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[ardrone2] Fix AHRS propagate frequency

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Freek van Tienen
2014-03-09 21:47:13 +01:00
committed by Felix Ruess
parent b22f521046
commit b8a52aeae7
3 changed files with 4 additions and 8 deletions
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conf/airframes/ardrone2_raw.xml
-4
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@@ -4,11 +4,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw"> <target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/>
<define name="USE_SONAR"/> <define name="USE_SONAR"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="udp"/> <subsystem name="telemetry" type="udp"/>
<subsystem name="radio_control" type="datalink"/> <subsystem name="radio_control" type="datalink"/>
conf/airframes/ardrone2_raw_optitrack.xml
-4
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@@ -4,10 +4,6 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw"> <target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="udp"/> <subsystem name="telemetry" type="udp"/>
<subsystem name="radio_control" type="datalink"/> <subsystem name="radio_control" type="datalink"/>
conf/firmwares/subsystems/shared/imu_ardrone2.makefile
+4
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@@ -16,6 +16,10 @@ endif
ap.CFLAGS += $(imu_CFLAGS) ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs) ap.srcs += $(imu_srcs)
# Set the AHRS propegation frequencies
AHRS_PROPAGATE_FREQUENCY ?= 200
AHRS_CORRECT_FREQUENCY ?= 200
# #
# Simulator # Simulator
# #