use full path to imu includes

2026-06-05 23:49:00 +08:00 · 2010-09-28 12:52:11 +00:00
parent 95de26c7c7
commit 8e7e499bb6
48 changed files with 67 additions and 70 deletions
@@ -24,7 +24,7 @@

 #include "max1167.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 void max1167_hw_init( void ) {}

@@ -37,7 +37,7 @@
 #include "fms_debug.h"
 #include "fms_spi_link.h"
 #include "fms_autopilot_msg.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "overo_file_logger.h"
 #include "overo_gcs_com.h"
@@ -31,7 +31,7 @@
 #include "booz/booz2_commands.h"
 #include "booz/actuators.h"
 //#include "booz/booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "lisa/lisa_overo_link.h"
 #include "beth/bench_sensors.h"

@@ -1,6 +1,6 @@
 #include "overo_estimator.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include <math.h>

 #include "messages2.h"
@@ -1,6 +1,6 @@
 #include "overo_file_logger.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 struct FileLogger file_logger;

@@ -24,7 +24,7 @@

 #include "booz2_ins.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "firmwares/rotorcraft/baro.h"
 #include "booz_gps.h"

@@ -46,7 +46,7 @@
 #define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)

 #include "booz2_battery.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 #include "booz2_ins.h"
 #include "ahrs.h"
@@ -23,7 +23,7 @@

 #include "booz_fms.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 #include "ahrs.h"

@@ -24,7 +24,7 @@
 #include "booz2_hf_float.h"
 #include "booz2_ins.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "math/pprz_algebra_int.h"

@@ -24,7 +24,7 @@

 #include "booz2_hf_float.h"
 #include "booz2_ins.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "booz_gps.h"
 #include <stdlib.h>
@@ -26,7 +26,7 @@

 #include "ahrs.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_radio_control.h"
 #include "airframe.h"

@@ -31,7 +31,7 @@
 #include "messages.h"
 #include "downlink.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "interrupt_hw.h"

@@ -1,3 +1,3 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 void imu_impl_init(void) {}
@@ -2,7 +2,7 @@
 #include <string.h>

 #include "math/pprz_algebra_double.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "ahrs/ahrs_mlkf.h"

@@ -40,7 +40,7 @@

 #include "csc_msg_def.h"
 #include ACTUATORS
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/ahrs/ahrs_aligner.h"
 #include "booz/ahrs.h"
 #include "mercury_xsens.h"
@@ -27,10 +27,10 @@
 */

 #include "mercury_xsens.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/ahrs.h"
 #include "booz/ahrs/ahrs_aligner.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "csc_booz2_ins.h"

 #include <inttypes.h>
@@ -21,12 +21,12 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "firmwares/rotorcraft/actuators.h"
-#include "firmwares/rotorcraft/actuators/actuators_heli.h"
+#include <firmwares/rotorcraft/actuators.h>
+#include "actuators_heli.h"
 #include "booz/booz2_commands.h"

 /* let's start butchery now and use the actuators_pwm arch functions */
-#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
+#include <firmwares/rotorcraft/actuators/actuators_pwm.h>

 /* get SetActuatorsFromCommands() macro */
 #include "airframe.h"
@@ -22,7 +22,7 @@
 */

 #include "ahrs.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 struct Ahrs ahrs;
 struct AhrsFloat ahrs_float;
@@ -27,7 +27,7 @@
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
-#include "ahrs/ahrs_aligner.h"
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>

 #define AHRS_UNINIT  0
 #define AHRS_RUNNING 1
@@ -1,6 +1,6 @@
 /*
 * $Id$
- *  
+ *
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
@@ -18,13 +18,13 @@
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
 */

 #include "ahrs_aligner.h"

 #include <stdlib.h> /* for abs() */
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "led.h"

 struct AhrsAligner ahrs_aligner;
@@ -37,7 +37,7 @@ static int32_t ref_sensor_samples[SAMPLES_NB];
 static uint32_t samples_idx;

 void ahrs_aligner_init(void) {
-  
+
  ahrs_aligner.status = AHRS_ALIGNER_RUNNING;
  INT_RATES_ZERO(gyro_sum);
  INT_VECT3_ZERO(accel_sum);
@@ -70,7 +70,7 @@ void ahrs_aligner_run(void) {
    else
      avg_ref_sensor -= SAMPLES_NB / 2;
    avg_ref_sensor /= SAMPLES_NB;
-    
+
    ahrs_aligner.noise = 0;
    int i;
    for (i=0; i<SAMPLES_NB; i++) {
@@ -91,8 +91,8 @@ void ahrs_aligner_run(void) {
      ahrs_aligner.low_noise_cnt++;
    else
      if ( ahrs_aligner.low_noise_cnt > 0)
-	ahrs_aligner.low_noise_cnt--;
-    
+    ahrs_aligner.low_noise_cnt--;
+
    if (ahrs_aligner.low_noise_cnt > LOW_NOISE_TIME) {
      ahrs_aligner.status = AHRS_ALIGNER_LOCKED;
 #ifdef AHRS_ALIGNER_LED
@@ -102,4 +102,3 @@ void ahrs_aligner_run(void) {
  }

 }
-
@@ -1,6 +1,6 @@
 /*
 * $Id$
- *  
+ *
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
@@ -18,7 +18,7 @@
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
 */

 #ifndef AHRS_ALIGNER_H
@@ -23,7 +23,7 @@

 #include "ahrs_cmpl_euler.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs_aligner.h"

 #include "airframe.h"
@@ -24,7 +24,7 @@
 #ifndef AHRS_CMPL_EULER_H
 #define AHRS_CMPL_EULER_H

-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "std.h"
 #include "math/pprz_algebra_int.h"

@@ -1,6 +1,6 @@
 /*
 * $Id$
- *  
+ *
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
@@ -18,7 +18,7 @@
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
 */

 #include "math/pprz_algebra_float.h"
@@ -93,7 +93,7 @@ extern void ahrs_init(void);
 extern void ahrs_align(void);


-/* 
+/*
 * Propagate our dynamic system
 *
 *      quat_dot = Wxq(pqr) * quat
@@ -124,18 +124,18 @@ void ahrs_propagate(void) {
  RATES_FLOAT_OF_BFP(bafe_rates, imu.gyro);
  RATES_SUB(bafe_rates, bafe_bias);

-  /* compute F 
+  /* compute F
     F is only needed later on to update the state covariance P.
     However, its [0:3][0:3] region is actually the Wxq(pqr) which is needed to
     compute the time derivative of the quaternion, so we compute F now
  */
-  
+
  /* Fill in Wxq(pqr) into F */
  bafe_F[0][0] = bafe_F[1][1] = bafe_F[2][2] = bafe_F[3][3] = 0;
  bafe_F[1][0] = bafe_F[2][3] = bafe_rates.p * 0.5;
  bafe_F[2][0] = bafe_F[3][1] = bafe_rates.q * 0.5;
  bafe_F[3][0] = bafe_F[1][2] = bafe_rates.r * 0.5;
-  
+
  bafe_F[0][1] = bafe_F[3][2] = -bafe_F[1][0];
  bafe_F[0][2] = bafe_F[1][3] = -bafe_F[2][0];
  bafe_F[0][3] = bafe_F[2][1] = -bafe_F[3][0];
@@ -143,7 +143,7 @@ void ahrs_propagate(void) {
  bafe_F[0][4] = bafe_F[2][6] = bafe_quat.qx * 0.5;
  bafe_F[0][5] = bafe_F[3][4] = bafe_quat.qy * 0.5;
  bafe_F[0][6] = bafe_F[1][5] = bafe_quat.qz * 0.5;
-  
+
  bafe_F[1][4] =  bafe_F[2][5] = bafe_F[3][6] = bafe_quat.qi * -0.5;
  bafe_F[3][5] = -bafe_F[0][4];
  bafe_F[1][6] = -bafe_F[0][5];
@@ -152,7 +152,7 @@ void ahrs_propagate(void) {
  bafe_qdot.qi=                           bafe_F[0][1]*bafe_quat.qx+bafe_F[0][2]*bafe_quat.qy+bafe_F[0][3] * bafe_quat.qz;
  bafe_qdot.qx= bafe_F[1][0]*bafe_quat.qi                          +bafe_F[1][2]*bafe_quat.qy+bafe_F[1][3] * bafe_quat.qz;
  bafe_qdot.qy= bafe_F[2][0]*bafe_quat.qi+bafe_F[2][1]*bafe_quat.qx                          +bafe_F[2][3] * bafe_quat.qz;
-  bafe_qdot.qz= bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy                            ; 
+  bafe_qdot.qz= bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy                            ;
  /* propagate quaternion */
  bafe_quat.qi += bafe_qdot.qi * BAFE_DT;
  bafe_quat.qx += bafe_qdot.qx * BAFE_DT;
@@ -169,4 +169,3 @@ extern void ahrs_update(void);


 #endif /* AHRS_FLOAT_EKF_H */
-
@@ -1,6 +1,6 @@
 /*
 * $Id$
- *  
+ *
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
@@ -18,7 +18,7 @@
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
 */

 #ifndef AHRS_FLOAT_EKF_H
@@ -35,4 +35,3 @@ extern void ahrs_update(void);


 #endif /* AHRS_FLOAT_EKF_H */
-
@@ -24,8 +24,8 @@

 #include "ahrs_float_lkf.h"

-#include "imu.h"
-#include "ahrs_aligner.h"
+#include <firmwares/rotorcraft/imu.h>
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>

 #include "airframe.h"
 #include "math/pprz_algebra_float.h"
@@ -25,7 +25,7 @@
 #ifndef AHRS_FLOAT_LKF_H
 #define AHRS_FLOAT_LKF_H

-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "std.h"
 #include "math/pprz_algebra_int.h"

@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "airframe.h"

@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 volatile uint8_t imu_ssp_status;
 static void SSP_ISR(void) __attribute__((naked));
@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "LPC21xx.h"
 #include "armVIC.h"
@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "airframe.h"

@@ -2,7 +2,7 @@
 * simulator ARCH for rotorcraft imu crista
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "airframe.h"

@@ -29,7 +29,7 @@
 #ifndef IMU_CRISTA_ARCH_H
 #define IMU_CRISTA_ARCH_H

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>


 #define ImuCristaArchPeriodic() {}
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include <stm32/gpio.h>
 #include <stm32/misc.h>
@@ -1,7 +1,7 @@
 #ifndef IMU_ASPIRIN_ARCH_H
 #define IMU_ASPIRIN_ARCH_H

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "led.h"

@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "i2c.h"

@@ -25,7 +25,7 @@
 #define IMU_ASPIRIN_H

 #include "airframe.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "i2c.h"
 #include "booz/peripherals/booz_itg3200.h"
@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 void imu_impl_init(void) {

@@ -24,7 +24,7 @@
 #ifndef IMU_B2_H
 #define IMU_B2_H

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "airframe.h"

 #include "peripherals/booz_max1168.h"
@@ -21,7 +21,7 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 volatile bool_t ADS8344_available;
 uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
@@ -24,7 +24,7 @@
 #ifndef IMU_CRISTA_H
 #define IMU_CRISTA_H

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "airframe.h"

 #define ADS8344_NB_CHANNELS 8
@@ -38,7 +38,7 @@
 #include "actuators.h"
 #include "booz_radio_control.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"

 #include "booz/booz2_analog.h"
@@ -2,7 +2,7 @@
 #define OVERO_TEST_PASSTHROUGH_H

 #include "std.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 struct OveroTestPassthrough {
  /* our network connection */
@@ -28,7 +28,7 @@
 #include "booz/booz2_commands.h"
 #include "actuators.h"
 #include "actuators/actuators_pwm.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/booz_radio_control.h"
 #include "lisa/lisa_overo_link.h"
 #include "airframe.h"
@@ -31,7 +31,7 @@
 #include "messages.h"
 #include "downlink.h"

-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>

 #include "interrupt_hw.h"

@@ -4,7 +4,7 @@
 #include "nps_sensors.h"
 #include "nps_radio_control.h"
 #include "booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "firmwares/rotorcraft/baro.h"

 #include "actuators/supervision.h"