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[ins] refactor xsens700

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This commit is contained in:
Felix Ruess
2016-02-17 23:53:11 +01:00
parent 5b876208b0
commit bd8943a15c
13 changed files with 703 additions and 632 deletions
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conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
+1
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@@ -56,6 +56,7 @@
ap.CFLAGS += -DUSE_IMU
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\"
ap.srcs += $(SRC_MODULES)/ins/xsens.c
ap.srcs += $(SRC_MODULES)/ins/xsens_common.c
ap.srcs += $(SRC_MODULES)/ins/imu_xsens.c
ap.srcs += $(SRC_SUBSYSTEMS)/imu.c
conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+1
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@@ -27,6 +27,7 @@ ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
ap.srcs += $(SRC_MODULES)/ins/xsens.c
ap.srcs += $(SRC_MODULES)/ins/xsens_common.c
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
conf/firmwares/subsystems/shared/ins_xsens700.makefile
+5 -5
View File
@@ -11,19 +11,19 @@
#########################################
## ATTITUDE
ap.CFLAGS += -DUSE_INS_MODULE
# AHRS Results
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens700.h\"
ifndef XSENS_UART_BAUD
XSENS_UART_BAUD = B115200
endif
ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
ap.srcs += $(SRC_MODULES)/ins/xsens700.c
ap.srcs += $(SRC_MODULES)/ins/xsens_common.c
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
ap.srcs += $(SRC_MODULES)/ins/ins_xsens700.c
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
@@ -35,7 +35,7 @@ ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
ap.CFLAGS += -DUSE_GPS_XSENS
ap.CFLAGS += -DGPS_NB_CHANNELS=50
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c