[modules] move INS from subsystems to modules

conf/modules/ins.xml

@@ -16,14 +16,14 @@
     <provides>ins</provides>
   </dep>
   <header>
-    <file name="ins_int.h" dir="subsystems/ins"/>
+    <file name="ins_int.h" dir="modules/ins"/>
   </header>
   <init fun="ins_int_init()"/>
   <makefile target="ap|nps|hitl">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_int.c" dir="subsystems/ins"/>
-    <file name="vf_float.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_int.c"/>
+    <file name="vf_float.c"/>
     <test firmware="rotorcraft"/>
   </makefile>
 </module>

conf/modules/ins_alt_float.xml

@@ -17,13 +17,13 @@
     <provides>ins</provides>
   </dep>
   <header>
-    <file name="ins_alt_float.h" dir="subsystems/ins"/>
+    <file name="ins_alt_float.h"/>
   </header>
   <init fun="ins_alt_float_init()"/>
   <makefile target="ap|nps|sim" firmware="fixedwing">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_alt_float.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_alt_float.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_alt_float.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_alt_float.c"/>
     <test firmware="fixedwing"/>
   </makefile>
 </module>

conf/modules/ins_ekf2.xml

@@ -31,8 +31,8 @@
 	<dl_settings NAME="INS">
       <!-- EKF2 Configuration parameters -->
       <dl_settings name="ekf2">
-        <dl_setting var="ekf2_params.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="subsystems/ins/ins_ekf2" handler="change_param"/>
-        <dl_setting var="ekf2_params.fusion_mode" min="0" max="1" step="1" shortname="remove_gps" values="FALSE|TRUE" module="subsystems/ins/ins_ekf2" handler="remove_gps" type="bool" persistent="true"/>
+        <dl_setting var="ekf2_params.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="modules/ins/ins_ekf2" handler="change_param"/>
+        <dl_setting var="ekf2_params.fusion_mode" min="0" max="1" step="1" shortname="remove_gps" values="FALSE|TRUE" module="modules/ins/ins_ekf2" handler="remove_gps" type="bool" persistent="true"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -41,7 +41,7 @@
     <provides>ins,ahrs</provides>
   </dep>
   <header>
-    <file name="ins_ekf2.h" dir="subsystems/ins"/>
+    <file name="ins_ekf2.h"/>
   </header>
   <init fun="ins_ekf2_init()"/>
   <periodic fun="ins_ekf2_update()" autorun="TRUE"/>
@@ -49,9 +49,9 @@
     <configure name="CXXSTANDARD" value="-std=c++11"/>
 
     <!-- EKF2 files -->
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_ekf2.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_ekf2.cpp" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_ekf2.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_ekf2.cpp"/>
 
     <!-- Include the ecl and matrix libraries from ext -->
     <include name="$(PAPARAZZI_SRC)/sw/ext/ecl/"/>

conf/modules/ins_extended.xml

@@ -25,7 +25,7 @@
   <settings>
     <dl_settings NAME="Ins Extended">
       <dl_settings NAME="INS">
-        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="modules/ins/vf_extended_float"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
@@ -38,14 +38,14 @@
   </dep>
 
   <header>
-    <file name="ins_int.h" dir="subsystems/ins"/>
+    <file name="ins_int.h"/>
   </header>
   <init fun="ins_int_init()"/>
   <makefile target="ap|nps">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_int.c" dir="subsystems/ins"/>
-    <file name="vf_extended_float.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_int.c"/>
+    <file name="vf_extended_float.c"/>
     <define name="USE_VFF_EXTENDED"/>
     <test firmware="rotorcraft"/>
   </makefile>

conf/modules/ins_float_invariant.xml

@@ -13,7 +13,7 @@
     <dl_settings>
       <dl_settings NAME="invariant">
         <dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_float_inv.reset" shortname="reset"/>
-        <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lv" shortname="lv" module="subsystems/ins/ins_float_invariant"/>
+        <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lv" shortname="lv" module="modules/ins/ins_float_invariant"/>
         <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lb" shortname="lb"/>
         <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.mv" shortname="mv"/>
         <dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mh" shortname="mh"/>
@@ -34,7 +34,7 @@
     <provides>ins,ahrs</provides>
   </dep>
   <header>
-    <file name="ins_float_invariant_wrapper.h" dir="subsystems/ins"/>
+    <file name="ins_float_invariant_wrapper.h"/>
   </header>
   <init fun="ins_float_invariant_wrapper_init()"/>
   <makefile target="ap|nps">
@@ -43,12 +43,12 @@
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
 
     <file name="ahrs_aligner.c" dir="modules/ahrs"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_float_invariant.c" dir="subsystems/ins"/>
-    <file name="ins_float_invariant_wrapper.c" dir="subsystems/ins"/>
+    <file name="ins.c"/>
+    <file name="ins_float_invariant.c"/>
+    <file name="ins_float_invariant_wrapper.c"/>
 
     <define name="USE_AHRS_ALIGNER"/>
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_float_invariant_wrapper.h" type="string"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_float_invariant_wrapper.h" type="string"/>
     <test firmware="rotorcraft"/>
   </makefile>
   <makefile target="sim">

conf/modules/ins_gps_passthrough.xml

@@ -12,23 +12,23 @@
     <provides>ins</provides>
   </dep>
   <header>
-    <file name="ins_gps_passthrough.h" dir="subsystems/ins"/>
+    <file name="ins_gps_passthrough.h"/>
   </header>
   <init fun="ins_gps_passthrough_init()"/>
   <makefile target="ap|nps" firmware="rotorcraft">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough.c"/>
     <test firmware="rotorcraft"/>
   </makefile>
   <makefile target="ap|sim|nps" firmware="fixedwing">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough_utm.c"/>
   </makefile>
   <makefile target="ap" firmware="rover">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough.c"/>
   </makefile>
 </module>

conf/modules/ins_hff.xml

@@ -16,15 +16,15 @@
     <provides>ins</provides>
   </dep>
   <header>
-    <file name="ins_int.h" dir="subsystems/ins"/>
+    <file name="ins_int.h"/>
   </header>
   <init fun="ins_int_init()"/>
   <makefile target="ap|nps">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_int.c" dir="subsystems/ins"/>
-    <file name="vf_float.c" dir="subsystems/ins"/>
-    <file name="hf_float.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_int.c"/>
+    <file name="vf_float.c"/>
+    <file name="hf_float.c"/>
     <define name="USE_HFF"/>
     <test firmware="rotorcraft">
       <define name="AHRS_PROPAGATE_FREQUENCY" value="500"/>

conf/modules/ins_hff_extended.xml

@@ -19,7 +19,7 @@
   <settings>
     <dl_settings NAME="Ins Extended">
       <dl_settings NAME="INS">
-        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="modules/ins/vf_extended_float"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
         <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_obs_height" shortname="r_obs_height"/>
@@ -32,16 +32,16 @@
   </dep>
 
   <header>
-    <file name="ins_int.h" dir="subsystems/ins"/>
+    <file name="ins_int.h"/>
   </header>
   <init fun="ins_int_init()"/>
   <makefile target="ap|nps">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_int.c" dir="subsystems/ins"/>
-    <file name="vf_extended_float.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_int.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_int.c"/>
+    <file name="vf_extended_float.c"/>
     <define name="USE_VFF_EXTENDED"/>
-    <file name="hf_float.c" dir="subsystems/ins"/>
+    <file name="hf_float.c"/>
     <define name="USE_HFF"/>
     <test firmware="rotorcraft">
       <define name="AHRS_PROPAGATE_FREQUENCY" value="500"/>

conf/modules/ins_mekf_wind.xml

@@ -73,7 +73,7 @@
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
     <include name="$(PAPARAZZI_SRC)/sw/ext/eigen"/>
     <file name="ahrs_aligner.c" dir="modules/ahrs"/>
-    <file name="ins.c" dir="subsystems"/>
+    <file name="ins.c"/>
     <file name="ins_mekf_wind.cpp"/>
     <file name="ins_mekf_wind_wrapper.c"/>
     <flag name="LDFLAGS" value="lstdc++" />

conf/modules/ins_nps.xml

@@ -12,7 +12,7 @@
   </dep>
   <autoload name="gps_nps"/>
   <header>
-    <file name="ins_gps_passthrough.h" dir="subsystems/ins"/>
+    <file name="ins_gps_passthrough.h"/>
   </header>
   <init fun="ins_gps_passthrough_init()"/>
   <makefile target="nps|hitl">
@@ -30,13 +30,13 @@
   </makefile>
 
   <makefile target="nps|hitl" firmware="rotorcraft">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough.c"/>
   </makefile>
   <makefile target="nps|hitl" firmware="fixedwing">
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough_utm.c"/>
   </makefile>
 </module>

conf/modules/ins_sim.xml

@@ -13,7 +13,7 @@
   <autoload name="imu_sim"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="ins_gps_passthrough.h" dir="subsystems/ins"/>
+    <file name="ins_gps_passthrough.h"/>
   </header>
   <init fun="ins_gps_passthrough_init()"/>
   <makefile target="sim">
@@ -22,9 +22,9 @@
     <define name="USE_AHRS"/>
     <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
 
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_gps_passthrough_utm.c"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
     <test firmware="rotorcraft">
       <define name="PRIMARY_AHRS" value="ahrs_sim"/>
       <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>

conf/modules/ins_skeleton.xml

@@ -28,7 +28,7 @@
   </header>
   <makefile target="ap|nps" firmware="rotorcraft">
     <define name="INS_TYPE_H" value="modules/ins/ins_skeleton.h" type="string"/>
-    <file name="ins.c" dir="subsystems"/>
+    <file name="ins.c"/>
     <file name="ins_skeleton.c"/>
     <test firmware="rotorcraft"/>
   </makefile>

conf/modules/ins_vectornav.xml

@@ -17,7 +17,7 @@
   <autoload name="imu_sim"/>
   <autoload name="imu_nps"/>
   <header>
-    <file name="ins.h" dir="subsystems"/>
+    <file name="ins.h"/>
   </header>
   <init fun="ins_vectornav_init()"/>
   <periodic fun="ins_vectornav_monitor()" freq="1.0" autorun="TRUE"/>
@@ -33,10 +33,10 @@
 
     <file name="vn200_serial.c" dir="peripherals"/>
 
-    <file name="ins.c" dir="subsystems"/>
-    <file name="ins_vectornav.c" dir="subsystems/ins"/>
-    <file name="ins_vectornav_wrapper.c" dir="subsystems/ins"/>
-    <define name="INS_TYPE_H" value="subsystems/ins/ins_vectornav_wrapper.h" type="string"/>
+    <file name="ins.c"/>
+    <file name="ins_vectornav.c"/>
+    <file name="ins_vectornav_wrapper.c"/>
+    <define name="INS_TYPE_H" value="modules/ins/ins_vectornav_wrapper.h" type="string"/>
 
     <file name="gps.c" dir="modules/gps"/>
     <define name="USE_GPS"/>
@@ -44,10 +44,10 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), vectornav))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/ins/ins_vectornav_wrapper.h\"
+      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
       ap.CFLAGS += -DSECONDARY_GPS=GPS_VECTORNAV
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/ins/ins_vectornav_wrapper.h\"
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_vectornav_wrapper.h\"
       ap.CFLAGS += -DPRIMARY_GPS=GPS_VECTORNAV
       endif
       else

conf/modules/ins_xsens.xml

@@ -25,7 +25,7 @@
     <file name="xsens.c"/>
     <file name="xsens_parser.c"/>
     <file name="ins_xsens.c"/>
-    <file name="ins.c" dir="subsystems"/>
+    <file name="ins.c"/>
     <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
     <configure name="XSENS_BAUD" default="B115200"/>
     <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>

conf/modules/ins_xsens700.xml

@@ -25,7 +25,7 @@
     <file name="xsens700.c"/>
     <file name="xsens_parser.c"/>
     <file name="ins_xsens700.c"/>
-    <file name="ins.c" dir="subsystems"/>
+    <file name="ins.c"/>
     <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
     <configure name="XSENS_BAUD" default="B115200"/>
     <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>

sw/airborne/boards/ardrone/navdata.c

@@ -43,7 +43,7 @@
 
 #include "std.h"
 #include "navdata.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/gpio.h"

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c

@@ -33,7 +33,7 @@
  */
 #include "generated/airframe.h"
 #include "firmwares/rotorcraft/guidance/guidance_indi.h"
-#include "subsystems/ins/ins_int.h"
+#include "modules/ins/ins_int.h"
 #include "modules/radio_control/radio_control.h"
 #include "state.h"
 #include "modules/imu/imu.h"

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c

@@ -29,7 +29,7 @@
 
 #include "generated/airframe.h"
 #include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
-#include "subsystems/ins/ins_int.h"
+#include "modules/ins/ins_int.h"
 #include "modules/radio_control/radio_control.h"
 #include "state.h"
 #include "modules/imu/imu.h"

sw/airborne/firmwares/rotorcraft/navigation.c

@@ -32,7 +32,7 @@
 
 #include "pprz_debug.h"
 #include "modules/gps/gps.h" // needed by auto_nav from the flight plan
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "state.h"
 
 #include "autopilot.h"

sw/airborne/firmwares/rover/navigation.c

@@ -31,7 +31,7 @@
 
 #include "pprz_debug.h"
 #include "modules/gps/gps.h" // needed by auto_nav from the flight plan
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "state.h"
 
 #include "autopilot.h"

sw/airborne/modules/ahrs/ahrs_gx3.h

@@ -34,7 +34,7 @@
 
 #include "generated/airframe.h"
 #include "modules/imu/imu.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/gps/gps.h"
 #include "mcu_periph/uart.h"
 

sw/airborne/modules/ins/hf_float.c

@@ -21,13 +21,13 @@
  */
 
 /**
- * @file subsystems/ins/hf_float.c
+ * @file modules/ins/hf_float.c
  *
  * Horizontal filter (x,y) to estimate position and velocity.
  *
  */
 
-#include "subsystems/ins/hf_float.h"
+#include "modules/ins/hf_float.h"
 #include "modules/imu/imu.h"
 #include "state.h"
 #include "modules/gps/gps.h"

sw/airborne/modules/ins/hf_float.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ins/hf_float.h
+ * @file modules/ins/hf_float.h
  *
  * Horizontal filter (x,y) to estimate position and velocity.
  *

sw/airborne/modules/ins/ins.c

@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/ins.c
+ * @file modules/ins/ins.c
  * Integrated Navigation System interface.
  */
 
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 #if USE_GPS
 // for ins_reset_utm_zone

sw/airborne/modules/ins/ins.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ins.h
+ * @file modules/ins/ins.h
  * Integrated Navigation System interface.
  */
 

sw/airborne/modules/ins/ins_alt_float.c

@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/ins/ins_alt_float.c
+ * @file modules/ins/ins_alt_float.c
  * Filters altitude and climb rate for fixedwings.
  */
 
-#include "subsystems/ins/ins_alt_float.h"
+#include "modules/ins/ins_alt_float.h"
 
 #include "modules/core/abi.h"
 #include "state.h"

sw/airborne/modules/ins/ins_alt_float.h

@@ -21,14 +21,14 @@
  */
 
 /**
- * @file subsystems/ins/ins_alt_float.h
+ * @file modules/ins/ins_alt_float.h
  * Filters altitude and climb rate for fixedwings.
  */
 
 #ifndef INS_ALT_FLOAT_H
 #define INS_ALT_FLOAT_H
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 #include <inttypes.h>
 #include "std.h"

sw/airborne/modules/ins/ins_ekf2.cpp

@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/ins/ins_ekf2.cpp
+ * @file modules/ins/ins_ekf2.cpp
  *
  * INS based in the EKF2 of PX4
  *
  */
 
-#include "subsystems/ins/ins_ekf2.h"
+#include "modules/ins/ins_ekf2.h"
 #include "subsystems/navigation/waypoints.h"
 #include "modules/core/abi.h"
 #include "stabilization/stabilization_attitude.h"

sw/airborne/modules/ins/ins_ekf2.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ins/ins_ekf2.h
+ * @file modules/ins/ins_ekf2.h
  *
  * INS based in the EKF2 of PX4
  *
@@ -34,7 +34,7 @@ extern "C" {
 #endif
 
 #include "modules/ahrs/ahrs.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 struct ekf2_parameters_t {
   int32_t mag_fusion_type;

sw/airborne/modules/ins/ins_float_invariant.c

@@ -19,18 +19,18 @@
  */
 
 /**
- * @file subsystems/ins/ins_float_invariant.c
+ * @file modules/ins/ins_float_invariant.c
  * @author Jean-Philippe Condomines <jp.condomines@gmail.com>
  *
  * INS using invariant filter.
  *
  */
 
-#include "subsystems/ins/ins_float_invariant.h"
+#include "modules/ins/ins_float_invariant.h"
 
 #include "modules/ahrs/ahrs_int_utils.h"
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/gps/gps.h"
 
 #include "generated/airframe.h"

sw/airborne/modules/ins/ins_float_invariant.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ins/ins_float_invariant.h
+ * @file modules/ins/ins_float_invariant.h
  * INS using invariant filter.
  * For more information, please send an email to "jp.condomines@gmail.com"
  */
@@ -27,7 +27,7 @@
 #ifndef INS_FLOAT_INVARIANT_H
 #define INS_FLOAT_INVARIANT_H
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/gps/gps.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"

sw/airborne/modules/ins/ins_float_invariant_wrapper.c

@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/ins/ins_float_invariant_wrapper.c
+ * @file modules/ins/ins_float_invariant_wrapper.c
  *
  * Paparazzi specific wrapper to run INVARIANT filter.
  */
 
-#include "subsystems/ins/ins_float_invariant_wrapper.h"
+#include "modules/ins/ins_float_invariant_wrapper.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "message_pragmas.h"

sw/airborne/modules/ins/ins_float_invariant_wrapper.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ins/ins_float_invariant_wrapper.h
+ * @file modules/ins/ins_float_invariant_wrapper.h
  *
  * Paparazzi specific wrapper to run INVARIANT filter.
  */
@@ -27,7 +27,7 @@
 #ifndef INS_FLOAT_INVARIANT_WRAPPER_H
 #define INS_FLOAT_INVARIANT_WRAPPER_H
 
-#include "subsystems/ins/ins_float_invariant.h"
+#include "modules/ins/ins_float_invariant.h"
 
 extern void ins_float_invariant_wrapper_init(void);
 

sw/airborne/modules/ins/ins_gps_passthrough.c

@@ -20,14 +20,14 @@
  */
 
 /**
- * @file subsystems/ins/ins_gps_passthrough.c
+ * @file modules/ins/ins_gps_passthrough.c
  *
  * Simply converts GPS ECEF position and velocity to NED
  * and passes it through to the state interface.
  */
 
-#include "subsystems/ins/ins_gps_passthrough.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins_gps_passthrough.h"
+#include "modules/ins/ins.h"
 
 #include <inttypes.h>
 #include <math.h>

sw/airborne/modules/ins/ins_gps_passthrough.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ins/ins_gps_passthrough.h
+ * @file modules/ins/ins_gps_passthrough.h
  *
  * Simply passes GPS through to the state interface.
  */

sw/airborne/modules/ins/ins_gps_passthrough_utm.c

@@ -20,14 +20,14 @@
  */
 
 /**
- * @file subsystems/ins/ins_gps_passthrough_utm.c
+ * @file modules/ins/ins_gps_passthrough_utm.c
  *
  * Simply passes GPS UTM position and velocity through to the state interface.
  * For fixedwing firmware since it sets UTM pos only.
  */
 
-#include "subsystems/ins/ins_gps_passthrough.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins_gps_passthrough.h"
+#include "modules/ins/ins.h"
 
 #include <inttypes.h>
 #include <math.h>

sw/airborne/modules/ins/ins_int.c

@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/ins/ins_int.c
+ * @file modules/ins/ins_int.c
  *
  * INS for rotorcrafts combining vertical and horizontal filters.
  *
  */
 
-#include "subsystems/ins/ins_int.h"
+#include "modules/ins/ins_int.h"
 
 #include "modules/core/abi.h"
 
@@ -36,13 +36,13 @@
 #include "generated/airframe.h"
 
 #if USE_VFF_EXTENDED
-#include "subsystems/ins/vf_extended_float.h"
+#include "modules/ins/vf_extended_float.h"
 #else
-#include "subsystems/ins/vf_float.h"
+#include "modules/ins/vf_float.h"
 #endif
 
 #if USE_HFF
-#include "subsystems/ins/hf_float.h"
+#include "modules/ins/hf_float.h"
 #endif
 
 #if defined SITL && USE_NPS

sw/airborne/modules/ins/ins_int.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ins/ins_int.h
+ * @file modules/ins/ins_int.h
  *
  * INS for rotorcrafts combining vertical and horizontal filters.
  *
@@ -29,7 +29,7 @@
 #ifndef INS_INT_H
 #define INS_INT_H
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/gps/gps.h"
 #include "std.h"
 #include "math/pprz_geodetic_int.h"

sw/airborne/modules/ins/ins_mekf_wind_wrapper.c

@@ -31,7 +31,7 @@
 #if USE_AHRS_ALIGNER
 #include "modules/ahrs/ahrs_aligner.h"
 #endif
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/core/abi.h"
 #include "math/pprz_isa.h"
 #include "state.h"

sw/airborne/modules/ins/ins_module.h

@@ -29,7 +29,7 @@
 #define INS_MODULE_H
 
 #include "std.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 #ifndef INS_FORMAT
 #define INS_FORMAT float

sw/airborne/modules/ins/ins_skeleton.h

@@ -33,7 +33,7 @@
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_orientation_conversion.h"
 
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 #include "modules/gps/gps.h"
 
 /** Ins implementation state (fixed point) */

sw/airborne/modules/ins/ins_vectornav.c

@@ -26,7 +26,7 @@
  *
  * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
  */
-#include "subsystems/ins/ins_vectornav.h"
+#include "modules/ins/ins_vectornav.h"
 #include "math/pprz_geodetic_wgs84.h"
 
 struct InsVectornav ins_vn;

sw/airborne/modules/ins/ins_vectornav.h

@@ -31,7 +31,7 @@
 
 // Subsystems
 #include "modules/gps/gps.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 // Peripheral
 #include "peripherals/vn200_serial.h"

sw/airborne/modules/ins/ins_vectornav_wrapper.c

@@ -26,7 +26,7 @@
  *
  * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
  */
-#include "subsystems/ins/ins_vectornav_wrapper.h"
+#include "modules/ins/ins_vectornav_wrapper.h"
 
 void gps_vectornav_init(void)
 {

sw/airborne/modules/ins/ins_vectornav_wrapper.h

@@ -29,7 +29,7 @@
 #ifndef INS_VECTORNAV_WRAPPER_H
 #define INS_VECTORNAV_WRAPPER_H
 
-#include "subsystems/ins/ins_vectornav.h"
+#include "modules/ins/ins_vectornav.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS GPS_VECTORNAV

sw/airborne/modules/ins/ins_xsens.c

@@ -25,7 +25,7 @@
  */
 
 #include "ins_xsens.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 #include "generated/airframe.h"
 

sw/airborne/modules/ins/ins_xsens700.c

@@ -26,7 +26,7 @@
  */
 
 #include "ins_xsens700.h"
-#include "subsystems/ins.h"
+#include "modules/ins/ins.h"
 
 #include "generated/airframe.h"
 

sw/airborne/modules/ins/vf_extended_float.c

@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/ins/vf_extended_float.c
+ * @file modules/ins/vf_extended_float.c
  *
  * Extended vertical filter (in float).
  *
@@ -31,7 +31,7 @@
  * X = [ z zdot accel_bias baro_offset obstacle_height ]
  */
 
-#include "subsystems/ins/vf_extended_float.h"
+#include "modules/ins/vf_extended_float.h"
 #include "generated/airframe.h"
 #include "std.h"
 

sw/airborne/modules/ins/vf_extended_float.h

@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/ins/vf_extended_float.h
+ * @file modules/ins/vf_extended_float.h
  *
  * Interface for extended vertical filter (in float).
  *

sw/airborne/modules/ins/vf_float.c

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ins/vf_float.c
+ * @file modules/ins/vf_float.c
  *
  * Vertical filter (in float) estimating altitude, velocity and accel bias.
  *
@@ -28,7 +28,7 @@
  *
  */
 
-#include "subsystems/ins/vf_float.h"
+#include "modules/ins/vf_float.h"
 #include "generated/airframe.h"
 #include "std.h"