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[config] better warning message and update example airframe

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Gautier Hattenberger
2013-11-12 16:06:57 +01:00
parent 0c7c09c740
commit a0fcc68b7e
3 changed files with 11 additions and 6 deletions
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conf/airframes/ENAC/fixed-wing/apogee.xml
+1
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@@ -21,6 +21,7 @@
<!--define name="LOITER_TRIM"/-->
<!--define name="PITCH_TRIM"/-->
<define name="USE_GYRO_PITCH_RATE"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="sim" board="pc"/>
<target name="ap" board="apogee_1.0"/>
sw/airborne/firmwares/fixedwing/main_ap.c
+4 -6
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@@ -127,16 +127,14 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
#endif
#ifndef AHRS_CORRECT_FREQUENCY
#define AHRS_CORRECT_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
#if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
#warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY to at least ",AHRS_PROPAGATE_FREQUENCY)
#endif
static inline void on_gyro_event( void );
sw/airborne/firmwares/rotorcraft/main.c
+6
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@@ -101,6 +101,12 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
#endif
PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
#if USE_AHRS && USE_IMU && (defined AHRS_PROPAGATE_FREQUENCY)
#if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
#warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY to at least ",AHRS_PROPAGATE_FREQUENCY)
#endif
#endif
static inline void on_gyro_event( void );
static inline void on_accel_event( void );