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renaming of BoozImuFloat to ImuFloat

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This commit is contained in:
Martin Dieblich
2010-09-28 12:37:51 +00:00
parent 397cfbbfd0
commit 95de26c7c7
2 changed files with 10 additions and 10 deletions
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conf/airframes/Poine/test_libeknav.xml
+1 -1
View File
@@ -3,7 +3,7 @@
<makefile>
HOST=auto3
HOST=auto1
PAPARAZZI_INC = -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) \
-I$(PAPARAZZI_SRC)/sw/airborne \
sw/airborne/fms/libeknav/test_libeknav_3.cpp
+9 -9
View File
@@ -17,10 +17,10 @@ extern "C" {
#include "fms/fms_periodic.h"
#include "fms/fms_spi_link.h"
#include "fms/fms_autopilot_msg.h"
#include "booz/booz_imu.h"
#include "firmwares/rotorcraft/imu.h"
#include "fms/libeknav/raw_log.h"
/* our sensors */
struct BoozImuFloat imu;
struct ImuFloat imu_float;
/* raw log */
static int raw_log_fd;
}
@@ -147,15 +147,15 @@ static void main_dialog_with_io_proc() {
spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in, &crc_valid);
struct AutopilotMessagePTUp *in = &msg_in.payload.msg_up;
RATES_FLOAT_OF_BFP(imu.gyro, in->gyro);
ACCELS_FLOAT_OF_BFP(imu.accel, in->accel);
MAGS_FLOAT_OF_BFP(imu.mag, in->mag);
RATES_FLOAT_OF_BFP(imu_float.gyro, in->gyro);
ACCELS_FLOAT_OF_BFP(imu_float.accel, in->accel);
MAGS_FLOAT_OF_BFP(imu_float.mag, in->mag);
{
static uint32_t foo=0;
foo++;
if (!(foo%100))
printf("%f %f %f\n",imu.gyro.p,imu.gyro.q,imu.gyro.r);
printf("%f %f %f\n",imu_float.gyro.p,imu_float.gyro.q,imu_float.gyro.r);
}
@@ -226,9 +226,9 @@ static void main_rawlog_dump(void) {
struct raw_log_entry e;
e.time = absTime(time_diff(now, start));
RATES_COPY(e.gyro, imu.gyro);
VECT3_COPY(e.accel, imu.accel);
VECT3_COPY(e.mag, imu.mag);
RATES_COPY(e.gyro, imu_float.gyro);
VECT3_COPY(e.accel, imu_float.accel);
VECT3_COPY(e.mag, imu_float.mag);
write(raw_log_fd, &e, sizeof(e));
}