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renamed ahrs subsystems for clarity

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This commit is contained in:
Felix Ruess
2011-08-23 17:08:41 +02:00
parent 2ef3e3ef63
commit cd5928da2e
38 changed files with 219 additions and 167 deletions
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conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
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@@ -35,7 +35,7 @@
<!-- Actuators are automatically chosen according to board--> <!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/> <subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="control" type="new"/> <subsystem name="control" type="new"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
<!-- Sensors --> <!-- Sensors -->
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -30,7 +30,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -35,7 +35,7 @@
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/ENAC/quadrotor/mkk1.xml
+1 -1
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@@ -17,7 +17,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/ENAC/quadrotor/navgo.xml
+1 -1
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@@ -31,7 +31,7 @@
<subsystem name="imu" type="navgo"/> <subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/ENAC/quadrotor/nova1.xml
+1 -1
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@@ -16,7 +16,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/NoVa_L.xml
+2 -2
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@@ -266,8 +266,8 @@
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<!-- <subsystem name="ahrs" type="cmpl"/> --> <!-- <subsystem name="ahrs" type="int_cmpl_euler"/> -->
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+2 -2
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@@ -238,13 +238,13 @@
<!-- Sensors --> <!-- Sensors -->
<!-- <!--
<subsystem name="ahrs" type="ic"> <subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" /> <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem> </subsystem>
<subsystem name="imu" type="aspirin_i2c"/> <subsystem name="imu" type="aspirin_i2c"/>
--> -->
<subsystem name="imu" type="ppzuav"/> <subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="dcm"> <subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> --> <!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem> </subsystem>
conf/airframes/Poine/booz2_a1.xml
+1 -1
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@@ -207,7 +207,7 @@
<subsystem name="imu" type="b2_v1.0"/> <subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/Poine/booz2_a7.xml
+2 -2
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@@ -234,9 +234,9 @@
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<!--subsystem name="ahrs" type="cmpl"/--> <!--subsystem name="ahrs" type="int_cmpl_euler"/-->
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/Poine/h_hex.xml
+1 -1
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@@ -186,7 +186,7 @@
<subsystem name="imu" type="aspirin"/> <subsystem name="imu" type="aspirin"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
conf/airframes/TU_Delft/MicrojetBRimu.xml
+1 -1
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@@ -295,7 +295,7 @@
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="ppzuav"/> <subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="i2c"/> <subsystem name="i2c"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
conf/airframes/TU_Delft/MicrojetCDW.xml
+1 -1
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@@ -214,7 +214,7 @@
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="booz"/> <subsystem name="imu" type="booz"/>
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox_utm"/> <subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+1 -1
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@@ -294,7 +294,7 @@ second attempt
<subsystem name="imu" type="crista"/> <subsystem name="imu" type="crista"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/UofAdelaide/A1000_LISA.xml
+1 -1
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@@ -203,7 +203,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/UofAdelaide/A1000_NOVA.xml
+1 -1
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@@ -253,7 +253,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
conf/airframes/booz2_flixr.xml
+1 -1
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@@ -19,7 +19,7 @@
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/> <subsystem name="imu" type="b2_v1.0"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
<firmware name="booz2_test_progs"> <firmware name="booz2_test_progs">
conf/airframes/booz2_ppzuav.xml
+1 -1
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@@ -209,7 +209,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
<firmware name="booz_test_progs"> <firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/> <target name="test_telemetry" board="booz_1.0"/>
conf/airframes/esden/jt_lisam.xml
+1 -1
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@@ -198,7 +198,7 @@
<subsystem name="imu" type="aspirin"/> <subsystem name="imu" type="aspirin"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="stabilization" type="quaternion"/> <subsystem name="stabilization" type="quaternion"/>
</firmware> </firmware>
conf/airframes/esden/lisa_asctec.xml
+1 -1
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@@ -203,7 +203,7 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/esden/lisa_asctec_aspirin.xml
+1 -1
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@@ -205,7 +205,7 @@
<subsystem name="imu" type="aspirin"/> <subsystem name="imu" type="aspirin"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/esden/lisa_m_pwm.xml
+1 -1
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@@ -226,7 +226,7 @@
<subsystem name="imu" type="aspirin"/> <subsystem name="imu" type="aspirin"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
conf/airframes/esden/lisa_pwm_aspirin.xml
+2 -2
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@@ -205,8 +205,8 @@
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
<!--<subsystem name="ahrs" type="ic"/>--> <!--<subsystem name="ahrs" type="int_cmpl_quat"/>-->
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/esden/synerani_4B.xml
+2 -2
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@@ -207,9 +207,9 @@
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
</subsystem> </subsystem>
<!--subsystem name="ahrs" type="cmpl"/--> <!--subsystem name="ahrs" type="int_cmpl_euler"/-->
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="ic"/> <subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/example_twog_analogimu.xml
+1 -1
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@@ -212,7 +212,7 @@
<configure name="ACCEL_Z" value="ADC_7"/> <configure name="ACCEL_Z" value="ADC_7"/>
</subsystem> </subsystem>
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
</firmware> </firmware>
conf/airframes/flixr_discovery.xml
+1 -1
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@@ -36,7 +36,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- Control --> <!-- Control -->
<subsystem name="control" type="new"/> <subsystem name="control" type="new"/>
<subsystem name="navigation" type="extra"/> <subsystem name="navigation" type="extra"/>
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<subsystem name="i2c"/> <subsystem name="i2c"/>
conf/airframes/mm/rotor/qmk1.xml
+1 -1
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@@ -204,7 +204,7 @@
<configure name="GPS_PORT" value="UART3"/> <configure name="GPS_PORT" value="UART3"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/> <subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs"> <firmware name="lisa_l_test_progs">
conf/airframes/test_hb.xml
+1 -1
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@@ -13,7 +13,7 @@
<subsystem name="control"/> <subsystem name="control"/>
<!-- Attitude Estimation --> <!-- Attitude Estimation -->
<subsystem name="ahrs" type="dcm"/> <subsystem name="ahrs" type="float_dcm"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="hb"/> <subsystem name="imu" type="hb"/>
conf/autopilot/rotorcraft.makefile
-2
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@@ -1,7 +1,5 @@
# Hey Emacs, this is a -*- makefile -*- # Hey Emacs, this is a -*- makefile -*-
# #
# $Id$
#
# Copyright (C) 2010 The Paparazzi Team # Copyright (C) 2010 The Paparazzi Team
# #
# This file is part of Paparazzi. # This file is part of Paparazzi.
conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
+2 -54
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@@ -1,55 +1,3 @@
# Hey Emacs, this is a -*- makefile -*- include $(CFG_FIXEDWING)/ahrs_float_dcm.makefile
# attitude estimation for fixedwings via dcm algorithm $(warning The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
ifeq ($(TARGET), ap)
ap.CFLAGS += -DUSE_AHRS
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
ifeq ($(TARGET), sim)
sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DUSE_INFRARED
sim.srcs += subsystems/sensors/infrared.c
sim.srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_imu.c
endif
jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
+55
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@@ -0,0 +1,55 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings via dcm algorithm
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
ifeq ($(TARGET), ap)
ap.CFLAGS += -DUSE_AHRS
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
ifeq ($(TARGET), sim)
sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
sim.CFLAGS += -DUSE_INFRARED
sim.srcs += subsystems/sensors/infrared.c
sim.srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_imu.c
endif
jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile
+2 -41
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@@ -1,43 +1,4 @@
# Hey Emacs, this is a -*- makefile -*- include $(CFG_FIXEDWING)/ahrs_int_cmpl_quat.makefile
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR $(warning The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
# Extra stuff for fixedwings
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+40
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@@ -0,0 +1,40 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
# Extra stuff for fixedwings
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+43
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@@ -0,0 +1,43 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
# Extra stuff for fixedwings
ifdef CPU_LED
ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
endif
ifdef AHRS_PROPAGATE_FREQUENCY
else
AHRS_PROPAGATE_FREQUENCY = 60
endif
ifdef AHRS_CORRECT_FREQUENCY
else
AHRS_CORRECT_FREQUENCY = 60
endif
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+2 -15
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@@ -1,16 +1,3 @@
# include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_euler.makefile
# Fixed point complementary filter using euler angles for attitude estimation
#
ifdef AHRS_ALIGNER_LED $(warning The ahrs_cmpl subsystem has been renamed, please replace <subsystem name="ahrs" type="cmpl"/> with <subsystem name="ahrs" type="int_cmpl_euler"/> in your airframe file.)
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += -DUSE_AHRS_CMPL
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile
+2 -22
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@@ -1,23 +1,3 @@
# include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_quat.makefile
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
$(warning The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+16
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@@ -0,0 +1,16 @@
#
# Fixed point complementary filter using euler angles for attitude estimation
#
ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += -DUSE_AHRS_CMPL
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
+24
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@@ -0,0 +1,24 @@
# Hey Emacs, this is a -*- makefile -*-
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)