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[ahrs] AHRS_PROPAGATE_FREQUENCY defaults to PERIODIC_FREQUENCY

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This commit is contained in:
Felix Ruess
2012-06-01 17:59:23 +02:00
parent 68aa933296
commit 6695964ae4
5 changed files with 9 additions and 4 deletions
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conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+1 -2
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@@ -13,7 +13,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.0"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
@@ -73,7 +73,6 @@
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
-1
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@@ -67,7 +67,6 @@
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
conf/airframes/fraser_lisa_m_rotorcraft.xml
-1
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@@ -101,7 +101,6 @@
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+4
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@@ -50,6 +50,10 @@
#warning "Using magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
#endif
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
void ahrs_update_mag_full(void);
void ahrs_update_mag_2d(void);
void ahrs_update_mag_2d_dumb(void);
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+4
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@@ -46,6 +46,10 @@ static inline void ahrs_update_mag_2d(void);
#warning "Using magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
#endif
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
struct AhrsIntCmpl ahrs_impl;
static inline void compute_imu_euler_and_rmat_from_quat(void);