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[INS] created INS_INT_GPS_ID and removed USE_GPS at gps_cb()

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k.n.mcguire@tudelft.nl
2015-12-23 13:14:21 +01:00
parent 8956dcc286
commit 9fee89548c
2 changed files with 11 additions and 8 deletions
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conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml
+7 -5
View File
@@ -181,10 +181,10 @@
<define name="H_X" value="0.39049610"/> <define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/> <define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/> <define name="H_Z" value="0.92060036"/>
<define name="USE_GPS_HEADING" value="1"/> <define name="USE_GPS_HEADING" value="0"/>
</section> </section>
<define name="USE_GPS" value="FALSE"/>
<define name="USE_GPS_HEADING" value="FALSE"/>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="10"/> <define name="PGAIN" value="10"/>
@@ -223,7 +223,7 @@
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink"> <subsystem name="radio_control" type="datalink">
</subsystem> </subsystem>
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="1"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target> </target>
@@ -252,6 +252,8 @@
<subsystem name="gps" type="datalink"/> <subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/> <subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" /> <subsystem name="ins">
<define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
</subsystem>
</firmware> </firmware>
</airframe> </airframe>
sw/airborne/subsystems/ins/ins_int.c
+4 -3
View File
@@ -130,6 +130,9 @@ static void baro_cb(uint8_t sender_id, float pressure);
#ifndef INS_INT_IMU_ID #ifndef INS_INT_IMU_ID
#define INS_INT_IMU_ID ABI_BROADCAST #define INS_INT_IMU_ID ABI_BROADCAST
#endif #endif
#ifndef INS_INT_GPS_ID
#define INS_INT_GPS_ID ABI_BROADCAST
#endif
static abi_event accel_ev; static abi_event accel_ev;
static abi_event gps_ev; static abi_event gps_ev;
@@ -512,9 +515,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)), uint32_t stamp __attribute__((unused)),
struct GpsState *gps_s) struct GpsState *gps_s)
{ {
#if use_GPS
ins_int_update_gps(gps_s); ins_int_update_gps(gps_s);
#endif
} }
static void vel_est_cb(uint8_t sender_id __attribute__((unused)), static void vel_est_cb(uint8_t sender_id __attribute__((unused)),
@@ -570,6 +571,6 @@ void ins_int_register(void)
* Subscribe to scaled IMU measurements and attach callbacks * Subscribe to scaled IMU measurements and attach callbacks
*/ */
AbiBindMsgIMU_ACCEL_INT32(INS_INT_IMU_ID, &accel_ev, accel_cb); AbiBindMsgIMU_ACCEL_INT32(INS_INT_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb); AbiBindMsgGPS(INS_INT_GPS_ID, &gps_ev, gps_cb);
AbiBindMsgVELOCITY_ESTIMATE(INS_INT_VEL_ID, &vel_est_ev, vel_est_cb); AbiBindMsgVELOCITY_ESTIMATE(INS_INT_VEL_ID, &vel_est_ev, vel_est_cb);
} }