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[paparazzi-commits] [paparazzi/paparazzi] f987b3: [ins] remove ins.statu
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[paparazzi-commits] [paparazzi/paparazzi] f987b3: [ins] remove ins.status |
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Date: |
Tue, 24 Mar 2015 06:20:28 -0700 |
Branch: refs/heads/master
Home: https://github.com/paparazzi/paparazzi
Commit: f987b344588a47d6592f05f16ff49c926698d933
https://github.com/paparazzi/paparazzi/commit/f987b344588a47d6592f05f16ff49c926698d933
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins.h
M sw/airborne/subsystems/ins/ins_alt_float.c
M sw/airborne/subsystems/ins/ins_ardrone2.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_gps_passthrough.c
M sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
M sw/airborne/subsystems/ins/ins_int.c
Log Message:
-----------
[ins] remove ins.status
Commit: a6670c6d4f333f82d221961a34a3d25e1864698f
https://github.com/paparazzi/paparazzi/commit/a6670c6d4f333f82d221961a34a3d25e1864698f
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/modules/ins/ins_xsens.c
M sw/airborne/modules/ins/ins_xsens700.c
M sw/airborne/subsystems/ins.c
M sw/airborne/subsystems/ins.h
Log Message:
-----------
[ins] remove ins_periodic
Commit: 9a1888b2144cc70580b68a3cbc809b67ca935e5a
https://github.com/paparazzi/paparazzi/commit/9a1888b2144cc70580b68a3cbc809b67ca935e5a
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/subsystems/ins.c
M sw/airborne/subsystems/ins.h
M sw/airborne/subsystems/ins/ins_int.c
M sw/airborne/subsystems/ins/ins_int.h
Log Message:
-----------
[ins] start converting ins_int
Commit: 221788281ae76685f1c95f007ee79b8b4cef8515
https://github.com/paparazzi/paparazzi/commit/221788281ae76685f1c95f007ee79b8b4cef8515
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/settings/estimation/ins_float_invariant.xml
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
Log Message:
-----------
[ins] start converting float_invariant
Commit: 6a1144ac39817d65b5b499dccf147111bd1b23cc
https://github.com/paparazzi/paparazzi/commit/6a1144ac39817d65b5b499dccf147111bd1b23cc
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
M conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
A sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
A sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h
Log Message:
-----------
[ins] wrapper for ins float_invariant
Commit: 9c61c34ab226b424b65f52016ff85e3b050e1ceb
https://github.com/paparazzi/paparazzi/commit/9c61c34ab226b424b65f52016ff85e3b050e1ceb
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
M sw/airborne/modules/ins/ins_xsens.c
M sw/airborne/modules/ins/ins_xsens700.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ins] rename misleading x_update_fw_estimator
Commit: 9b95038631de09416125891eb59d6ff79671848f
https://github.com/paparazzi/paparazzi/commit/9b95038631de09416125891eb59d6ff79671848f
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/abi.xml
M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
M sw/airborne/modules/geo_mag/geo_mag.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[abi] send GEO_MAG via ABI
Commit: 04ddda85df0823c191a23c1a6dcee4d00abd5b97
https://github.com/paparazzi/paparazzi/commit/04ddda85df0823c191a23c1a6dcee4d00abd5b97
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ins] float_invariant has own body_to_imu
Commit: 73422fb90972a7d13224555e449ef0cf293bca77
https://github.com/paparazzi/paparazzi/commit/73422fb90972a7d13224555e449ef0cf293bca77
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins/ins_alt_float.c
M sw/airborne/subsystems/ins/ins_alt_float.h
Log Message:
-----------
[ins] update ins alt_float
Commit: 7c82c2710e89cba3185c0686709978117c3facea
https://github.com/paparazzi/paparazzi/commit/7c82c2710e89cba3185c0686709978117c3facea
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
M conf/firmwares/subsystems/rotorcraft/ins_gps_passthrough.makefile
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/modules/ins/ins_xsens.c
M sw/airborne/modules/ins/ins_xsens.h
M sw/airborne/subsystems/ins/ins_ardrone2.c
M sw/airborne/subsystems/ins/ins_ardrone2.h
M sw/airborne/subsystems/ins/ins_gps_passthrough.c
A sw/airborne/subsystems/ins/ins_gps_passthrough.h
M sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
A sw/airborne/subsystems/ins/ins_gps_passthrough_utm.h
Log Message:
-----------
[ins] more conversions/updates
Commit: 7453a4dfa669505fd5627079c3a12b6744c2846c
https://github.com/paparazzi/paparazzi/commit/7453a4dfa669505fd5627079c3a12b6744c2846c
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ins] optional INS_PROPAGATE_FREQUENCY for float_invariant
Commit: 5fd6a70b913645ee69d6a6d4659b394c119acd9b
https://github.com/paparazzi/paparazzi/commit/5fd6a70b913645ee69d6a6d4659b394c119acd9b
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ins] float_invariant: store last accel measurement from ABI message
Commit: b778154d751b7f1f392b86f045e9025f13eeaa46
https://github.com/paparazzi/paparazzi/commit/b778154d751b7f1f392b86f045e9025f13eeaa46
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/messages.xml
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/modules/ahrs/ahrs_infrared.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ahrs] send STATE_FILTER_STATUS from each implementation
Commit: 92c77270854cb548a82ea8c6df5786e23817a503
https://github.com/paparazzi/paparazzi/commit/92c77270854cb548a82ea8c6df5786e23817a503
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/abi.xml
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/modules/ins/ahrs_chimu_spi.c
M sw/airborne/modules/ins/ahrs_chimu_uart.c
M sw/airborne/subsystems/abi_common.h
M sw/airborne/subsystems/ahrs.c
M sw/airborne/subsystems/ahrs.h
M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_gx3.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
Log Message:
-----------
[ahrs] GPS via ABI, remove ahrs_update_gps
Commit: 948e5b3ea5c53ed1c55ae4a7779d77a62c0499fa
https://github.com/paparazzi/paparazzi/commit/948e5b3ea5c53ed1c55ae4a7779d77a62c0499fa
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/modules/ins/ins_xsens.c
M sw/airborne/modules/ins/ins_xsens.h
M sw/airborne/subsystems/ins.c
M sw/airborne/subsystems/ins.h
M sw/airborne/subsystems/ins/ins_alt_float.c
M sw/airborne/subsystems/ins/ins_alt_float.h
M sw/airborne/subsystems/ins/ins_ardrone2.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
M sw/airborne/subsystems/ins/ins_gps_passthrough.c
M sw/airborne/subsystems/ins/ins_gps_passthrough.h
M sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
M sw/airborne/subsystems/ins/ins_gps_passthrough_utm.h
M sw/airborne/subsystems/ins/ins_int.c
M sw/airborne/subsystems/ins/ins_int.h
Log Message:
-----------
[ins] remove ins_update_gps, use ABI callbacks
Commit: f3d31eba48dd2b9c19095c4252e330d8ed902cc8
https://github.com/paparazzi/paparazzi/commit/f3d31eba48dd2b9c19095c4252e330d8ed902cc8
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
M conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/subsystems/ahrs.c
M sw/airborne/subsystems/ahrs.h
M sw/airborne/subsystems/ins.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h
Log Message:
-----------
[ahrs/ins] ahrs/ins_init as dispatchers for default impl
Commit: 9dd1321db1309023f1d690f19046ef4b3cc19968
https://github.com/paparazzi/paparazzi/commit/9dd1321db1309023f1d690f19046ef4b3cc19968
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
R conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
A conf/firmwares/subsystems/shared/ins_float_invariant.makefile
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h
Log Message:
-----------
[ins] AHRS optional if you have full INS
Commit: f92ce926e8cfdf98fd4b679e6206f81197526188
https://github.com/paparazzi/paparazzi/commit/f92ce926e8cfdf98fd4b679e6206f81197526188
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/firmwares/rotorcraft/autopilot.c
M sw/airborne/modules/datalink/mavlink.c
M sw/airborne/subsystems/ins/ins_float_invariant.c
Log Message:
-----------
[ahrs] use stateIsAttitudeValid instead of AHRS.is_aligned
The state interface is initialized with invalid attitude.
It becomes valid as soon as an attitude is set (via one of the
stateSetNedToBodyX functions).
This should be only done by an AHRS/INS after it is aligned.
Commit: d25486c57964ea74800d456301dcde1c0a89da25
https://github.com/paparazzi/paparazzi/commit/d25486c57964ea74800d456301dcde1c0a89da25
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
A conf/settings/estimation/ahrs_secondary.xml
M sw/airborne/subsystems/ahrs.c
M sw/airborne/subsystems/ahrs.h
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h
Log Message:
-----------
[ahrs] dual ahrs working with icq and mlkf
Commit: 54146b9254ccea168fee912692c11ac1eaa9e9b0
https://github.com/paparazzi/paparazzi/commit/54146b9254ccea168fee912692c11ac1eaa9e9b0
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/modules/ins/ahrs_chimu.h
M sw/airborne/modules/ins/ahrs_chimu_spi.c
M sw/airborne/modules/ins/ahrs_chimu_uart.c
M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
M sw/airborne/subsystems/ahrs/ahrs_ardrone2.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_gx3.c
M sw/airborne/subsystems/ahrs/ahrs_gx3.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_sim.c
M sw/airborne/subsystems/ahrs/ahrs_sim.h
M sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h
M sw/airborne/test/subsystems/test_ahrs.c
Log Message:
-----------
[ahrs] replace DefaultAhrsImpl with PRIMARY_AHRS
Commit: 6ff0067a2032fb4bae9d2ae4af0fa0956f338a16
https://github.com/paparazzi/paparazzi/commit/6ff0067a2032fb4bae9d2ae4af0fa0956f338a16
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
[ardrone2] remove send_filter_status from navdata
Commit: 7e7a7a6f821d8a1325b93003a120059b3118b550
https://github.com/paparazzi/paparazzi/commit/7e7a7a6f821d8a1325b93003a120059b3118b550
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
Log Message:
-----------
[ahrs] update some more impl for secondary AHRS support
Commit: 708ab506600086e67bde56613d4b8bfb0dacd83d
https://github.com/paparazzi/paparazzi/commit/708ab506600086e67bde56613d4b8bfb0dacd83d
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
Log Message:
-----------
[ahrs] actually save ahrs_x_last_stamp for imu lost detection
Commit: 09331d09e7b24f7c4d8162bdade3e9287277e948
https://github.com/paparazzi/paparazzi/commit/09331d09e7b24f7c4d8162bdade3e9287277e948
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/settings/estimation/ahrs_secondary.xml
Log Message:
-----------
[settings] ahrs_secondary: more descriptive values
Commit: 6573e39a5799f90fe824e8886fd0f2aa29b7082d
https://github.com/paparazzi/paparazzi/commit/6573e39a5799f90fe824e8886fd0f2aa29b7082d
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins.h
Log Message:
-----------
[ins] remove unused ins_update_gps declaration
Commit: 8a8ec7ee9a41b71fd50226defb6e5604bb4ade27
https://github.com/paparazzi/paparazzi/commit/8a8ec7ee9a41b71fd50226defb6e5604bb4ade27
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/airframes/bebop.xml
M conf/conf_example.xml
M conf/conf_tests.xml
Log Message:
-----------
[conf] bebop with secondary ahrs
MLKF as primary AHRS
ICQ as secondary AHRS
Commit: 2af8fd9584433dd65b3e8311d7aa773d8f090258
https://github.com/paparazzi/paparazzi/commit/2af8fd9584433dd65b3e8311d7aa773d8f090258
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ins/ins_float_invariant.c
Log Message:
-----------
[ins] float_invariant: add downlink include for pprz_msg_send_INV_FILTER
would be better to completely remove it from the implemantation and only send
msgs from the wrapper...
Commit: 0066d9d856b187ceeb5a9f2a647109b44d77d98e
https://github.com/paparazzi/paparazzi/commit/0066d9d856b187ceeb5a9f2a647109b44d77d98e
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
Log Message:
-----------
[ahrs] mlkf: update state interface from wrapper
Commit: fcb3860faee4423d0b8ce8297ef4d5dd845ecd5e
https://github.com/paparazzi/paparazzi/commit/fcb3860faee4423d0b8ce8297ef4d5dd845ecd5e
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
Log Message:
-----------
[ahrs] int_cmpl_quat: update state interface from wrapper
Commit: fefdb8798f2be3f32723374128503a6a754cd60a
https://github.com/paparazzi/paparazzi/commit/fefdb8798f2be3f32723374128503a6a754cd60a
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
Log Message:
-----------
[ahrs] int_cmpl_euler: update state interface from wrapper
Commit: 39e8f25f7071ebf99ebfc53598c8a6159bb5dc75
https://github.com/paparazzi/paparazzi/commit/39e8f25f7071ebf99ebfc53598c8a6159bb5dc75
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
Log Message:
-----------
[ahrs] float_dcm: update state interface from wrapper
Commit: bf89756f4d600c5cb548d3a14b8deb0c4be0e3e8
https://github.com/paparazzi/paparazzi/commit/bf89756f4d600c5cb548d3a14b8deb0c4be0e3e8
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
Log Message:
-----------
[ahrs] float_cmpl: update state interface from wrapper
Commit: 7aca038342a910156342707e219ac5bf416504a7
https://github.com/paparazzi/paparazzi/commit/7aca038342a910156342707e219ac5bf416504a7
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M sw/airborne/firmwares/fixedwing/main_ap.c
Log Message:
-----------
[fixedwing] don't check for USE_AHRS for imu functions
Commit: e9cd2c3899273327814ce41b46c38d429010ce1f
https://github.com/paparazzi/paparazzi/commit/e9cd2c3899273327814ce41b46c38d429010ce1f
Author: Felix Ruess <address@hidden>
Date: 2015-03-10 (Tue, 10 Mar 2015)
Changed paths:
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
M sw/airborne/subsystems/ahrs.c
Log Message:
-----------
[ahrs] simpler enable of primary AHRS
Commit: fc383fd34a8a74f648f2d9ff3acb7b48023fcd4f
https://github.com/paparazzi/paparazzi/commit/fc383fd34a8a74f648f2d9ff3acb7b48023fcd4f
Author: Felix Ruess <address@hidden>
Date: 2015-03-24 (Tue, 24 Mar 2015)
Changed paths:
M .travis.yml
M CHANGELOG.md
M COPYING
A LICENSE
M Makefile
M Makefile.ac
M conf/Makefile.sim
M conf/airframes/bebop.xml
M conf/airframes/examples/demo.xml
M conf/airframes/wind_tunnel.xml
M conf/firmwares/setup.makefile
M conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile
M conf/firmwares/subsystems/fixedwing/gps_furuno.makefile
M conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile
M conf/firmwares/subsystems/fixedwing/gps_nmea.makefile
M conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile
M conf/firmwares/subsystems/fixedwing/gps_ublox.makefile
M conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile
M conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
M conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
M conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
M conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
M conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
M conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
M conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile
M conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile
M conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
M conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile
M conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile
M conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
M conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
M conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
M conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
M conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
M conf/firmwares/subsystems/shared/imu_um6.makefile
M conf/firmwares/test_progs.makefile
M conf/modules/ahrs_chimu_spi.xml
M conf/modules/ahrs_chimu_uart.xml
M conf/modules/airspeed_otf.xml
M conf/modules/direct_memory_logger.xml
M conf/modules/extra_dl.xml
M conf/modules/logger_file.xml
M conf/modules/mavlink.xml
M conf/modules/mavlink_decoder.xml
M conf/modules/video_rtp_stream.xml
A conf/simulator/flightgear/easystar.ac
A conf/simulator/flightgear/easystar.xml
M sw/airborne/arch/linux/mcu_periph/uart_arch.c
M sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
M sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h
M sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
M sw/airborne/arch/lpc21/usb_ser_hw.c
M sw/airborne/arch/sim/sim_ap.c
R sw/airborne/arch/sim/sim_uart.c
R sw/airborne/arch/sim/sim_uart.h
M sw/airborne/arch/stm32/mcu_periph/uart_arch.c
M sw/airborne/arch/stm32/usb_ser_hw.c
M sw/airborne/firmwares/fixedwing/fbw_datalink.c
M sw/airborne/firmwares/fixedwing/main_fbw.c
M sw/airborne/link_mcu_usart.c
M sw/airborne/math/pprz_algebra_int.h
M sw/airborne/mcu_periph/link_device.h
M sw/airborne/mcu_periph/spi.h
M sw/airborne/mcu_periph/uart.c
M sw/airborne/mcu_periph/uart.h
M sw/airborne/mcu_periph/udp.c
M sw/airborne/mcu_periph/udp.h
M sw/airborne/mcu_periph/usb_serial.h
M sw/airborne/modules/computer_vision/viewvideo.c
M sw/airborne/modules/datalink/extra_pprz_dl.h
M sw/airborne/modules/datalink/mavlink.c
M sw/airborne/modules/datalink/mavlink.h
M sw/airborne/modules/datalink/mavlink_decoder.h
M sw/airborne/modules/digital_cam/catia/protocol.c
M sw/airborne/modules/digital_cam/catia/protocol.h
M sw/airborne/modules/digital_cam/catia/std.h
M sw/airborne/modules/digital_cam/uart_cam_ctrl.c
M sw/airborne/modules/gps/gps_ubx_ucenter.c
M sw/airborne/modules/gps/gps_ubx_ucenter.h
M sw/airborne/modules/gsm/gsm.c
M sw/airborne/modules/ins/ahrs_chimu_spi.c
M sw/airborne/modules/ins/ahrs_chimu_uart.c
M sw/airborne/modules/ins/ins_module.h
M sw/airborne/modules/ins/ins_xsens.h
M sw/airborne/modules/loggers/direct_memory_logger.c
M sw/airborne/modules/loggers/file_logger.c
R sw/airborne/modules/max3100/max3100_hw.c
R sw/airborne/modules/max3100/max3100_hw.h
M sw/airborne/modules/max7456/max7456.c
M sw/airborne/modules/sensors/airspeed_otf.c
M sw/airborne/modules/sensors/met_module.h
M sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
M sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
M sw/airborne/subsystems/datalink/downlink.h
M sw/airborne/subsystems/datalink/ivy_transport.c
M sw/airborne/subsystems/datalink/pprz_transport.c
M sw/airborne/subsystems/datalink/pprz_transport.h
M sw/airborne/subsystems/datalink/pprzlog_transport.c
M sw/airborne/subsystems/datalink/superbitrf.c
M sw/airborne/subsystems/datalink/superbitrf.h
M sw/airborne/subsystems/datalink/transport.h
M sw/airborne/subsystems/datalink/uart_print.h
M sw/airborne/subsystems/datalink/w5100.c
M sw/airborne/subsystems/datalink/w5100.h
M sw/airborne/subsystems/datalink/xbee.c
M sw/airborne/subsystems/datalink/xbee.h
M sw/airborne/subsystems/gps/gps_furuno.c
M sw/airborne/subsystems/gps/gps_mtk.c
M sw/airborne/subsystems/gps/gps_mtk.h
M sw/airborne/subsystems/gps/gps_nmea.c
M sw/airborne/subsystems/gps/gps_nmea.h
M sw/airborne/subsystems/gps/gps_sirf.c
M sw/airborne/subsystems/gps/gps_sirf.h
M sw/airborne/subsystems/gps/gps_skytraq.c
M sw/airborne/subsystems/gps/gps_skytraq.h
M sw/airborne/subsystems/gps/gps_ubx.c
M sw/airborne/subsystems/gps/gps_ubx.h
M sw/airborne/subsystems/imu/imu_um6.c
M sw/airborne/subsystems/imu/imu_um6.h
M sw/airborne/subsystems/ins/ins_int.c
R sw/airborne/subsystems/radio_control/joby.c
R sw/airborne/subsystems/radio_control/joby.h
M sw/ground_segment/cockpit/Makefile
M sw/ground_segment/cockpit/gcs.ml
M sw/ground_segment/cockpit/horizon.ml
M sw/ground_segment/cockpit/live.ml
M sw/ground_segment/cockpit/live.mli
M sw/ground_segment/cockpit/strip.ml
M sw/ground_segment/cockpit/strip.mli
M sw/ground_segment/tmtc/aircraft.ml
M sw/ground_segment/tmtc/aircraft.mli
M sw/ground_segment/tmtc/fw_server.ml
M sw/ground_segment/tmtc/link.ml
M sw/ground_segment/tmtc/messages.ml
M sw/ground_segment/tmtc/rotorcraft_server.ml
M sw/ground_segment/tmtc/server.ml
M sw/ground_segment/tmtc/wind.ml
R sw/in_progress/button/Makefile
R sw/in_progress/button/panic.c
R sw/in_progress/inertial/C/6dof.h
R sw/in_progress/inertial/C/Makefile
R sw/in_progress/inertial/C/ahrs_data.c
R sw/in_progress/inertial/C/ahrs_data.h
R sw/in_progress/inertial/C/ahrs_display.c
R sw/in_progress/inertial/C/ahrs_display.h
R sw/in_progress/inertial/C/ahrs_euler_ekf.c
R sw/in_progress/inertial/C/ahrs_quat_ekf.c
R sw/in_progress/inertial/C/ahrs_quat_fast_ekf.c
R sw/in_progress/inertial/C/ahrs_quat_fast_ekf.h
R sw/in_progress/inertial/C/ahrs_quat_fast_ekf_main.c
R sw/in_progress/inertial/C/ahrs_quat_fast_ekf_utils.h
R sw/in_progress/inertial/C/ahrs_quat_ukf.c
R sw/in_progress/inertial/C/ahrs_utils.c
R sw/in_progress/inertial/C/ahrs_utils.h
R sw/in_progress/inertial/C/ekf.c
R sw/in_progress/inertial/C/ekf.h
R sw/in_progress/inertial/C/linalg.c
R sw/in_progress/inertial/C/linalg.h
R sw/in_progress/inertial/C/matrix.c
R sw/in_progress/inertial/C/matrix.h
R sw/in_progress/inertial/C/random.c
R sw/in_progress/inertial/C/random.h
R sw/in_progress/inertial/C/tilt_data.c
R sw/in_progress/inertial/C/tilt_data.h
R sw/in_progress/inertial/C/tilt_display.c
R sw/in_progress/inertial/C/tilt_display.h
R sw/in_progress/inertial/C/tilt_ekf.c
R sw/in_progress/inertial/C/tilt_ekf_optim.c
R sw/in_progress/inertial/C/tilt_fast_ekf.c
R sw/in_progress/inertial/C/tilt_ukf.c
R sw/in_progress/inertial/C/tilt_utils.c
R sw/in_progress/inertial/C/tilt_utils.h
R sw/in_progress/inertial/C/ukf.c
R sw/in_progress/inertial/C/ukf.h
R sw/in_progress/inertial/README
R sw/in_progress/inertial/scilab/README
R sw/in_progress/inertial/scilab/ahrs_euler_ekf_compm.sce
R sw/in_progress/inertial/scilab/ahrs_euler_ekf_seqm.sce
R sw/in_progress/inertial/scilab/ahrs_euler_utils.sci
R sw/in_progress/inertial/scilab/ahrs_quat_ekf_seqm.sce
R sw/in_progress/inertial/scilab/ahrs_quat_utils.sci
R sw/in_progress/inertial/scilab/calib_rotation.sce
R sw/in_progress/inertial/scilab/calibrate_imu.sce
R sw/in_progress/inertial/scilab/calibrate_mag.sce
R sw/in_progress/inertial/scilab/calibration_utils.sci
R sw/in_progress/inertial/scilab/ekf.sci
R sw/in_progress/inertial/scilab/frac_of_dec.sce
R sw/in_progress/inertial/scilab/imu.sci
R sw/in_progress/inertial/scilab/quadrotor.sci
R sw/in_progress/inertial/scilab/rotations.sci
R sw/in_progress/inertial/scilab/tilt_ekf.sce
R sw/in_progress/inertial/scilab/tilt_utils.sci
R sw/in_progress/log_parser/00000026.txt
R sw/in_progress/log_parser/09_05_13__14_38_13.data
R sw/in_progress/log_parser/09_05_13__14_38_13.log
R sw/in_progress/log_parser/Makefile
R sw/in_progress/log_parser/distance.pl
R sw/in_progress/log_parser/linuxtest.c
R sw/in_progress/log_parser/log2nmea.pl
R sw/in_progress/log_parser/nmea2kml.sh
R sw/in_progress/log_parser/pprz.bin
R sw/in_progress/log_parser/pprz.log
R sw/in_progress/log_parser/xbee.bin
R sw/in_progress/log_parser/xbee.log
R sw/in_progress/rctx/main_rctx.c
R sw/in_progress/satcom/Makefile
R sw/in_progress/satcom/email2udp.c
R sw/in_progress/satcom/grlobke
R sw/in_progress/satcom/tcp2ivy.c
R sw/in_progress/satcom/tcp2ivy_generic.c
R sw/in_progress/satcom/udp2tcp.c
R sw/in_progress/turbine/Makefile
R sw/in_progress/turbine/turb_simu.c
M sw/include/pprz_version.h
M sw/include/std.h
R sw/lib/ocaml/META.pprz.deb
R sw/lib/ocaml/META.pprz.osx
A sw/lib/ocaml/META.pprz.template
M sw/lib/ocaml/Makefile
R sw/lib/ocaml/caml_from_c_example.c
M sw/lib/ocaml/geometry_2d.ml
R sw/lib/ocaml/gtk_3d.ml
R sw/lib/ocaml/gtk_3d.mli
R sw/lib/ocaml/gtk_draw.ml
R sw/lib/ocaml/gtk_draw.mli
R sw/lib/ocaml/gtkgl_Hack.ml
R sw/lib/ocaml/gtkgl_Hack.mli
M sw/lib/ocaml/http.ml
M sw/lib/ocaml/mapCanvas.ml
M sw/lib/ocaml/mapFP.ml
M sw/lib/ocaml/mapGoogle.ml
M sw/lib/ocaml/mapTrack.ml
R sw/lib/ocaml/ml_gtkgl_hack.c
R sw/lib/ocaml/myGtkInit.ml
M sw/lib/ocaml/ocaml_tools.ml
M sw/lib/ocaml/pprz.ml
M sw/lib/ocaml/pprz.mli
R sw/lib/ocaml/register_example.ml
M sw/lib/ocaml/wind_sock.ml
M sw/logalizer/plotter.ml
A sw/misc/button/Makefile
A sw/misc/button/panic.c
A sw/misc/inertial/C/6dof.h
A sw/misc/inertial/C/Makefile
A sw/misc/inertial/C/ahrs_data.c
A sw/misc/inertial/C/ahrs_data.h
A sw/misc/inertial/C/ahrs_display.c
A sw/misc/inertial/C/ahrs_display.h
A sw/misc/inertial/C/ahrs_euler_ekf.c
A sw/misc/inertial/C/ahrs_quat_ekf.c
A sw/misc/inertial/C/ahrs_quat_fast_ekf.c
A sw/misc/inertial/C/ahrs_quat_fast_ekf.h
A sw/misc/inertial/C/ahrs_quat_fast_ekf_main.c
A sw/misc/inertial/C/ahrs_quat_fast_ekf_utils.h
A sw/misc/inertial/C/ahrs_quat_ukf.c
A sw/misc/inertial/C/ahrs_utils.c
A sw/misc/inertial/C/ahrs_utils.h
A sw/misc/inertial/C/ekf.c
A sw/misc/inertial/C/ekf.h
A sw/misc/inertial/C/linalg.c
A sw/misc/inertial/C/linalg.h
A sw/misc/inertial/C/matrix.c
A sw/misc/inertial/C/matrix.h
A sw/misc/inertial/C/random.c
A sw/misc/inertial/C/random.h
A sw/misc/inertial/C/tilt_data.c
A sw/misc/inertial/C/tilt_data.h
A sw/misc/inertial/C/tilt_display.c
A sw/misc/inertial/C/tilt_display.h
A sw/misc/inertial/C/tilt_ekf.c
A sw/misc/inertial/C/tilt_ekf_optim.c
A sw/misc/inertial/C/tilt_fast_ekf.c
A sw/misc/inertial/C/tilt_ukf.c
A sw/misc/inertial/C/tilt_utils.c
A sw/misc/inertial/C/tilt_utils.h
A sw/misc/inertial/C/ukf.c
A sw/misc/inertial/C/ukf.h
A sw/misc/inertial/README
A sw/misc/inertial/scilab/README
A sw/misc/inertial/scilab/ahrs_euler_ekf_compm.sce
A sw/misc/inertial/scilab/ahrs_euler_ekf_seqm.sce
A sw/misc/inertial/scilab/ahrs_euler_utils.sci
A sw/misc/inertial/scilab/ahrs_quat_ekf_seqm.sce
A sw/misc/inertial/scilab/ahrs_quat_utils.sci
A sw/misc/inertial/scilab/calib_rotation.sce
A sw/misc/inertial/scilab/calibrate_imu.sce
A sw/misc/inertial/scilab/calibrate_mag.sce
A sw/misc/inertial/scilab/calibration_utils.sci
A sw/misc/inertial/scilab/ekf.sci
A sw/misc/inertial/scilab/frac_of_dec.sce
A sw/misc/inertial/scilab/imu.sci
A sw/misc/inertial/scilab/quadrotor.sci
A sw/misc/inertial/scilab/rotations.sci
A sw/misc/inertial/scilab/tilt_ekf.sce
A sw/misc/inertial/scilab/tilt_utils.sci
A sw/misc/log_parser/00000026.txt
A sw/misc/log_parser/09_05_13__14_38_13.data
A sw/misc/log_parser/09_05_13__14_38_13.log
A sw/misc/log_parser/Makefile
A sw/misc/log_parser/distance.pl
A sw/misc/log_parser/linuxtest.c
A sw/misc/log_parser/log2nmea.pl
A sw/misc/log_parser/nmea2kml.sh
A sw/misc/log_parser/pprz.bin
A sw/misc/log_parser/pprz.log
A sw/misc/log_parser/xbee.bin
A sw/misc/log_parser/xbee.log
A sw/misc/rctx/main_rctx.c
A sw/misc/satcom/Makefile
A sw/misc/satcom/email2udp.c
A sw/misc/satcom/grlobke
A sw/misc/satcom/tcp2ivy.c
A sw/misc/satcom/tcp2ivy_generic.c
A sw/misc/satcom/udp2tcp.c
A sw/misc/turbine/Makefile
A sw/misc/turbine/turb_simu.c
M sw/simulator/sim.ml
M sw/simulator/simsitl.ml
M sw/supervision/pc_common.ml
M sw/tools/generators/gen_abi.ml
M sw/tools/generators/gen_aircraft.ml
M sw/tools/generators/gen_messages.ml
M sw/tools/generators/gen_messages2.ml
M sw/tools/generators/gen_mtk.ml
M sw/tools/generators/gen_ubx.ml
M tests/examples/01_compile_all_aircrafts.t
Log Message:
-----------
Merge branch 'master' into refactor_estimators
* master: (76 commits)
[ocaml] [sim] Switched to dynamic linking on OS X.
[ocaml] remove leftover file
[ocaml] clean up sed invocation
remove more sim_uart
remove unused sim_uart
fix typo in ivy_transport
remove max3100 module and update gsm module
[device] rename transmit with put_byte
[device] rename get_char with get_byte
Fixing sed invocation on OS X.
[fix][ocaml] fix formatting of MOVE_WP and ACINFO
[fix][ocaml] uint32 are actually stored in Int64
remove obsolete link macros
[ins] start considering BODY_TO_GPS translation
[gcs] don't call Gtk element before GtkInit
[ocaml][simulator] remove myGtkInit by calling init directly in simsitl.ml
[ocaml] remove myGtkInit.ml, call Main.init directly in gcs.ml
[ocaml] replace LABLGTK2GNOMECANVAS in META.pprz
[ocaml] remove dysfunct caml_from_c_example
[ocaml] remove old unused gtk files
...
Commit: b95a1aff03439558c94303b5e6ab132d0876cb83
https://github.com/paparazzi/paparazzi/commit/b95a1aff03439558c94303b5e6ab132d0876cb83
Author: Felix Ruess <address@hidden>
Date: 2015-03-24 (Tue, 24 Mar 2015)
Changed paths:
M conf/abi.xml
M conf/airframes/bebop.xml
M conf/conf_example.xml
M conf/conf_tests.xml
M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
M conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
M conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
R conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
M conf/firmwares/subsystems/rotorcraft/ins_gps_passthrough.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
M conf/firmwares/subsystems/shared/ahrs_float_mlkf.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
M conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
A conf/firmwares/subsystems/shared/ins_float_invariant.makefile
M conf/messages.xml
A conf/settings/estimation/ahrs_secondary.xml
M conf/settings/estimation/ins_float_invariant.xml
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/autopilot.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/modules/ahrs/ahrs_infrared.c
M sw/airborne/modules/datalink/mavlink.c
M sw/airborne/modules/geo_mag/geo_mag.c
M sw/airborne/modules/ins/ahrs_chimu.h
M sw/airborne/modules/ins/ahrs_chimu_spi.c
M sw/airborne/modules/ins/ahrs_chimu_uart.c
M sw/airborne/modules/ins/ins_xsens.c
M sw/airborne/modules/ins/ins_xsens.h
M sw/airborne/modules/ins/ins_xsens700.c
M sw/airborne/subsystems/abi_common.h
M sw/airborne/subsystems/ahrs.c
M sw/airborne/subsystems/ahrs.h
M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
M sw/airborne/subsystems/ahrs/ahrs_ardrone2.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_gx3.c
M sw/airborne/subsystems/ahrs/ahrs_gx3.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h
M sw/airborne/subsystems/ahrs/ahrs_sim.c
M sw/airborne/subsystems/ahrs/ahrs_sim.h
M sw/airborne/subsystems/ins.c
M sw/airborne/subsystems/ins.h
M sw/airborne/subsystems/ins/ins_alt_float.c
M sw/airborne/subsystems/ins/ins_alt_float.h
M sw/airborne/subsystems/ins/ins_ardrone2.c
M sw/airborne/subsystems/ins/ins_ardrone2.h
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_float_invariant.h
A sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
A sw/airborne/subsystems/ins/ins_float_invariant_wrapper.h
M sw/airborne/subsystems/ins/ins_gps_passthrough.c
A sw/airborne/subsystems/ins/ins_gps_passthrough.h
M sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
A sw/airborne/subsystems/ins/ins_gps_passthrough_utm.h
M sw/airborne/subsystems/ins/ins_int.c
M sw/airborne/subsystems/ins/ins_int.h
M sw/airborne/test/subsystems/test_ahrs.c
Log Message:
-----------
Merge pull request #1130 from paparazzi/refactor_estimators
Continue refactoring of AHRS and INS:
- add GEO_MAG ABI message
- add GPS ABI message
- remove explicit calling of update_gps functions (replaced by GPS ABI
callbacks)
- each ins has it's own unique struct/function names
- send STATE_FILTER_STATUS from each implementation (with added id if you run
multiple ones)
- use stateIsAttitudeValid() instead of AHRS.is_aligned
- The state interface is initialized with invalid attitude.
It becomes valid as soon as an attitude is set (via one of the
stateSetNedToBodyX functions).
This should be only done by an AHRS/INS after it is aligned.
- add possibility to run multiple (currently two) AHRS implementations and
switch which one should push the output to the state interface during runtime
`ahrs_init()` and `ins_init()` are now sort of "dispatcher" functions, that
init/register the actually used implementation.
As an example using `float_mlkf` as the `PRIMARY_AHRS` and `int_cmpl_quat` as
`SECONDARY_AHRS`, in your firmware section of the airframe file:
```
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
```
In `ahrs_init()` it calls the ahrs_x_register functions for both. Each of those
calls their own ahrs_foo_init and then
`ahrs_register_impl(enable_output_function)`, then do the ABI binding and
register periodic telemetry functions.
The "enable_output_function" pointer is used to keep a reference to the
implementation functions to switch on/off publishing of the output to the state
interface.
Hence you can call `ahrs_switch(idx)` at runtime to switch the output of the
AHRS implementations.
E.g. with idx=1 switch to the output of the secondary AHRS (with 0 being the
primary)
Add the `conf/settings/estimators/ahrs_secondary.xml` settings file to switch
them via settings.
Compare:
https://github.com/paparazzi/paparazzi/compare/90f54ecbbc21...b95a1aff0343