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Merge branch 'master' of github.com:paparazzi/paparazzi into analogimu

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This commit is contained in:
Felix Ruess
2010-12-09 20:47:18 +01:00
parent 486c979e92 d51ca86284
commit b7c86a4d44
5 changed files with 90 additions and 138 deletions
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conf/airframes/example_twog_analogimu.xml
+9 -8
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@@ -91,12 +91,6 @@
<define name="GYRO_NB_SAMPLES" value="16" />
<define name="ACCEL_NB_SAMPLES" value="32" />
<define name="GYRO_P" value="ADC_0"/>
<define name="GYRO_Q" value="ADC_1"/>
<define name="GYRO_R" value="ADC_2"/>
<define name="ACCEL_X" value="ADC_5"/>
<define name="ACCEL_Y" value="ADC_6"/>
<define name="ACCEL_Z" value="ADC_7"/>
</section>
<!-- settings for the Analog IMU -->
@@ -216,8 +210,15 @@
<!-- Actuators are automatically chosen according to the board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="analogimu"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="attitude" type="analogimu">
<param name="GYRO_P" value="ADC_0"/>
<param name="GYRO_Q" value="ADC_1"/>
<param name="GYRO_R" value="ADC_2"/>
<param name="ACCEL_X" value="ADC_5"/>
<param name="ACCEL_Y" value="ADC_6"/>
<param name="ACCEL_Z" value="ADC_7"/>
</subsystem>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
<!-- Carefull: add the location after!! -->
conf/autopilot/subsystems/fixedwing/attitude_analogimu.makefile
+8 -4
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@@ -2,28 +2,32 @@
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DUSE_ANALOG_IMU -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
ap.CFLAGS += -DUSE_ANALOG_IMU
ap.CFLAGS += -DADC -DUSE_$(GYRO_P) -DUSE_$(GYRO_Q) -DUSE_ADC_$(GYRO_R)
ap.CFLAGS += -DUSE_ADC_3 -DUSE_$(ACCEL_X) -DUSE_$(ACCEL_y) -DUSE_$(ACCEL_Z)
ap.CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DADC_CHANNEL_GYRO_R=$(GYRO_R)
ap.CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z)
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/dcm.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/analogimu.c
ap.srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
ap.srcs += $(SRC_SUBSYSTEMS)/imu.c
endif
# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
ifeq ($(TARGET), sim)
sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
$(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).srcs += subsystems/sensors/infrared.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_analogimu.c
endif