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[ins] refactor xsens

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This commit is contained in:
Felix Ruess
2016-02-07 16:43:32 +01:00
parent 4754f42dd4
commit da1ab3a374
5 changed files with 651 additions and 711 deletions
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conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+2 -3
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@@ -12,8 +12,6 @@
#########################################
## ATTITUDE
ap.CFLAGS += -DUSE_INS_MODULE
# AHRS Results
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
@@ -25,9 +23,10 @@ endif
#B115200
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/xsens.c
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP