diff --git a/conf/modules/ins.xml b/conf/modules/ins.xml index 906225a5a3..86fb7a8e6d 100644 --- a/conf/modules/ins.xml +++ b/conf/modules/ins.xml @@ -16,14 +16,14 @@ ins
- +
- - - - + + + + diff --git a/conf/modules/ins_alt_float.xml b/conf/modules/ins_alt_float.xml index e0fd6a4fa8..00842bc41d 100644 --- a/conf/modules/ins_alt_float.xml +++ b/conf/modules/ins_alt_float.xml @@ -17,13 +17,13 @@ ins
- +
- - - + + + diff --git a/conf/modules/ins_ekf2.xml b/conf/modules/ins_ekf2.xml index df9f8702c5..885ba4313f 100644 --- a/conf/modules/ins_ekf2.xml +++ b/conf/modules/ins_ekf2.xml @@ -31,8 +31,8 @@ - - + + @@ -41,7 +41,7 @@ ins,ahrs
- +
@@ -49,9 +49,9 @@ - - - + + + diff --git a/conf/modules/ins_extended.xml b/conf/modules/ins_extended.xml index 35254c1797..148a231420 100644 --- a/conf/modules/ins_extended.xml +++ b/conf/modules/ins_extended.xml @@ -25,7 +25,7 @@ - + @@ -38,14 +38,14 @@
- +
- - - - + + + + diff --git a/conf/modules/ins_float_invariant.xml b/conf/modules/ins_float_invariant.xml index eb4fc8bc95..f4abc97a1d 100644 --- a/conf/modules/ins_float_invariant.xml +++ b/conf/modules/ins_float_invariant.xml @@ -13,7 +13,7 @@ - + @@ -34,7 +34,7 @@ ins,ahrs
- +
@@ -43,12 +43,12 @@ - - - + + + - + diff --git a/conf/modules/ins_gps_passthrough.xml b/conf/modules/ins_gps_passthrough.xml index 1083abc6f3..dac908672f 100644 --- a/conf/modules/ins_gps_passthrough.xml +++ b/conf/modules/ins_gps_passthrough.xml @@ -12,23 +12,23 @@ ins
- +
- - - + + + - - - + + + - - - + + + diff --git a/conf/modules/ins_hff.xml b/conf/modules/ins_hff.xml index e47313d49f..9e5036b7f2 100644 --- a/conf/modules/ins_hff.xml +++ b/conf/modules/ins_hff.xml @@ -16,15 +16,15 @@ ins
- +
- - - - - + + + + + diff --git a/conf/modules/ins_hff_extended.xml b/conf/modules/ins_hff_extended.xml index 9ea8f018e5..e550980c31 100644 --- a/conf/modules/ins_hff_extended.xml +++ b/conf/modules/ins_hff_extended.xml @@ -19,7 +19,7 @@ - + @@ -32,16 +32,16 @@
- +
- - - - + + + + - + diff --git a/conf/modules/ins_mekf_wind.xml b/conf/modules/ins_mekf_wind.xml index dcaf9da7a5..e35e8cff06 100644 --- a/conf/modules/ins_mekf_wind.xml +++ b/conf/modules/ins_mekf_wind.xml @@ -73,7 +73,7 @@ - + diff --git a/conf/modules/ins_nps.xml b/conf/modules/ins_nps.xml index 310e1fdc2c..f8a9aaded0 100644 --- a/conf/modules/ins_nps.xml +++ b/conf/modules/ins_nps.xml @@ -12,7 +12,7 @@
- +
@@ -30,13 +30,13 @@ - - - + + + - - - + + + diff --git a/conf/modules/ins_sim.xml b/conf/modules/ins_sim.xml index a9291afdf0..691da7bb39 100644 --- a/conf/modules/ins_sim.xml +++ b/conf/modules/ins_sim.xml @@ -13,7 +13,7 @@
- +
@@ -22,9 +22,9 @@ - - - + + + diff --git a/conf/modules/ins_skeleton.xml b/conf/modules/ins_skeleton.xml index e369f7b467..038bca913d 100644 --- a/conf/modules/ins_skeleton.xml +++ b/conf/modules/ins_skeleton.xml @@ -28,7 +28,7 @@ - + diff --git a/conf/modules/ins_vectornav.xml b/conf/modules/ins_vectornav.xml index a534c64d91..88c932a842 100644 --- a/conf/modules/ins_vectornav.xml +++ b/conf/modules/ins_vectornav.xml @@ -17,7 +17,7 @@
- +
@@ -33,10 +33,10 @@ - - - - + + + + @@ -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 diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml index ecb5327279..8561d1583d 100644 --- a/conf/modules/ins_xsens.xml +++ b/conf/modules/ins_xsens.xml @@ -25,7 +25,7 @@ - + diff --git a/conf/modules/ins_xsens700.xml b/conf/modules/ins_xsens700.xml index 959401467e..fa8d2da8f9 100644 --- a/conf/modules/ins_xsens700.xml +++ b/conf/modules/ins_xsens700.xml @@ -25,7 +25,7 @@ - + diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c index 9a7d89e279..7381ba2d2b 100644 --- a/sw/airborne/boards/ardrone/navdata.c +++ b/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" diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c index a34e9f6188..2657a091ba 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c +++ b/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" diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c index 526769c143..2fc05de077 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c +++ b/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" diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c index c4d9decd4d..aef7d01eb1 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.c +++ b/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" diff --git a/sw/airborne/firmwares/rover/navigation.c b/sw/airborne/firmwares/rover/navigation.c index 3a894c0d7e..25788fe2a5 100644 --- a/sw/airborne/firmwares/rover/navigation.c +++ b/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" diff --git a/sw/airborne/modules/ahrs/ahrs_gx3.h b/sw/airborne/modules/ahrs/ahrs_gx3.h index 470f1d795f..6a54f7782d 100644 --- a/sw/airborne/modules/ahrs/ahrs_gx3.h +++ b/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" diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/modules/ins/hf_float.c similarity index 99% rename from sw/airborne/subsystems/ins/hf_float.c rename to sw/airborne/modules/ins/hf_float.c index bbe441ad58..b45d236866 100644 --- a/sw/airborne/subsystems/ins/hf_float.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/hf_float.h b/sw/airborne/modules/ins/hf_float.h similarity index 98% rename from sw/airborne/subsystems/ins/hf_float.h rename to sw/airborne/modules/ins/hf_float.h index eaacf8159f..1b27ef48cb 100644 --- a/sw/airborne/subsystems/ins/hf_float.h +++ b/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. * diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/modules/ins/ins.c similarity index 97% rename from sw/airborne/subsystems/ins.c rename to sw/airborne/modules/ins/ins.c index 2c05029829..f4f5695092 100644 --- a/sw/airborne/subsystems/ins.c +++ b/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 diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/modules/ins/ins.h similarity index 98% rename from sw/airborne/subsystems/ins.h rename to sw/airborne/modules/ins/ins.h index 0ea3a4c796..46846f12b8 100644 --- a/sw/airborne/subsystems/ins.h +++ b/sw/airborne/modules/ins/ins.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/ins.h + * @file modules/ins/ins.h * Integrated Navigation System interface. */ diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/modules/ins/ins_alt_float.c similarity index 99% rename from sw/airborne/subsystems/ins/ins_alt_float.c rename to sw/airborne/modules/ins/ins_alt_float.c index 59dd5de6c0..00a83d507c 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/ins_alt_float.h b/sw/airborne/modules/ins/ins_alt_float.h similarity index 95% rename from sw/airborne/subsystems/ins/ins_alt_float.h rename to sw/airborne/modules/ins/ins_alt_float.h index 90e19874cb..79378b3dfd 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.h +++ b/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 #include "std.h" diff --git a/sw/airborne/subsystems/ins/ins_ekf2.cpp b/sw/airborne/modules/ins/ins_ekf2.cpp similarity index 99% rename from sw/airborne/subsystems/ins/ins_ekf2.cpp rename to sw/airborne/modules/ins/ins_ekf2.cpp index 0def63af15..72068f56af 100644 --- a/sw/airborne/subsystems/ins/ins_ekf2.cpp +++ b/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" diff --git a/sw/airborne/subsystems/ins/ins_ekf2.h b/sw/airborne/modules/ins/ins_ekf2.h similarity index 95% rename from sw/airborne/subsystems/ins/ins_ekf2.h rename to sw/airborne/modules/ins/ins_ekf2.h index 182b980cf9..e43446f3b4 100644 --- a/sw/airborne/subsystems/ins/ins_ekf2.h +++ b/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; diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/modules/ins/ins_float_invariant.c similarity index 99% rename from sw/airborne/subsystems/ins/ins_float_invariant.c rename to sw/airborne/modules/ins/ins_float_invariant.c index fdeb67b732..c8dfd53d7b 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.c +++ b/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 * * 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" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.h b/sw/airborne/modules/ins/ins_float_invariant.h similarity index 98% rename from sw/airborne/subsystems/ins/ins_float_invariant.h rename to sw/airborne/modules/ins/ins_float_invariant.h index e520f86ee4..a6516ff07c 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.h +++ b/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" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c b/sw/airborne/modules/ins/ins_float_invariant_wrapper.c similarity index 98% rename from sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c rename to sw/airborne/modules/ins/ins_float_invariant_wrapper.c index 6f2a3a20be..78a7d7d83f 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h b/sw/airborne/modules/ins/ins_float_invariant_wrapper.h similarity index 90% rename from sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h rename to sw/airborne/modules/ins/ins_float_invariant_wrapper.h index 44f59e5e6e..75b6509900 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h +++ b/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); diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/modules/ins/ins_gps_passthrough.c similarity index 98% rename from sw/airborne/subsystems/ins/ins_gps_passthrough.c rename to sw/airborne/modules/ins/ins_gps_passthrough.c index bcb3e09002..2aa6045544 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c +++ b/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 #include diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.h b/sw/airborne/modules/ins/ins_gps_passthrough.h similarity index 95% rename from sw/airborne/subsystems/ins/ins_gps_passthrough.h rename to sw/airborne/modules/ins/ins_gps_passthrough.h index 3d436118fe..7758c6c32b 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough.h +++ b/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. */ diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/modules/ins/ins_gps_passthrough_utm.c similarity index 94% rename from sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c rename to sw/airborne/modules/ins/ins_gps_passthrough_utm.c index 2825ebfe3d..beb048c0d8 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c +++ b/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 #include diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/modules/ins/ins_int.c similarity index 98% rename from sw/airborne/subsystems/ins/ins_int.c rename to sw/airborne/modules/ins/ins_int.c index e37f7306c4..965b25bf5a 100644 --- a/sw/airborne/subsystems/ins/ins_int.c +++ b/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 diff --git a/sw/airborne/subsystems/ins/ins_int.h b/sw/airborne/modules/ins/ins_int.h similarity index 97% rename from sw/airborne/subsystems/ins/ins_int.h rename to sw/airborne/modules/ins/ins_int.h index 5eb682219d..18d7e2b578 100644 --- a/sw/airborne/subsystems/ins/ins_int.h +++ b/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" diff --git a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c index 3ba2e21970..a2cf8294f3 100644 --- a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c +++ b/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" diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h index 036ce87bec..be91f69c35 100644 --- a/sw/airborne/modules/ins/ins_module.h +++ b/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 diff --git a/sw/airborne/modules/ins/ins_skeleton.h b/sw/airborne/modules/ins/ins_skeleton.h index 9781704c4b..8214251284 100644 --- a/sw/airborne/modules/ins/ins_skeleton.h +++ b/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) */ diff --git a/sw/airborne/subsystems/ins/ins_vectornav.c b/sw/airborne/modules/ins/ins_vectornav.c similarity index 99% rename from sw/airborne/subsystems/ins/ins_vectornav.c rename to sw/airborne/modules/ins/ins_vectornav.c index 5f08e22f0c..21e6938890 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.c +++ b/sw/airborne/modules/ins/ins_vectornav.c @@ -26,7 +26,7 @@ * * @author Michal Podhradsky */ -#include "subsystems/ins/ins_vectornav.h" +#include "modules/ins/ins_vectornav.h" #include "math/pprz_geodetic_wgs84.h" struct InsVectornav ins_vn; diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h b/sw/airborne/modules/ins/ins_vectornav.h similarity index 99% rename from sw/airborne/subsystems/ins/ins_vectornav.h rename to sw/airborne/modules/ins/ins_vectornav.h index f336dd54ac..c9aa511f23 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.h +++ b/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" diff --git a/sw/airborne/subsystems/ins/ins_vectornav_wrapper.c b/sw/airborne/modules/ins/ins_vectornav_wrapper.c similarity index 95% rename from sw/airborne/subsystems/ins/ins_vectornav_wrapper.c rename to sw/airborne/modules/ins/ins_vectornav_wrapper.c index b819e92682..ffdde00e53 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav_wrapper.c +++ b/sw/airborne/modules/ins/ins_vectornav_wrapper.c @@ -26,7 +26,7 @@ * * @author Michal Podhradsky */ -#include "subsystems/ins/ins_vectornav_wrapper.h" +#include "modules/ins/ins_vectornav_wrapper.h" void gps_vectornav_init(void) { diff --git a/sw/airborne/subsystems/ins/ins_vectornav_wrapper.h b/sw/airborne/modules/ins/ins_vectornav_wrapper.h similarity index 96% rename from sw/airborne/subsystems/ins/ins_vectornav_wrapper.h rename to sw/airborne/modules/ins/ins_vectornav_wrapper.h index d797f3461d..1e09e0ab5a 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav_wrapper.h +++ b/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 diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c index 17211fd117..a6c27f1261 100644 --- a/sw/airborne/modules/ins/ins_xsens.c +++ b/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" diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c index a7c4c53a77..8b84bc34c2 100644 --- a/sw/airborne/modules/ins/ins_xsens700.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/modules/ins/vf_extended_float.c similarity index 99% rename from sw/airborne/subsystems/ins/vf_extended_float.c rename to sw/airborne/modules/ins/vf_extended_float.c index 1649387ad7..caf058d716 100644 --- a/sw/airborne/subsystems/ins/vf_extended_float.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/vf_extended_float.h b/sw/airborne/modules/ins/vf_extended_float.h similarity index 98% rename from sw/airborne/subsystems/ins/vf_extended_float.h rename to sw/airborne/modules/ins/vf_extended_float.h index f4fd7bf385..cab7859c64 100644 --- a/sw/airborne/subsystems/ins/vf_extended_float.h +++ b/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). * diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/modules/ins/vf_float.c similarity index 98% rename from sw/airborne/subsystems/ins/vf_float.c rename to sw/airborne/modules/ins/vf_float.c index ee265149a6..8b66ae5095 100644 --- a/sw/airborne/subsystems/ins/vf_float.c +++ b/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" diff --git a/sw/airborne/subsystems/ins/vf_float.h b/sw/airborne/modules/ins/vf_float.h similarity index 97% rename from sw/airborne/subsystems/ins/vf_float.h rename to sw/airborne/modules/ins/vf_float.h index 9f42d4673c..8c73f876eb 100644 --- a/sw/airborne/subsystems/ins/vf_float.h +++ b/sw/airborne/modules/ins/vf_float.h @@ -20,7 +20,7 @@ */ /** - * @file subsystems/ins/vf_float.h + * @file modules/ins/vf_float.h * * Vertical filter (in float) estimating altitude, velocity and accel bias. * diff --git a/sw/airborne/modules/vehicle_interface/vi_test_signal.c b/sw/airborne/modules/vehicle_interface/vi_test_signal.c index 6af01bc944..182490fde7 100644 --- a/sw/airborne/modules/vehicle_interface/vi_test_signal.c +++ b/sw/airborne/modules/vehicle_interface/vi_test_signal.c @@ -21,7 +21,7 @@ #include "booz_fms.h" -#include "subsystems/ins.h" +#include "modules/ins/ins.h" #include "math/pprz_algebra_int.h" #define FMS_TEST_SIGNAL_DEFAULT_MODE STEP_YAW diff --git a/sw/airborne/subsystems/navigation/common_nav.c b/sw/airborne/subsystems/navigation/common_nav.c index 96bd24fcc0..8fc89e88df 100644 --- a/sw/airborne/subsystems/navigation/common_nav.c +++ b/sw/airborne/subsystems/navigation/common_nav.c @@ -26,7 +26,7 @@ #include "subsystems/navigation/common_nav.h" #include "generated/flight_plan.h" -#include "subsystems/ins.h" +#include "modules/ins/ins.h" #include "math/pprz_geodetic_float.h" float dist2_to_home; diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 849990b4ff..2fd49756a7 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -32,7 +32,7 @@ #include "mcu_periph/sys_time.h" #include "state.h" #include "modules/ahrs/ahrs.h" -#include "subsystems/ins.h" +#include "modules/ins/ins.h" #include "math/pprz_algebra.h" #ifndef NPS_NO_MOTOR_MIXING