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remove necessary flag IMU_OVERRIDE_CHANNELS and check if channels are defined in airframe file already

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This commit is contained in:
Felix Ruess
2010-07-28 01:07:45 +00:00
parent ad40adf161
commit dc0573bd4a
1 changed files with 7 additions and 2 deletions
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sw/airborne/booz/imu/booz_imu_b2.h
+7 -2
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@@ -35,17 +35,22 @@
#define IMU_B2_MAG_AMI601 2
/* Default IMU b2 sensors connection */
#ifndef IMU_OVERRIDE_CHANNELS
#if !defined IMU_GYRO_P_CHAN & !defined IMU_GYRO_Q_CHAN & !defined IMU_GYRO_R_CHAN
#define IMU_GYRO_P_CHAN 1
#define IMU_GYRO_Q_CHAN 0
#define IMU_GYRO_R_CHAN 2
#endif
#if !defined IMU_ACCEL_X_CHAN & !defined IMU_ACCEL_Y_CHAN & !defined IMU_ACCEL_Z_CHAN
#define IMU_ACCEL_X_CHAN 5
#define IMU_ACCEL_Y_CHAN 3
#define IMU_ACCEL_Z_CHAN 4
#endif
#if !defined IMU_MAG_X_CHAN & !defined IMU_MAG_Y_CHAN & !defined IMU_MAG_Z_CHAN
#define IMU_MAG_X_CHAN 0
#define IMU_MAG_Y_CHAN 1
#define IMU_MAG_Z_CHAN 2
#endif /* not IMU_OVERRIDE_CHANNELS */
#endif
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#define IMU_GYRO_P_SIGN 1