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Default Fixedwing IMU includes MAG when available and RAW data in tele_mode 2

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This commit is contained in:
Christophe De Wagter
2011-05-12 11:10:23 +02:00
parent 8aabd26332
commit e346e98319
2 changed files with 25 additions and 1 deletions
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conf/telemetry/default_fixedwing_imu.xml
+18
View File
@@ -28,6 +28,7 @@
<message name="GPS_SOL" period="2.0"/>
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".6"/>
<message name="IMU_MAG" period="1.3"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
@@ -50,6 +51,23 @@
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/>
</mode>
<mode name="debug_imu">
<message name="ATTITUDE" period="0.1"/>
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="5.5"/>
<message name="DOWNLINK" period="5.7"/>
<message name="IMU_ACCEL" period=".5"/>
<message name="IMU_GYRO" period=".5"/>
<message name="IMU_MAG" period=".5"/>
<message name="IMU_ACCEL_RAW" period=".5"/>
<message name="IMU_GYRO_RAW" period=".5"/>
<message name="IMU_MAG_RAW" period=".5"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
sw/airborne/ap_downlink.h
+7 -1
View File
@@ -145,12 +145,18 @@
#define PERIODIC_SEND_IMU_MAG_RAW(_chan) { DOWNLINK_SEND_IMU_MAG_RAW(_chan, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z)}
#define PERIODIC_SEND_IMU_ACCEL(_chan) { struct FloatVect3 accel_float; ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); DOWNLINK_SEND_IMU_ACCEL(_chan, &accel_float.x, &accel_float.y, &accel_float.z)}
#define PERIODIC_SEND_IMU_GYRO(_chan) { struct FloatRates gyro_float; RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); DOWNLINK_SEND_IMU_GYRO(_chan, &gyro_float.p, &gyro_float.q, &gyro_float.r)}
#define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)}
# ifdef USE_MAGNETOMETER
# define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)}
# else
# define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
# endif
#else
#define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {}
#define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {}
#define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
#define PERIODIC_SEND_IMU_ACCEL(_chan) {}
#define PERIODIC_SEND_IMU_GYRO(_chan) {}
#define PERIODIC_SEND_IMU_MAG(_chan) {}
#endif
#ifdef IMU_ANALOG