Merge branch 'dev'

conf/airframes/CDW/ChimuTinyFw.xml

@@ -191,7 +191,6 @@
     <subsystem name="navigation"/>
 <!--    <subsystem name="gps"    type="ublox"/> -->
 
-    <!--<subsystem name="i2c"/>-->
 
   </firmware>
 

conf/airframes/ENAC/fixed-wing/funjet2.xml

@@ -41,7 +41,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="transparent"/>

conf/airframes/ENAC/fixed-wing/funjet2_nc.xml

@@ -38,7 +38,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
     <subsystem name="spi"/>
 
     <!-- Communication -->

conf/airframes/ENAC/fixed-wing/funjet2_new.xml

@@ -38,7 +38,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
     <subsystem name="spi"/>
 
     <!-- Communication -->

conf/airframes/ENAC/fixed-wing/funjet3.xml

@@ -25,6 +25,7 @@
 
   <firmware name="fixedwing">
     <define name="USE_I2C0"/>
+    <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
     <!--define name="AGR_CLIMB"/-->
     <define name="ALT_KALMAN"/>
     <define name="USE_AIRSPEED"/>
@@ -38,9 +39,6 @@
     </target>
 
     <subsystem name="radio_control" type="datalink"/>
-    <subsystem name="i2c">
-      <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
-    </subsystem>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>

conf/airframes/ENAC/fixed-wing/minimag1.xml

@@ -3,6 +3,7 @@
 <airframe name="MiniMag Tiny 2.11">
 
   <firmware name="fixedwing">
+    <define name="USE_I2C0"/>
     <define name="AGR_CLIMB" />
     <define name="LOITER_TRIM" />
     <define name="ALT_KALMAN" />
@@ -14,9 +15,6 @@
     </target>
 
     <subsystem name="spi"/>
-    <!--subsystem name="i2c">
-      <define name="USE_I2C0"/>
-    </subsystem-->
 
     <subsystem  name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B9600" />

conf/airframes/ENAC/fixed-wing/overview.xml

@@ -28,7 +28,6 @@
     <define name="AGR_CLIMB"/>
     <define name="USE_I2C0"/>
 
-    <subsystem name="i2c"/>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="control"/>

conf/airframes/ENAC/fixed-wing/spocIII-1.xml

@@ -24,7 +24,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <subsystem name="radio_control" type="datalink"/>
 

conf/airframes/ENAC/fixed-wing/spocIII-2.xml

@@ -31,7 +31,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <!-- Control -->
     <subsystem name="control" type="new"/>

conf/airframes/ENAC/fixed-wing/spocIII-3.xml

@@ -32,7 +32,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <!-- Control -->
     <subsystem name="control" type="new"/>

conf/airframes/ENAC/fixed-wing/twinjet2.xml

@@ -36,7 +36,6 @@
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">

conf/airframes/ENAC/fixed-wing/weasel.xml

@@ -13,6 +13,8 @@
   </modules>
 
   <firmware name="fixedwing">
+    <define name="USE_I2C0"/>
+    <define name="USE_I2C1"/>
     <!--define name="AGR_CLIMB"/-->
     <define name="ALT_KALMAN"/>
     <define name="USE_AIRSPEED"/>
@@ -25,17 +27,13 @@
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="i2c">
-      <define name="USE_I2C0"/>
-      <define name="USE_I2C1"/>
-    </subsystem>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="dcm"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
     <subsystem name="control" type="new"/>
     <subsystem name="navigation"/>
     <!-- Sensors -->

conf/airframes/ENAC/quadrotor/blender.xml

@@ -30,7 +30,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/ENAC/quadrotor/booz2_g1.xml

@@ -35,7 +35,7 @@
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/ENAC/quadrotor/mkk1.xml

@@ -17,7 +17,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/ENAC/quadrotor/navgo.xml

@@ -31,7 +31,7 @@
     <subsystem name="imu"           type="navgo"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/ENAC/quadrotor/nova1.xml

@@ -16,7 +16,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/NoVa_L.xml

@@ -266,8 +266,8 @@
 	 <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-   <!--    <subsystem name="ahrs"          type="cmpl"/> -->
+   <!--    <subsystem name="ahrs"          type="int_cmpl_euler"/> -->
-   <subsystem name="ahrs"          type="ic"/>
+   <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml

@@ -238,13 +238,13 @@
 
     <!-- Sensors -->
     <!--
-    <subsystem name="ahrs" type="ic">
+    <subsystem name="ahrs" type="int_cmpl_quat">
       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
     </subsystem>
     <subsystem name="imu" type="aspirin_i2c"/>
     -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm">
+    <subsystem name="ahrs" type="float_dcm">
 <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
 
@@ -262,7 +262,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="ublox_utm"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 

conf/airframes/Poine/booz2_a1.xml

@@ -207,7 +207,7 @@
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/Poine/booz2_a7.xml

@@ -234,9 +234,9 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/Poine/h_hex.xml

@@ -186,7 +186,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
 

conf/airframes/TU_Delft/MicrojetBRimu.xml

@@ -295,8 +295,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="control"	/>

conf/airframes/TU_Delft/MicrojetCDW.xml

@@ -214,7 +214,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
     <subsystem name="gps" type="ublox_utm"/>
     <subsystem name="navigation"/>
 

conf/airframes/TU_Delft/skywalker.xml

@@ -235,7 +235,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 

conf/airframes/TU_Delft/yapa_xsens.xml

@@ -220,7 +220,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 

conf/airframes/UofAdelaide/A1000_BOOZ.xml

@@ -294,7 +294,7 @@ second attempt
 	<subsystem name="imu"           type="crista"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
 
   </firmware>

conf/airframes/UofAdelaide/A1000_LISA.xml

@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/UofAdelaide/A1000_NOVA.xml

@@ -253,7 +253,7 @@
 	<subsystem name="imu"           type="b2_v1.1"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
   </firmware>
 

conf/airframes/booz2_flixr.xml

@@ -19,7 +19,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="booz2_test_progs">

conf/airframes/booz2_ppzuav.xml

@@ -209,7 +209,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
 </firmware>
 <firmware name="booz_test_progs">
     <target name="test_telemetry" board="booz_1.0"/>

conf/airframes/easystar_ets_example.xml

@@ -27,7 +27,6 @@
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"    type="extra"/>
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">

conf/airframes/esden/jt_lisam.xml

@@ -198,7 +198,7 @@
 
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="stabilization" type="quaternion"/>
   </firmware>
 

conf/airframes/esden/lisa_asctec.xml

@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/esden/lisa_asctec_aspirin.xml

@@ -205,7 +205,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/esden/lisa_m_pwm.xml

@@ -226,7 +226,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
 

conf/airframes/esden/lisa_pwm_aspirin.xml

@@ -205,8 +205,8 @@
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
-    <!--<subsystem name="ahrs"          type="ic"/>-->
+    <!--<subsystem name="ahrs"          type="int_cmpl_quat"/>-->
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/esden/synerani_4B.xml

@@ -207,9 +207,9 @@
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/example_twog_analogimu.xml

@@ -212,7 +212,7 @@
       <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
-    <subsystem name="ahrs"  type="dcm"/>
+    <subsystem name="ahrs"  type="float_dcm"/>
     <subsystem name="gps"       type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>

conf/airframes/flixr_discovery.xml

@@ -36,9 +36,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
-
-    <subsystem name="i2c"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>

conf/airframes/mm/fixed-wing/funjet43.xml

@@ -24,7 +24,6 @@
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <!-- modules -->

conf/airframes/mm/fixed-wing/funjetdca.xml

@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/funjetdcb.xml

@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/funjetdcc.xml

@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/funjetmm.xml

@@ -41,7 +41,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
     <!--subsystem name="spi"/-->
   </firmware>
 

conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml

@@ -39,7 +39,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/merlin.xml

@@ -186,7 +186,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">

conf/airframes/mm/fixed-wing/slowfast2.xml

@@ -27,7 +27,6 @@
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
-    <subsystem name="i2c"/>
     <subsystem name="gyro" type="roll">
       <param name="ADC_GYRO_ROLL" value="ADC_3"/>
     </subsystem>

conf/airframes/mm/rotor/qmk1.xml

@@ -204,7 +204,7 @@
       <configure name="GPS_PORT"     value="UART3"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

conf/airframes/test_hb.xml

@@ -13,7 +13,7 @@
     <subsystem name="control"/>
 
     <!-- Attitude Estimation -->
-    <subsystem name="ahrs" 		type="dcm"/>
+    <subsystem name="ahrs" 		type="float_dcm"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="hb"/>