209a..46b927fe07 100644 --- a/sw/airborne/modules/stereocam/stereocam.c +++ b/sw/airborne/modules/stereocam/stereocam.c @@ -34,7 +34,7 @@ #include "pprzlink/intermcu_msg.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "stereocam_follow_me/follow_me.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c index c9d1931979..68b41aed25 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c +++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c @@ -31,7 +31,7 @@ #include /* for abs() */ #include "subsystems/imu.h" #include "led.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" struct AhrsAligner ahrs_aligner; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c index f7704fbaeb..cb700f18d9 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c @@ -26,7 +26,7 @@ #include "subsystems/ahrs/ahrs_float_cmpl_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #ifndef AHRS_FC_OUTPUT_ENABLED diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c index 3fd4ac4459..b57c4f639b 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c @@ -26,7 +26,7 @@ #include "subsystems/ahrs/ahrs_float_dcm_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #ifndef AHRS_DCM_OUTPUT_ENABLED diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c index 4ed31c934d..c1865e2840 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c @@ -27,7 +27,7 @@ #include "subsystems/ahrs/ahrs_float_invariant_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "message_pragmas.h" #include "state.h" diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c index 65ba01f4f7..427f268e65 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c @@ -27,7 +27,7 @@ #include "subsystems/ahrs/ahrs_float_mlkf_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #ifndef AHRS_MLKF_OUTPUT_ENABLED diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c index 7c9075ac0e..db299af90d 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c +++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c @@ -35,7 +35,7 @@ // for ahrs_register_impl #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #define GX3_CHKSM(_ubx_payload) (uint16_t)((uint16_t)(*((uint8_t*)_ubx_payload+66+1))|(uint16_t)(*((uint8_t*)_ubx_payload+66+0))<<8) diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c index 9530c282b6..549ddd9744 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c @@ -26,7 +26,7 @@ #include "subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #ifndef AHRS_ICQ_OUTPUT_ENABLED diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav.c b/sw/airborne/subsystems/ahrs/ahrs_vectornav.c index 9cfd517f28..662274ca54 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_vectornav.c +++ b/sw/airborne/subsystems/ahrs/ahrs_vectornav.c @@ -27,7 +27,7 @@ */ #include "subsystems/ahrs/ahrs_vectornav.h" #include "subsystems/ahrs/ahrs_vectornav_wrapper.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" struct AhrsVectornav ahrs_vn; diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c index b0e5c43e70..d7dabc556e 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c @@ -27,7 +27,7 @@ */ #include "subsystems/ahrs/ahrs_vectornav_wrapper.h" #include "subsystems/ahrs.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #ifndef AHRS_VECTORNAV_OUTPUT_ENABLED diff --git a/sw/airborne/subsystems/datalink/bluegiga.c b/sw/airborne/subsystems/datalink/bluegiga.c index 9f5bd2e759..698068a2f0 100644 --- a/sw/airborne/subsystems/datalink/bluegiga.c +++ b/sw/airborne/subsystems/datalink/bluegiga.c @@ -34,7 +34,7 @@ #include "led.h" #endif -#include "subsystems/abi.h" +#include "modules/core/abi.h" // for memset #include diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c index 25c0683e37..1c1d22a0c6 100644 --- a/sw/airborne/subsystems/gps.c +++ b/sw/airborne/subsystems/gps.c @@ -37,7 +37,7 @@ * and used to send the normal GPS telemetry messages. */ -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/gps.h" #include "led.h" #include "modules/core/settings.h" diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/subsystems/gps/gps_datalink.c index 2cbdc87e6b..ef5138c25d 100644 --- a/sw/airborne/subsystems/gps/gps_datalink.c +++ b/sw/airborne/subsystems/gps/gps_datalink.c @@ -31,7 +31,7 @@ #include "generated/flight_plan.h" // reference lla NAV_XXX0 #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/imu.h" #include "subsystems/datalink/datalink.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c index 523e486688..bef33a4361 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.c +++ b/sw/airborne/subsystems/gps/gps_mtk.c @@ -32,7 +32,7 @@ */ #include "gps_mtk.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #include "mcu_periph/sys_time.h" diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c index 190e8fda04..42141d44a9 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.c +++ b/sw/airborne/subsystems/gps/gps_nmea.c @@ -32,7 +32,7 @@ #include "gps_nmea.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #include "math/pprz_geodetic_float.h" diff --git a/sw/airborne/subsystems/gps/gps_piksi.c b/sw/airborne/subsystems/gps/gps_piksi.c index 4f7c678099..847b7a3036 100644 --- a/sw/airborne/subsystems/gps/gps_piksi.c +++ b/sw/airborne/subsystems/gps/gps_piksi.c @@ -32,7 +32,7 @@ #include "subsystems/gps/gps_piksi.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/uart.h" #include "math/pprz_geodetic_double.h" diff --git a/sw/airborne/subsystems/gps/gps_sim.c b/sw/airborne/subsystems/gps/gps_sim.c index a3f70a90c5..16764b92f4 100644 --- a/sw/airborne/subsystems/gps/gps_sim.c +++ b/sw/airborne/subsystems/gps/gps_sim.c @@ -20,7 +20,7 @@ */ #include "subsystems/gps/gps_sim.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" void gps_sim_init(void) { diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.c b/sw/airborne/subsystems/gps/gps_sim_hitl.c index eb6e417178..e29f0fbb77 100644 --- a/sw/airborne/subsystems/gps/gps_sim_hitl.c +++ b/sw/airborne/subsystems/gps/gps_sim_hitl.c @@ -26,7 +26,7 @@ #include "subsystems/gps/gps_sim_hitl.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #include "guidance/guidance_h.h" diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/subsystems/gps/gps_sim_nps.c index 5e0c0d261e..32925d969a 100644 --- a/sw/airborne/subsystems/gps/gps_sim_nps.c +++ b/sw/airborne/subsystems/gps/gps_sim_nps.c @@ -21,7 +21,7 @@ #include "subsystems/gps/gps_sim_nps.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "nps_sensors.h" #include "nps_fdm.h" diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/subsystems/gps/gps_sirf.c index 59cde02c50..d51ba61f9e 100644 --- a/sw/airborne/subsystems/gps/gps_sirf.c +++ b/sw/airborne/subsystems/gps/gps_sirf.c @@ -22,7 +22,7 @@ #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #include "math/pprz_geodetic_float.h" diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/subsystems/gps/gps_skytraq.c index 2a2feb7084..b87cbf0509 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.c +++ b/sw/airborne/subsystems/gps/gps_skytraq.c @@ -21,7 +21,7 @@ #include "subsystems/gps.h" #include "subsystems/gps/gps_skytraq.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #include "pprzlink/pprzlink_device.h" diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c index 9ed1bd9c1c..95cf98d314 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/subsystems/gps/gps_ubx.c @@ -21,7 +21,7 @@ #include "subsystems/gps/gps_ubx.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "led.h" #ifndef USE_GPS_UBX_RTCM diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/subsystems/gps/gps_udp.c index c30c19069e..d8ae167b89 100644 --- a/sw/airborne/subsystems/gps/gps_udp.c +++ b/sw/airborne/subsystems/gps/gps_udp.c @@ -20,7 +20,7 @@ */ #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "fms/fms_network.h" #include diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c index b9abd57f7f..181bb9b922 100644 --- a/sw/airborne/subsystems/imu.c +++ b/sw/airborne/subsystems/imu.c @@ -30,7 +30,7 @@ #include "subsystems/imu.h" #include "state.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #ifdef IMU_POWER_GPIO #include "mcu_periph/gpio.h" diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c index 3e0c7f2407..5a36cbefb6 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.c +++ b/sw/airborne/subsystems/imu/imu_aspirin.c @@ -26,7 +26,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" #include "mcu_periph/spi.h" diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c index a01e7d9eb6..2e92da2b14 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c +++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "mcu_periph/spi.h" #include "peripherals/hmc58xx_regs.h" diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c index 04688d9ddd..f8c605d019 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c +++ b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c @@ -26,7 +26,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" // Set SPI_CS High to enable I2C mode of ADXL345 diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c index dfab4d73df..b76f510797 100644 --- a/sw/airborne/subsystems/imu/imu_bebop.c +++ b/sw/airborne/subsystems/imu/imu_bebop.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" diff --git a/sw/airborne/subsystems/imu/imu_disco.c b/sw/airborne/subsystems/imu/imu_disco.c index 100250fafe..b25e775d07 100644 --- a/sw/airborne/subsystems/imu/imu_disco.c +++ b/sw/airborne/subsystems/imu/imu_disco.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c index 12d0b5d1c9..5197915ad3 100644 --- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c +++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c @@ -33,7 +33,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" #if !defined DROTEK_2_LOWPASS_FILTER && !defined DROTEK_2_SMPLRT_DIV diff --git a/sw/airborne/subsystems/imu/imu_gl1.c b/sw/airborne/subsystems/imu/imu_gl1.c index 7f067304b6..2df41b7a5f 100644 --- a/sw/airborne/subsystems/imu/imu_gl1.c +++ b/sw/airborne/subsystems/imu/imu_gl1.c @@ -27,7 +27,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" PRINT_CONFIG_VAR(GL1_I2C_DEV) diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/subsystems/imu/imu_mpu6000.c index 21d11ec21f..c4350ad9d0 100644 --- a/sw/airborne/subsystems/imu/imu_mpu6000.c +++ b/sw/airborne/subsystems/imu/imu_mpu6000.c @@ -26,7 +26,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/spi.h" #if IMU_MPU_USE_MEDIAN_FILTER #include "filters/median_filter.h" diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c index 36d9a4cb48..e1d56e6904 100644 --- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c +++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/spi.h" #include "peripherals/hmc58xx_regs.h" diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c index 2f19be084a..299dea0d99 100644 --- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c +++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c @@ -26,7 +26,7 @@ #include #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" #include "led.h" diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c index 2befa1ab72..52763321d1 100644 --- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c +++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c @@ -28,7 +28,7 @@ #include "subsystems/imu.h" #include "mcu_periph/i2c.h" #include "mcu_periph/sys_time.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120) diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c index 746e530417..35a908e275 100644 --- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c +++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c @@ -26,7 +26,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "mcu_periph/spi.h" #include "peripherals/ak8963_regs.h" diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c index 10038e4e36..b1bd957815 100644 --- a/sw/airborne/subsystems/imu/imu_navstik.c +++ b/sw/airborne/subsystems/imu/imu_navstik.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" diff --git a/sw/airborne/subsystems/imu/imu_nps.c b/sw/airborne/subsystems/imu/imu_nps.c index c9fc29c5b0..4dbb61ad53 100644 --- a/sw/airborne/subsystems/imu/imu_nps.c +++ b/sw/airborne/subsystems/imu/imu_nps.c @@ -20,7 +20,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/airframe.h" #include "subsystems/imu/imu_nps.h" #include "nps_sensors.h" diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c index 3fea380067..57b7d5a4b7 100644 --- a/sw/airborne/subsystems/imu/imu_ppzuav.c +++ b/sw/airborne/subsystems/imu/imu_ppzuav.c @@ -29,7 +29,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" /* i2c default suitable for Tiny/Twog */ diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c index 2fd2e303dd..09846c10fd 100644 --- a/sw/airborne/subsystems/imu/imu_px4fmu.c +++ b/sw/airborne/subsystems/imu/imu_px4fmu.c @@ -25,7 +25,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/spi.h" #include "peripherals/hmc58xx_regs.h" diff --git a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c b/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c index 43f58c934a..0cc165fe86 100644 --- a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c +++ b/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c @@ -26,7 +26,7 @@ * L3GD20H + LSM303D (both on spi) */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/spi.h" #include "peripherals/l3gd20_regs.h" #include "peripherals/lsm303d_regs.h" diff --git a/sw/airborne/subsystems/imu/imu_swing.c b/sw/airborne/subsystems/imu/imu_swing.c index d35dcc1b72..ae5b624813 100644 --- a/sw/airborne/subsystems/imu/imu_swing.c +++ b/sw/airborne/subsystems/imu/imu_swing.c @@ -26,7 +26,7 @@ */ #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/i2c.h" diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c index 4c3a6c9db7..5495f8f694 100644 --- a/sw/airborne/subsystems/imu/imu_um6.c +++ b/sw/airborne/subsystems/imu/imu_um6.c @@ -32,7 +32,7 @@ */ #include "subsystems/imu/imu_um6.h" #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" struct UM6Packet UM6_packet; diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c index ea33754af1..93b62d9215 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.c +++ b/sw/airborne/subsystems/ins/ins_alt_float.c @@ -26,7 +26,7 @@ #include "subsystems/ins/ins_alt_float.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "state.h" #include diff --git a/sw/airborne/subsystems/ins/ins_ekf2.cpp b/sw/airborne/subsystems/ins/ins_ekf2.cpp index f12a4e6c8c..0def63af15 100644 --- a/sw/airborne/subsystems/ins/ins_ekf2.cpp +++ b/sw/airborne/subsystems/ins/ins_ekf2.cpp @@ -28,7 +28,7 @@ #include "subsystems/ins/ins_ekf2.h" #include "subsystems/navigation/waypoints.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "stabilization/stabilization_attitude.h" #include "generated/airframe.h" #include "EKF/ekf.h" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c index f3dabad578..8fba3154f7 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c +++ b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c @@ -26,7 +26,7 @@ */ #include "subsystems/ins/ins_float_invariant_wrapper.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "mcu_periph/sys_time.h" #include "message_pragmas.h" #if USE_AHRS_ALIGNER diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c index c7c527efe1..79ec55d621 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c +++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c @@ -34,7 +34,7 @@ #include "state.h" #include "subsystems/gps.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #ifndef USE_INS_NAV_INIT #define USE_INS_NAV_INIT TRUE diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c index 111f17b5c6..3f445a612e 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c +++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c @@ -37,7 +37,7 @@ #include "firmwares/fixedwing/nav.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" /** ABI binding for gps data. * Used for GPS ABI messages. */ diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c index 167f13e13d..662bbdd13d 100644 --- a/sw/airborne/subsystems/ins/ins_int.c +++ b/sw/airborne/subsystems/ins/ins_int.c @@ -28,7 +28,7 @@ #include "subsystems/ins/ins_int.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/imu.h" #include "subsystems/gps.h" diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h b/sw/airborne/subsystems/ins/ins_vectornav.h index 0a9278ee71..2c84b11aa1 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.h +++ b/sw/airborne/subsystems/ins/ins_vectornav.h @@ -50,7 +50,7 @@ #include "mcu_periph/sys_time.h" // Abi -#include "subsystems/abi.h" +#include "modules/core/abi.h" #if !defined INS_VN_BODY_TO_IMU_PHI && !defined INS_VN_BODY_TO_IMU_THETA && !defined INS_VN_BODY_TO_IMU_PSI diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.c b/sw/airborne/subsystems/intermcu/intermcu_ap.c index 7c14b6817b..d89745ddba 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_ap.c +++ b/sw/airborne/subsystems/intermcu/intermcu_ap.c @@ -49,7 +49,7 @@ static inline void intermcu_parse_msg(void (*rc_frame_handler)(void)); #if IMCU_GPS #include "std.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/gps.h" static struct GpsState gps_imcu; #endif diff --git a/sw/airborne/subsystems/intermcu/intermcu_fbw.c b/sw/airborne/subsystems/intermcu/intermcu_fbw.c index 55137913ce..5f623c3cfd 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_fbw.c +++ b/sw/airborne/subsystems/intermcu/intermcu_fbw.c @@ -74,7 +74,7 @@ static void checkPx4RebootCommand(unsigned char b); #define IMCU_GPS_ID GPS_MULTI_ID #endif -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "subsystems/gps.h" static abi_event gps_ev; static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s); diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c index 9fbc704fb5..2a4d3c3a25 100644 --- a/sw/airborne/test/subsystems/test_ahrs.c +++ b/sw/airborne/test/subsystems/test_ahrs.c @@ -32,7 +32,7 @@ #include "generated/periodic_telemetry.h" #define ABI_C -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "std.h" #include "mcu.h" diff --git a/sw/airborne/test/subsystems/test_imu.c b/sw/airborne/test/subsystems/test_imu.c index 78855a1fc5..b2a4970383 100644 --- a/sw/airborne/test/subsystems/test_imu.c +++ b/sw/airborne/test/subsystems/test_imu.c @@ -38,7 +38,7 @@ #include "modules/datalink/pprz_dl.h" #include "subsystems/imu.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "generated/modules.h" diff --git a/sw/airborne/test/test_baro_board.c b/sw/airborne/test/test_baro_board.c index 8b8538b842..32b46d5b36 100644 --- a/sw/airborne/test/test_baro_board.c +++ b/sw/airborne/test/test_baro_board.c @@ -38,7 +38,7 @@ #include "subsystems/sensors/baro.h" #define ABI_C -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "test_baro_board_imu.h" diff --git a/sw/airborne/test/test_module.c b/sw/airborne/test/test_module.c index d2061d0ae0..59f26043e3 100644 --- a/sw/airborne/test/test_module.c +++ b/sw/airborne/test/test_module.c @@ -37,7 +37,7 @@ #include "subsystems/datalink/downlink.h" #include "generated/modules.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" static inline void main_init(void); static inline void main_periodic_task(void); diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c index 0374ea62de..c6b6fdf010 100644 --- a/sw/simulator/nps/nps_autopilot_fixedwing.c +++ b/sw/simulator/nps/nps_autopilot_fixedwing.c @@ -47,7 +47,7 @@ #include "state.h" #include "modules/core/commands.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" // for launch #include "autopilot.h" diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 6376f6a642..1b4fd5b92a 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -43,7 +43,7 @@ #endif #endif -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "pprzlink/messages.h" #include "subsystems/datalink/downlink.h" diff --git a/sw/simulator/nps/nps_fdm_gazebo.cpp b/sw/simulator/nps/nps_fdm_gazebo.cpp index 5afe420ae9..2ce6432598 100644 --- a/sw/simulator/nps/nps_fdm_gazebo.cpp +++ b/sw/simulator/nps/nps_fdm_gazebo.cpp @@ -49,7 +49,7 @@ extern "C" { #include "generated/airframe.h" #include "generated/flight_plan.h" #include "autopilot.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "math/pprz_isa.h" #include "math/pprz_algebra_double.h" @@ -120,7 +120,7 @@ struct gazebo_actuators_t gazebo_actuators = { NPS_ACTUATOR_NAMES, NPS_ACTUATOR_ #if NPS_SIMULATE_LASER_RANGE_ARRAY extern "C" { -#include "subsystems/abi.h" +#include "modules/core/abi.h" } static void gazebo_init_range_sensors(void); diff --git a/sw/tools/generators/gen_abi.ml b/sw/tools/generators/gen_abi.ml index 008dbd6650..39687904e3 100644 --- a/sw/tools/generators/gen_abi.ml +++ b/sw/tools/generators/gen_abi.ml @@ -182,7 +182,7 @@ let () = Printf.fprintf h " */\n\n"; Printf.fprintf h "#ifndef ABI_MESSAGES_H\n"; Printf.fprintf h "#define ABI_MESSAGES_H\n\n"; - Printf.fprintf h "#include \"subsystems/abi_common.h\"\n"; + Printf.fprintf h "#include \"modules/core/abi_common.h\"\n"; (** Print Messages IDs *) let highest_id = Gen_onboard.print_message_id h messages in diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml index 71ab419526..377f119d72 100644 --- a/sw/tools/generators/gen_flight_plan.ml +++ b/sw/tools/generators/gen_flight_plan.ml @@ -944,7 +944,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file -> (* include general headers *) fprintf out "#include \"std.h\"\n"; fprintf out "#include \"generated/modules.h\"\n"; - fprintf out "#include \"subsystems/abi.h\"\n"; + fprintf out "#include \"modules/core/abi.h\"\n"; fprintf out "#include \"autopilot.h\"\n\n"; (* print variables and ABI bindings declaration *) diff --git a/tests/modules/generated/flight_plan.h b/tests/modules/generated/flight_plan.h index 4347a414a8..be917cfa2c 100644 --- a/tests/modules/generated/flight_plan.h +++ b/tests/modules/generated/flight_plan.h @@ -3,7 +3,7 @@ #include "std.h" #include "generated/modules.h" -#include "subsystems/abi.h" +#include "modules/core/abi.h" #include "autopilot.h" #define NAV_DEFAULT_ALT 260 /* nominal altitude of the flight plan */