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Merge branch 'baro' into dev

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This commit is contained in:
Felix Ruess
2012-01-29 19:04:11 +01:00
parent d5e46ab7cb 9d5413d4d9
commit d38a776838
8 changed files with 20 additions and 38 deletions
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conf/messages.xml
+1 -5
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@@ -1330,11 +1330,7 @@
<field name="status" type="uint8" values="OK|LOST|REALLY_LOST"/> <field name="status" type="uint8" values="OK|LOST|REALLY_LOST"/>
</message> </message>
<message name="BOOZ_BARO_RAW" id="161"> <!-- 161 is free -->
<field name="offset" type="uint16"/>
<field name="value" type="uint16"/>
<field name="value_filtered" type="uint16"/>
</message>
<message name="VFF" id="162"> <message name="VFF" id="162">
<field name="measure" type="float"/> <field name="measure" type="float"/>
conf/modules/baro_board.xml
-1
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@@ -6,7 +6,6 @@
</header> </header>
<init fun="baro_init()"/> <init fun="baro_init()"/>
<periodic fun="baro_periodic()" freq="60."/> <periodic fun="baro_periodic()" freq="60."/>
<periodic fun="baro_downlink_raw()" freq="10." autorun="FALSE"/>
<event fun="BaroEvent(baro_abs,baro_diff)"/> <event fun="BaroEvent(baro_abs,baro_diff)"/>
<makefile target="ap"> <makefile target="ap">
<file name="baro_board.c" dir="boards/$(BOARD)"/> <file name="baro_board.c" dir="boards/$(BOARD)"/>
conf/telemetry/default_fixedwing_imu.xml
+4 -3
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@@ -69,13 +69,14 @@
<message name="IMU_ACCEL_RAW" period=".05"/> <message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/> <message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/> <message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period="0.5"/>
</mode> </mode>
<mode name="scaled_sensors"> <mode name="scaled_sensors">
<message name="DL_VALUE" period="0.5"/> <message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/> <message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO" period=".075"/> <message name="IMU_GYRO" period=".075"/>
<message name="IMU_ACCEL" period=".075"/> <message name="IMU_ACCEL" period=".075"/>
<message name="IMU_MAG" period=".1"/> <message name="IMU_MAG" period=".1"/>
</mode> </mode>
<mode name="debug_imu"> <mode name="debug_imu">
<message name="ATTITUDE" period="0.1"/> <message name="ATTITUDE" period="0.1"/>
conf/telemetry/default_fixedwing_imu_9k6.xml
+1
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@@ -69,6 +69,7 @@
<message name="IMU_ACCEL_RAW" period=".05"/> <message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/> <message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/> <message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period="0.5"/>
</mode> </mode>
<mode name="scaled_sensors"> <mode name="scaled_sensors">
<message name="DL_VALUE" period="0.5"/> <message name="DL_VALUE" period="0.5"/>
sw/airborne/boards/umarim/baro_board.c
-13
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@@ -27,14 +27,6 @@
#include "subsystems/sensors/baro.h" #include "subsystems/sensors/baro.h"
// Downlink
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
/* Common Baro struct */ /* Common Baro struct */
struct Baro baro; struct Baro baro;
@@ -78,8 +70,3 @@ void baro_periodic( void ) {
ads1114_read(&BARO_ABS_ADS); ads1114_read(&BARO_ABS_ADS);
} }
void baro_downlink_raw( void )
{
DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice,&baro.absolute,&baro.differential);
}
sw/airborne/boards/umarim/baro_board.h
-2
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@@ -46,8 +46,6 @@ extern float baro_alt_offset;
#define BaroAltHandler() { baro_alt = BARO_SENS*(baro_alt_offset - (float)baro.absolute); } #define BaroAltHandler() { baro_alt = BARO_SENS*(baro_alt_offset - (float)baro.absolute); }
#endif #endif
extern void baro_downlink_raw( void );
#define BARO_ABS_ADS ads1114_1 #define BARO_ABS_ADS ads1114_1
#define BaroAbs(_ads, _handler) { \ #define BaroAbs(_ads, _handler) { \
sw/airborne/firmwares/fixedwing/ap_downlink.h
+10
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@@ -239,6 +239,16 @@ extern uint8_t telemetry_mode_Ap_DefaultChannel;
#define PERIODIC_SEND_SCP_STATUS(_trans, _dev) {} #define PERIODIC_SEND_SCP_STATUS(_trans, _dev) {}
#endif #endif
#ifdef BOARD_HAS_BARO
#define PERIODIC_SEND_BARO_RAW(_chan) { \
DOWNLINK_SEND_BARO_RAW(_chan, \
&baro.absolute, \
&baro.differential); \
}
#else
#define PERIODIC_SEND_BARO_RAW(_chan) {}
#endif
#ifdef MEASURE_AIRSPEED #ifdef MEASURE_AIRSPEED
#define PERIODIC_SEND_AIRSPEED(_trans, _dev) DOWNLINK_SEND_AIRSPEED (_trans, _dev, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed) #define PERIODIC_SEND_AIRSPEED(_trans, _dev) DOWNLINK_SEND_AIRSPEED (_trans, _dev, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed, &estimator_airspeed)
#elif USE_AIRSPEED #elif USE_AIRSPEED
sw/airborne/firmwares/rotorcraft/telemetry.h
+4 -14
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@@ -174,23 +174,13 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
&imu.mag_unscaled.z); \ &imu.mag_unscaled.z); \
} }
/* FIXME: make that depend on board */ #define PERIODIC_SEND_BARO_RAW(_trans, _dev) { \
#define PERIODIC_SEND_BOOZ_BARO_RAW(_trans, _dev) { \ DOWNLINK_SEND_BARO_RAW(_trans, _dev, \
DOWNLINK_SEND_BOOZ2_BARO_RAW(_trans, _dev, \ &baro.absolute, \
&baro_board.offset, \ &baro.differential); \
&baro.absolute, \
&baro_board.value_filtered); \
} }
#define PERIODIC_SEND_BARO_RAW(_trans, _dev) { \
DOWNLINK_SEND_BARO_RAW(_trans, _dev, \
&baro.absolute, \
&baro.differential); \
}
#include "firmwares/rotorcraft/stabilization.h" #include "firmwares/rotorcraft/stabilization.h"
#define PERIODIC_SEND_RATE_LOOP(_trans, _dev) { \ #define PERIODIC_SEND_RATE_LOOP(_trans, _dev) { \