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[paparazzi-commits] [4078] reorganized the hff messages
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From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [4078] reorganized the hff messages |
|
Date: |
Fri, 04 Sep 2009 11:13:11 +0000 |
Revision: 4078
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4078
Author: flixr
Date: 2009-09-04 11:13:11 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
reorganized the hff messages
Modified Paths:
--------------
paparazzi3/trunk/conf/messages.xml
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.h
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2009-09-04 08:44:04 UTC (rev 4077)
+++ paparazzi3/trunk/conf/messages.xml 2009-09-04 11:13:11 UTC (rev 4078)
@@ -1069,30 +1069,30 @@
<field name="g" type="float"/>
</message>
- <message name="BOOZ2_HFF_X" id="164">
- <field name="x_measure" type="float"/>
- <field name="xd_measure" type="float"/>
+ <message name="BOOZ2_HFF" id="164">
<field name="x" type="float"/>
+ <field name="y" type="float"/>
<field name="xd" type="float"/>
- <field name="xdd" type="float"/>
- <field name="Pxx" type="float"/>
- <field name="Pxdxd" type="float"/>
+ <field name="yd" type="float"/>
+ <field name="xdd" type="float"/>
+ <field name="ydd" type="float"/>
</message>
- <message name="BOOZ2_HFF_Y" id="165">
+ <message name="BOOZ2_HFF_DBG" id="165">
+ <field name="x_measure" type="float"/>
<field name="y_measure" type="float"/>
- <field name="yd_measure" type="float"/>
- <field name="y" type="float"/>
- <field name="yd" type="float"/>
- <field name="ydd" type="float"/>
+ <field name="yd_measure" type="float"/>
+ <field name="xd_measure" type="float"/>
+ <field name="Pxx" type="float"/>
<field name="Pyy" type="float"/>
+ <field name="Pxdxd" type="float"/>
<field name="Pydyd" type="float"/>
</message>
<message name="BOOZ2_HFF_GPS" id="166">
<field name="lag_cnt" type="uint16"/>
- <field name="lag_cnt_err" type="int16"/>
- <field name="save_cnt" type="int16"/>
+ <field name="lag_cnt_err" type="int16"/>
+ <field name="save_cnt" type="int16"/>
</message>
<message name="EKF7_XHAT" id="170">
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-04 08:44:04 UTC
(rev 4077)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-04 11:13:11 UTC
(rev 4078)
@@ -454,25 +454,25 @@
#ifdef USE_HFF
#include "ins/booz2_hf_float.h"
-#define PERIODIC_SEND_BOOZ2_HFF_X(_chan) { \
- DOWNLINK_SEND_BOOZ2_HFF_X(_chan, \
- &b2_hff_x_meas,
\
- &b2_hff_xd_meas,
\
- &b2_hff_state.x,
\
- &b2_hff_state.xdot,
\
-
&b2_hff_state.xdotdot, \
-
&b2_hff_state.xP[0][0], \
-
&b2_hff_state.xP[1][1]); \
+#define PERIODIC_SEND_BOOZ2_HFF(_chan) { \
+ DOWNLINK_SEND_BOOZ2_HFF(_chan, \
+ &b2_hff_state.x, \
+ &b2_hff_state.y, \
+ &b2_hff_state.xdot, \
+ &b2_hff_state.ydot, \
+ &b2_hff_state.xdotdot, \
+ &b2_hff_state.ydotdot); \
}
-#define PERIODIC_SEND_BOOZ2_HFF_Y(_chan) { \
- DOWNLINK_SEND_BOOZ2_HFF_Y(_chan, \
- &b2_hff_y_meas,
\
- &b2_hff_yd_meas,
\
- &b2_hff_state.y,
\
- &b2_hff_state.ydot,
\
-
&b2_hff_state.ydotdot, \
-
&b2_hff_state.yP[0][0], \
-
&b2_hff_state.yP[1][1]); \
+#define PERIODIC_SEND_BOOZ2_HFF_DBG(_chan) { \
+ DOWNLINK_SEND_BOOZ2_HFF_DBG(_chan, \
+ &b2_hff_x_meas, \
+ &b2_hff_y_meas, \
+ &b2_hff_xd_meas, \
+ &b2_hff_yd_meas, \
+ &b2_hff_state.xP[0][0], \
+ &b2_hff_state.yP[0][0], \
+ &b2_hff_state.xP[1][1], \
+ &b2_hff_state.yP[1][1]); \
}
#ifdef GPS_LAG
#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) { \
@@ -485,8 +485,8 @@
#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) {}
#endif
#else
-#define PERIODIC_SEND_BOOZ2_HFF_X(_chan) {}
-#define PERIODIC_SEND_BOOZ2_HFF_Y(_chan) {}
+#define PERIODIC_SEND_BOOZ2_HFF(_chan) {}
+#define PERIODIC_SEND_BOOZ2_HFF_DBG(_chan) {}
#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) {}
#endif
Modified: paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.h 2009-09-04
08:44:04 UTC (rev 4077)
+++ paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.h 2009-09-04
11:13:11 UTC (rev 4078)
@@ -27,7 +27,7 @@
#include "std.h"
#include "math/pprz_algebra_float.h"
-#define B2_HFF_STATE_SIZE 3
+#define B2_HFF_STATE_SIZE 2
#ifndef HFF_PRESCALER
#define HFF_PRESCALER 16
@@ -41,11 +41,11 @@
struct HfilterFloat {
float x;
- float xbias;
+ /* float xbias; */
float xdot;
float xdotdot;
float y;
- float ybias;
+ /* float ybias; */
float ydot;
float ydotdot;
float xP[B2_HFF_STATE_SIZE][B2_HFF_STATE_SIZE];
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