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Remove booz_ahrs.c from whirly build (no longer needed), also add low passed gyro

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rates to WHIRLY_ESTIMATOR message
This commit is contained in:
Allen Ibara
2009-05-05 17:19:21 +00:00
parent 187f7209fa
commit 973556b774
2 changed files with 3 additions and 1 deletions
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conf/autopilot/whirly_ap.makefile
-1
View File
@@ -23,7 +23,6 @@ ap.srcs+=$(SRC_FMS)/fms_serial_port.c
ap.srcs+=$(SRC_RDY)/rdyb_estimator.c ap.srcs+=$(SRC_RDY)/rdyb_estimator.c
ap.srcs+=$(SRC_RDY)/rdyb_ahrs.c ap.srcs+=$(SRC_RDY)/rdyb_ahrs.c
#ap.srcs+=$(SRC_RDY)/rdyb_control.c #ap.srcs+=$(SRC_RDY)/rdyb_control.c
ap.srcs+=$(SRC_RDY)/booz_ahrs.c
ap.srcs+=$(SRC_RDY)/ahrs_quat_fast_ekf.c ap.srcs+=$(SRC_RDY)/ahrs_quat_fast_ekf.c
ap.srcs+=$(SRC_RDY)/elevator_control.c ap.srcs+=$(SRC_RDY)/elevator_control.c
conf/messages.xml
+3
View File
@@ -1056,6 +1056,9 @@
<field name="euler_2_error_nb" type="uint32"/> <field name="euler_2_error_nb" type="uint32"/>
<field name="psi_mag_1_error_nb" type="uint32"/> <field name="psi_mag_1_error_nb" type="uint32"/>
<field name="psi_mag_2_error_nb" type="uint32"/> <field name="psi_mag_2_error_nb" type="uint32"/>
<field name="gyro1x_lp" type="float"/>
<field name="gyro1y_lp" type="float"/>
<field name="gyro1z_lp" type="float"/>
</message> </message>
<message name="WHIRLY_MOTORCONTROL" id="183"> <message name="WHIRLY_MOTORCONTROL" id="183">