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[paparazzi-commits] [6212] correct includes after moving imu
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6212] correct includes after moving imu |
|
Date: |
Sat, 23 Oct 2010 21:11:45 +0000 |
Revision: 6212
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6212
Author: flixr
Date: 2010-10-23 21:11:45 +0000 (Sat, 23 Oct 2010)
Log Message:
-----------
correct includes after moving imu
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c
paparazzi3/trunk/sw/airborne/beth/main_overo.c
paparazzi3/trunk/sw/airborne/beth/main_stm32.c
paparazzi3/trunk/sw/airborne/beth/overo_estimator.c
paparazzi3/trunk/sw/airborne/beth/overo_file_logger.c
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_crista.c
paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c
paparazzi3/trunk/sw/airborne/booz/test/imu_dummy.c
paparazzi3/trunk/sw/airborne/booz/test/test_mlkf.c
paparazzi3/trunk/sw/airborne/csc/mercury_main.c
paparazzi3/trunk/sw/airborne/csc/mercury_xsens.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
paparazzi3/trunk/sw/airborne/fms/libeknav/libeknav_from_log.hpp
paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.hpp
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.h
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.h
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h
paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/subsystems/imu.c
paparazzi3/trunk/sw/airborne/subsystems/imu.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/subsystems/imu/imu.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu.h
Modified: paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -24,7 +24,7 @@
#include "max1167.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
void max1167_hw_init( void ) {}
Modified: paparazzi3/trunk/sw/airborne/beth/main_overo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -37,7 +37,7 @@
#include "fms_debug.h"
#include "fms_spi_link.h"
#include "fms_autopilot_msg.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "overo_file_logger.h"
#include "overo_gcs_com.h"
Modified: paparazzi3/trunk/sw/airborne/beth/main_stm32.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -31,7 +31,7 @@
#include "booz/booz2_commands.h"
#include <firmwares/rotorcraft/actuators.h>
//#include "booz/booz_radio_control.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "lisa/lisa_overo_link.h"
#include "beth/bench_sensors.h"
Modified: paparazzi3/trunk/sw/airborne/beth/overo_estimator.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_estimator.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/beth/overo_estimator.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -1,6 +1,6 @@
#include "overo_estimator.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <math.h>
#include "messages2.h"
Modified: paparazzi3/trunk/sw/airborne/beth/overo_file_logger.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_file_logger.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/beth/overo_file_logger.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -1,6 +1,6 @@
#include "overo_file_logger.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
struct FileLogger file_logger;
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_crista.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_crista.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_crista.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -31,7 +31,7 @@
#include "messages.h"
#include "downlink.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "interrupt_hw.h"
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -31,7 +31,7 @@
#include "messages.h"
#include "downlink.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "interrupt_hw.h"
Modified: paparazzi3/trunk/sw/airborne/booz/test/imu_dummy.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/imu_dummy.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/booz/test/imu_dummy.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -1,3 +1,3 @@
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
void imu_impl_init(void) {}
Modified: paparazzi3/trunk/sw/airborne/booz/test/test_mlkf.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/test_mlkf.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/booz/test/test_mlkf.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -2,7 +2,7 @@
#include <string.h>
#include "math/pprz_algebra_double.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "ahrs/ahrs_mlkf.h"
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -40,7 +40,7 @@
#include "csc_msg_def.h"
#include ACTUATORS
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz/ahrs/ahrs_aligner.h"
#include "booz/ahrs.h"
#include "mercury_xsens.h"
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_xsens.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_xsens.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_xsens.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -27,10 +27,10 @@
*/
#include "mercury_xsens.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz/ahrs.h"
#include "booz/ahrs/ahrs_aligner.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "csc_booz2_ins.h"
#include <inttypes.h>
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#include "ahrs_aligner.h"
#include <stdlib.h> /* for abs() */
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "led.h"
struct AhrsAligner ahrs_aligner;
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -23,7 +23,7 @@
#include "ahrs_cmpl_euler.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
#include "airframe.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#include "ahrs_float_lkf.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -22,7 +22,7 @@
*/
#include <firmwares/rotorcraft/ahrs.h>
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
struct Ahrs ahrs;
struct AhrsFloat ahrs_float;
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#include "hf_float.h"
#include <firmwares/rotorcraft/ins.h>
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "booz_gps.h"
#include <stdlib.h>
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#include <firmwares/rotorcraft/ins.h>
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "firmwares/rotorcraft/baro.h"
#include "booz_gps.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -38,7 +38,7 @@
#include <firmwares/rotorcraft/actuators.h>
#include "booz_radio_control.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz_gps.h"
#include "booz/booz2_analog.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-10-23 21:11:30 UTC (rev 6211)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -26,7 +26,7 @@
#include <firmwares/rotorcraft/ahrs.h>
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz_radio_control.h"
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-23 21:11:45 UTC (rev 6212)
@@ -46,7 +46,7 @@
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
#include <firmwares/rotorcraft/battery.h>
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz_gps.h"
#include <firmwares/rotorcraft/ins.h>
#include <firmwares/rotorcraft/ahrs.h>
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/libeknav_from_log.hpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/libeknav_from_log.hpp
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/libeknav_from_log.hpp
2010-10-23 21:11:45 UTC (rev 6212)
@@ -29,7 +29,7 @@
#include <unistd.h>
#include <time.h>
#include "std.h"
-#include "firmwares/rotorcraft/imu.h"
+#include "subsystems/imu.h"
#include "fms/fms_autopilot_msg.h"
#include "fms/libeknav/raw_log.h"
/* our sensors */
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
2010-10-23 21:11:45 UTC (rev 6212)
@@ -17,7 +17,7 @@
#include "fms/fms_periodic.h"
#include "fms/fms_spi_link.h"
#include "fms/fms_autopilot_msg.h"
-#include "firmwares/rotorcraft/imu.h"
+#include "subsystems/imu.h"
#include "fms/libeknav/raw_log.h"
/* our sensors */
struct ImuFloat imu_float;
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.hpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.hpp
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.hpp
2010-10-23 21:11:45 UTC (rev 6212)
@@ -16,7 +16,7 @@
#include "fms/fms_periodic.h"
#include "fms/fms_spi_link.h"
#include "fms/fms_autopilot_msg.h"
-#include "firmwares/rotorcraft/imu.h"
+#include "subsystems/imu.h"
#include "fms/libeknav/raw_log.h"
/* our sensors */
struct ImuFloat imu_float;
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-10-23
21:11:45 UTC (rev 6212)
@@ -2,7 +2,7 @@
#define OVERO_TEST_PASSTHROUGH_H
#include "std.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
struct OveroTestPassthrough {
/* our network connection */
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -28,7 +28,7 @@
#include "booz/booz2_commands.h"
#include "actuators.h"
#include "actuators/actuators_pwm.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "booz/booz_radio_control.h"
#include "autopilot.h"
#include "ins.h"
Modified: paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -31,7 +31,7 @@
#include "messages.h"
#include "downlink.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "interrupt_hw.h"
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -23,7 +23,7 @@
#include "vehicle_interface/vi.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "booz/booz_gps.h"
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#include "modules/vehicle_interface/vi_overo_link.h"
#include "lisa/lisa_overo_link.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <booz/booz_gps.h>
#include <firmwares/rotorcraft/baro.h>
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
volatile uint8_t imu_ssp_status;
static void SSP_ISR(void) __attribute__((naked));
Modified:
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_crista_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_crista_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_crista_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "LPC21xx.h"
#include "armVIC.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -2,7 +2,7 @@
* simulator ARCH for rotorcraft imu crista
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.h
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_crista_arch.h
2010-10-23 21:11:45 UTC (rev 6212)
@@ -29,7 +29,7 @@
#ifndef IMU_CRISTA_ARCH_H
#define IMU_CRISTA_ARCH_H
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#define ImuCristaArchPeriodic() {}
Modified:
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -1,4 +1,4 @@
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <stm32/gpio.h>
#include <stm32/misc.h>
Modified:
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.h
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_aspirin_arch.h
2010-10-23 21:11:45 UTC (rev 6212)
@@ -1,7 +1,7 @@
#ifndef IMU_ASPIRIN_ARCH_H
#define IMU_ASPIRIN_ARCH_H
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "led.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <stm32/gpio.h>
#include <stm32/rcc.h>
Modified:
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_crista_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_crista_arch.c
2010-10-23 21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_crista_arch.c
2010-10-23 21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <stm32/gpio.h>
#include <stm32/rcc.h>
Deleted: paparazzi3/trunk/sw/airborne/subsystems/imu/imu.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu.c 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -1,52 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING. If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include "imu.h"
-
-#include "airframe.h"
-
-struct Imu imu;
-
-void imu_init(void) {
-
- /* initialises neutrals */
- RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL,
IMU_GYRO_R_NEUTRAL);
- VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL,
IMU_ACCEL_Z_NEUTRAL);
- VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL,
IMU_MAG_Z_NEUTRAL);
-
- /*
- Compute quaternion and rotation matrix
- for conversions between body and imu frame
- */
-#ifdef IMU_BODY_TO_IMU_PHI
- struct Int32Eulers body_to_imu_eulers =
- { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
- ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
- ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
- INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
- INT32_QUAT_NORMALISE(imu.body_to_imu_quat);
- INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
-#endif
-
- imu_impl_init();
-}
Deleted: paparazzi3/trunk/sw/airborne/subsystems/imu/imu.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu.h 2010-10-23 21:11:30 UTC
(rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu.h 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -1,103 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING. If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef IMU_H
-#define IMU_H
-
-#include "math/pprz_algebra_int.h"
-#include "math/pprz_algebra_float.h"
-
-/* must be defined by underlying hardware */
-extern void imu_impl_init(void);
-extern void imu_periodic(void);
-
-struct Imu {
- struct Int32Rates gyro;
- struct Int32Vect3 accel;
- struct Int32Vect3 mag;
- struct Int32Rates gyro_prev;
- struct Int32Vect3 accel_prev;
- struct Int32Rates gyro_neutral;
- struct Int32Vect3 accel_neutral;
- struct Int32Vect3 mag_neutral;
- struct Int32Rates gyro_unscaled;
- struct Int32Vect3 accel_unscaled;
- struct Int32Vect3 mag_unscaled;
- struct Int32Quat body_to_imu_quat;
- struct Int32RMat body_to_imu_rmat;
-};
-
-/* abstract IMU interface providing floating point interface */
-struct ImuFloat {
- struct FloatRates gyro;
- struct FloatVect3 accel;
- struct FloatVect3 mag;
- struct FloatRates gyro_prev;
- struct FloatEulers body_to_imu_eulers;
- struct FloatQuat body_to_imu_quat;
- struct FloatRMat body_to_imu_rmat;
- uint32_t sample_count;
-};
-
-/* underlying hardware */
-#ifdef IMU_TYPE_H
-#include IMU_TYPE_H
-#endif
-
-extern struct Imu imu;
-
-extern void imu_init(void);
-
-#define ImuScaleGyro(_imu) { \
- RATES_COPY(_imu.gyro_prev, _imu.gyro); \
- _imu.gyro.p = ((_imu.gyro_unscaled.p -
_imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
- _imu.gyro.q = ((_imu.gyro_unscaled.q -
_imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
- _imu.gyro.r = ((_imu.gyro_unscaled.r -
_imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN; \
- }
-
-
-#define ImuScaleAccel(_imu) { \
- VECT3_COPY(_imu.accel_prev, _imu.accel); \
- _imu.accel.x = ((_imu.accel_unscaled.x -
_imu.accel_neutral.x)*IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN;
\
- _imu.accel.y = ((_imu.accel_unscaled.y -
_imu.accel_neutral.y)*IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN;
\
- _imu.accel.z = ((_imu.accel_unscaled.z -
_imu.accel_neutral.z)*IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN;
\
- }
-
-#if defined IMU_MAG_45_HACK
-#define ImuScaleMag(_imu) { \
- int32_t msx = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
- int32_t msy = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
- _imu.mag.x = msx - msy; \
- _imu.mag.y = msx + msy; \
- _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
- }
-#else
-#define ImuScaleMag(_imu) { \
- _imu.mag.x = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
- _imu.mag.y = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
- _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
- }
-#endif
-
-
-#endif /* IMU_H */
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -1,4 +1,4 @@
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "i2c.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h 2010-10-23
21:11:45 UTC (rev 6212)
@@ -25,7 +25,7 @@
#define IMU_ASPIRIN_H
#include "airframe.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "i2c.h"
#include "booz/peripherals/booz_itg3200.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
void imu_impl_init(void) {
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h 2010-10-23
21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#ifndef IMU_B2_H
#define IMU_B2_H
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "airframe.h"
#include "peripherals/booz_max1168.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
volatile bool_t ADS8344_available;
uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h 2010-10-23
21:11:45 UTC (rev 6212)
@@ -24,7 +24,7 @@
#ifndef IMU_CRISTA_H
#define IMU_CRISTA_H
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include "airframe.h"
#define ADS8344_NB_CHANNELS 8
Copied: paparazzi3/trunk/sw/airborne/subsystems/imu.c (from rev 6211,
paparazzi3/trunk/sw/airborne/subsystems/imu/imu.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu.c 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -0,0 +1,52 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "imu.h"
+
+#include "airframe.h"
+
+struct Imu imu;
+
+void imu_init(void) {
+
+ /* initialises neutrals */
+ RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL,
IMU_GYRO_R_NEUTRAL);
+ VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL,
IMU_ACCEL_Z_NEUTRAL);
+ VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL,
IMU_MAG_Z_NEUTRAL);
+
+ /*
+ Compute quaternion and rotation matrix
+ for conversions between body and imu frame
+ */
+#ifdef IMU_BODY_TO_IMU_PHI
+ struct Int32Eulers body_to_imu_eulers =
+ { ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
+ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
+ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
+ INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
+ INT32_QUAT_NORMALISE(imu.body_to_imu_quat);
+ INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
+#endif
+
+ imu_impl_init();
+}
Copied: paparazzi3/trunk/sw/airborne/subsystems/imu.h (from rev 6211,
paparazzi3/trunk/sw/airborne/subsystems/imu/imu.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu.h 2010-10-23 21:11:45 UTC
(rev 6212)
@@ -0,0 +1,103 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef IMU_H
+#define IMU_H
+
+#include "math/pprz_algebra_int.h"
+#include "math/pprz_algebra_float.h"
+
+/* must be defined by underlying hardware */
+extern void imu_impl_init(void);
+extern void imu_periodic(void);
+
+struct Imu {
+ struct Int32Rates gyro;
+ struct Int32Vect3 accel;
+ struct Int32Vect3 mag;
+ struct Int32Rates gyro_prev;
+ struct Int32Vect3 accel_prev;
+ struct Int32Rates gyro_neutral;
+ struct Int32Vect3 accel_neutral;
+ struct Int32Vect3 mag_neutral;
+ struct Int32Rates gyro_unscaled;
+ struct Int32Vect3 accel_unscaled;
+ struct Int32Vect3 mag_unscaled;
+ struct Int32Quat body_to_imu_quat;
+ struct Int32RMat body_to_imu_rmat;
+};
+
+/* abstract IMU interface providing floating point interface */
+struct ImuFloat {
+ struct FloatRates gyro;
+ struct FloatVect3 accel;
+ struct FloatVect3 mag;
+ struct FloatRates gyro_prev;
+ struct FloatEulers body_to_imu_eulers;
+ struct FloatQuat body_to_imu_quat;
+ struct FloatRMat body_to_imu_rmat;
+ uint32_t sample_count;
+};
+
+/* underlying hardware */
+#ifdef IMU_TYPE_H
+#include IMU_TYPE_H
+#endif
+
+extern struct Imu imu;
+
+extern void imu_init(void);
+
+#define ImuScaleGyro(_imu) { \
+ RATES_COPY(_imu.gyro_prev, _imu.gyro); \
+ _imu.gyro.p = ((_imu.gyro_unscaled.p -
_imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
+ _imu.gyro.q = ((_imu.gyro_unscaled.q -
_imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
+ _imu.gyro.r = ((_imu.gyro_unscaled.r -
_imu.gyro_neutral.r)*IMU_GYRO_R_SIGN*IMU_GYRO_R_SENS_NUM)/IMU_GYRO_R_SENS_DEN; \
+ }
+
+
+#define ImuScaleAccel(_imu) { \
+ VECT3_COPY(_imu.accel_prev, _imu.accel); \
+ _imu.accel.x = ((_imu.accel_unscaled.x -
_imu.accel_neutral.x)*IMU_ACCEL_X_SIGN*IMU_ACCEL_X_SENS_NUM)/IMU_ACCEL_X_SENS_DEN;
\
+ _imu.accel.y = ((_imu.accel_unscaled.y -
_imu.accel_neutral.y)*IMU_ACCEL_Y_SIGN*IMU_ACCEL_Y_SENS_NUM)/IMU_ACCEL_Y_SENS_DEN;
\
+ _imu.accel.z = ((_imu.accel_unscaled.z -
_imu.accel_neutral.z)*IMU_ACCEL_Z_SIGN*IMU_ACCEL_Z_SENS_NUM)/IMU_ACCEL_Z_SENS_DEN;
\
+ }
+
+#if defined IMU_MAG_45_HACK
+#define ImuScaleMag(_imu) { \
+ int32_t msx = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
+ int32_t msy = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
+ _imu.mag.x = msx - msy; \
+ _imu.mag.y = msx + msy; \
+ _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
+ }
+#else
+#define ImuScaleMag(_imu) { \
+ _imu.mag.x = ((_imu.mag_unscaled.x - _imu.mag_neutral.x) * IMU_MAG_X_SIGN
* IMU_MAG_X_SENS_NUM) / IMU_MAG_X_SENS_DEN; \
+ _imu.mag.y = ((_imu.mag_unscaled.y - _imu.mag_neutral.y) * IMU_MAG_Y_SIGN
* IMU_MAG_Y_SENS_NUM) / IMU_MAG_Y_SENS_DEN; \
+ _imu.mag.z = ((_imu.mag_unscaled.z - _imu.mag_neutral.z) * IMU_MAG_Z_SIGN
* IMU_MAG_Z_SENS_NUM) / IMU_MAG_Z_SENS_DEN; \
+ }
+#endif
+
+
+#endif /* IMU_H */
Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-10-23
21:11:30 UTC (rev 6211)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-10-23
21:11:45 UTC (rev 6212)
@@ -4,7 +4,7 @@
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "booz_radio_control.h"
-#include <firmwares/rotorcraft/imu.h>
+#include <subsystems/imu.h>
#include <firmwares/rotorcraft/baro.h>
#include <firmwares/rotorcraft/battery.h>
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- [paparazzi-commits] [6212] correct includes after moving imu,
Felix Ruess <=