Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 20:38:27 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

[conf] cleanup INS_ and AHRS_PROPAGATE_FREQUENCY

Browse Source
This commit is contained in:
Felix Ruess
2014-03-10 13:53:17 +01:00
parent ce351a6019
commit debd043b4f
27 changed files with 29 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/quadrotor/blender.xml
-1
View File
@@ -124,7 +124,6 @@
<!-- Magnetic field for Toulouse (declination -16°) --> <!-- Magnetic field for Toulouse (declination -16°) -->
<!--section name="AHRS" prefix="AHRS_"> <!--section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/> <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="H_X" value=" 0.513081"/> <define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/> <define name="H_Y" value="-0.00242783"/>
conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
-2
View File
@@ -7,8 +7,6 @@
<target name="ap" board="ardrone2_raw"> <target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/> <define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="LINK_HOST" value="\\\"192.168.2.255\\\""/> <define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
-1
View File
@@ -193,7 +193,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.3723657"/> <define name="H_X" value=" 0.3723657"/>
<define name="H_Y" value=" 0.1515225"/> <define name="H_Y" value=" 0.1515225"/>
<define name="H_Z" value="-0.9156335"/> <define name="H_Z" value="-0.9156335"/>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
-1
View File
@@ -210,7 +210,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.3723657"/> <define name="H_X" value=" 0.3723657"/>
<define name="H_Y" value=" 0.1515225"/> <define name="H_Y" value=" 0.1515225"/>
<define name="H_Z" value="-0.9156335"/> <define name="H_Z" value="-0.9156335"/>
conf/airframes/esden/gain_scheduling_example.xml
-1
View File
@@ -168,7 +168,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/hexy_ll11a2pwm.xml
-1
View File
@@ -182,7 +182,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/hexy_lm2a2pwm.xml
-1
View File
@@ -143,7 +143,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/lisa2_hex.xml
-1
View File
@@ -150,7 +150,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/qs_asp22.xml
-1
View File
@@ -176,7 +176,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/quady_ll11a2pwm.xml
-1
View File
@@ -178,7 +178,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/quady_lm1a1pwm.xml
-1
View File
@@ -139,7 +139,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/esden/quady_lm2a2pwmppm.xml
-1
View File
@@ -139,7 +139,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/examples/quadshot_asp21_spektrum.xml
-1
View File
@@ -201,7 +201,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/> <define name="H_Z" value=" 0.87161"/>
conf/airframes/obsolete/NoVa_L.xml
-1
View File
@@ -181,7 +181,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/> <define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/> <define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/> <define name="H_Z" value=" 0.85490967783446"/>
conf/airframes/obsolete/Poine/booz2_a7.xml
-1
View File
@@ -153,7 +153,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/> <define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/> <define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/> <define name="H_Z" value=" 0.85490967783446"/>
conf/airframes/obsolete/booz2_flixr.xml
-1
View File
@@ -113,7 +113,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/> <define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/> <define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/> <define name="H_Z" value=" 0.85490967783446"/>
conf/airframes/obsolete/example_heli_lisam.xml
-2
View File
@@ -196,8 +196,6 @@ AP_MODE_NAV
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp --> <!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
<define name="H_X" value=" 0.47577"/> <define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/> <define name="H_Y" value=" 0.11811"/>
conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
-1
View File
@@ -111,7 +111,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<!-- Ostheim v.d. Rhoen --> <!-- Ostheim v.d. Rhoen -->
<define name="H_X" value="0.405857063"/> <define name="H_X" value="0.405857063"/>
<define name="H_Y" value="0.014454969"/> <define name="H_Y" value="0.014454969"/>
conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
-1
View File
@@ -75,7 +75,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/> <define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/> <define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/> <define name="H_Z" value="0.9259921"/>
conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
-1
View File
@@ -82,7 +82,6 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.3770441"/> <define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/> <define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/> <define name="H_Z" value="0.9259921"/>
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+8 -9
View File
@@ -27,18 +27,17 @@ AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS) ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS) ap.srcs += $(AHRS_SRCS)
# for fixedwings this is already added in autopilot.makefile
#ifdef AHRS_PROPAGATE_FREQUENCY
#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
#endif
#
#ifdef AHRS_CORRECT_FREQUENCY
#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#endif
# #
# NPS uses the real algorithm # NPS uses the real algorithm
# #
conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+9 -9
View File
@@ -27,18 +27,18 @@ AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS) ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS) ap.srcs += $(AHRS_SRCS)
# for fixedwings this is already added in autopilot.makefile
#ifdef AHRS_PROPAGATE_FREQUENCY
#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
#endif
#
#ifdef AHRS_CORRECT_FREQUENCY
#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
#endif
# #
# NPS uses the real algorithm # NPS uses the real algorithm
# #
conf/firmwares/subsystems/fixedwing/autopilot.makefile
-8
View File
@@ -165,14 +165,6 @@ ap_srcs += subsystems/air_data.c
# BARO # BARO
include $(CFG_SHARED)/baro_board.makefile include $(CFG_SHARED)/baro_board.makefile
# ahrs frequencies if configured
ifdef AHRS_PROPAGATE_FREQUENCY
ap_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
ap_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
###################################################################### ######################################################################
## ##
conf/firmwares/subsystems/rotorcraft/ins.makefile
+3
View File
@@ -9,3 +9,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
# vertical filter float version # vertical filter float version
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
ifdef INS_PROPAGATE_FREQUENCY
$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
endif
conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
+3
View File
@@ -10,3 +10,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c
$(TARGET).CFLAGS += -DUSE_VFF_EXTENDED $(TARGET).CFLAGS += -DUSE_VFF_EXTENDED
ifdef INS_PROPAGATE_FREQUENCY
$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
endif
conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
+3 -3
View File
@@ -21,9 +21,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
AHRS_PROPAGATE_FREQUENCY ?= 512 AHRS_PROPAGATE_FREQUENCY ?= 512
AHRS_CORRECT_FREQUENCY ?= 512 AHRS_CORRECT_FREQUENCY ?= 512
AHRS_MAG_CORRECT_FREQUENCY ?= 75 AHRS_MAG_CORRECT_FREQUENCY ?= 75
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_KROOZ_CFLAGS) ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
ap.srcs += $(IMU_KROOZ_SRCS) ap.srcs += $(IMU_KROOZ_SRCS)
conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
+3 -3
View File
@@ -26,9 +26,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
AHRS_PROPAGATE_FREQUENCY ?= 512 AHRS_PROPAGATE_FREQUENCY ?= 512
AHRS_CORRECT_FREQUENCY ?= 512 AHRS_CORRECT_FREQUENCY ?= 512
AHRS_MAG_CORRECT_FREQUENCY ?= 75 AHRS_MAG_CORRECT_FREQUENCY ?= 75
ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY) IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
ap.CFLAGS += $(IMU_KROOZ_CFLAGS) ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
ap.srcs += $(IMU_KROOZ_SRCS) ap.srcs += $(IMU_KROOZ_SRCS)