From 9d5413d4d91fcc5841fba54d24a4809622ef99f8 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 19 Dec 2011 20:31:34 +0100
Subject: [PATCH] removed sending of BARO_RAW message from baro_board, use
 normal ap_downlink and periodic send

---
 conf/modules/baro_board.xml                   |  1 -
 conf/telemetry/default_fixedwing_imu.xml      |  7 ++++---
 conf/telemetry/default_fixedwing_imu_9k6.xml  |  1 +
 sw/airborne/boards/umarim/baro_board.c        | 13 -------------
 sw/airborne/boards/umarim/baro_board.h        |  2 --
 sw/airborne/firmwares/fixedwing/ap_downlink.h | 10 ++++++++++
 6 files changed, 15 insertions(+), 19 deletions(-)

diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml
index 020bd730e5..2f57658e59 100644
--- a/conf/modules/baro_board.xml
+++ b/conf/modules/baro_board.xml
@@ -6,7 +6,6 @@
   </header>
   <init fun="baro_init()"/>
   <periodic fun="baro_periodic()" freq="60."/>
-  <periodic fun="baro_downlink_raw()" freq="10." autorun="FALSE"/>
   <event fun="BaroEvent(baro_abs,baro_diff)"/>
   <makefile target="ap">
     <file name="baro_board.c" dir="boards/$(BOARD)"/>
diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
index 1b83499095..f7f832e34d 100644
--- a/conf/telemetry/default_fixedwing_imu.xml
+++ b/conf/telemetry/default_fixedwing_imu.xml
@@ -69,13 +69,14 @@
       <message name="IMU_ACCEL_RAW"     period=".05"/>
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
+      <message name="BARO_RAW"          period="0.5"/>
     </mode>
     <mode name="scaled_sensors">
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_GYRO"   period=".075"/>
-      <message name="IMU_ACCEL"  period=".075"/>
-      <message name="IMU_MAG"    period=".1"/>
+      <message name="IMU_GYRO"          period=".075"/>
+      <message name="IMU_ACCEL"         period=".075"/>
+      <message name="IMU_MAG"           period=".1"/>
     </mode>
     <mode name="debug_imu">
       <message name="ATTITUDE"            period="0.1"/>
diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
index df79bb466c..e97b9046a9 100644
--- a/conf/telemetry/default_fixedwing_imu_9k6.xml
+++ b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -69,6 +69,7 @@
       <message name="IMU_ACCEL_RAW"     period=".05"/>
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
+      <message name="BARO_RAW"          period="0.5"/>
     </mode>
     <mode name="scaled_sensors">
       <message name="DL_VALUE"          period="0.5"/>
diff --git a/sw/airborne/boards/umarim/baro_board.c b/sw/airborne/boards/umarim/baro_board.c
index 87545deb09..5c87f41dc9 100644
--- a/sw/airborne/boards/umarim/baro_board.c
+++ b/sw/airborne/boards/umarim/baro_board.c
@@ -27,14 +27,6 @@
 
 #include "subsystems/sensors/baro.h"
 
-// Downlink
-#include "mcu_periph/uart.h"
-#include "messages.h"
-#include "subsystems/datalink/downlink.h"
-
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
 
 /* Common Baro struct */
 struct Baro baro;
@@ -78,8 +70,3 @@ void baro_periodic( void ) {
   ads1114_read(&BARO_ABS_ADS);
 }
 
-void baro_downlink_raw( void )
-{
-  DOWNLINK_SEND_BARO_RAW(DefaultChannel,&baro.absolute,&baro.differential);
-}
-
diff --git a/sw/airborne/boards/umarim/baro_board.h b/sw/airborne/boards/umarim/baro_board.h
index e74b52c77d..ca0265c268 100644
--- a/sw/airborne/boards/umarim/baro_board.h
+++ b/sw/airborne/boards/umarim/baro_board.h
@@ -46,8 +46,6 @@ extern float baro_alt_offset;
 #define BaroAltHandler() { baro_alt = BARO_SENS*(baro_alt_offset - (float)baro.absolute); }
 #endif
 
-extern void baro_downlink_raw( void );
-
 #define BARO_ABS_ADS ads1114_1
 
 #define BaroAbs(_ads, _handler) {           \
diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
index c97aaa3608..d620d37734 100644
--- a/sw/airborne/firmwares/fixedwing/ap_downlink.h
+++ b/sw/airborne/firmwares/fixedwing/ap_downlink.h
@@ -239,6 +239,16 @@ extern uint8_t telemetry_mode_Ap_DefaultChannel;
 #define PERIODIC_SEND_SCP_STATUS(_chan) {}
 #endif
 
+#ifdef BOARD_HAS_BARO
+#define PERIODIC_SEND_BARO_RAW(_chan) {         \
+    DOWNLINK_SEND_BARO_RAW(_chan,               \
+                           &baro.absolute,      \
+                           &baro.differential); \
+  }
+#else
+#define PERIODIC_SEND_BARO_RAW(_chan) {}
+#endif
+
 #ifdef MEASURE_AIRSPEED
 #define PERIODIC_SEND_AIRSPEED(_chan) DOWNLINK_SEND_AIRSPEED (_chan, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed)
 #elif defined USE_AIRSPEED