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[paparazzi-commits] [5890] cleaning
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [5890] cleaning |
Date: |
Thu, 16 Sep 2010 09:52:35 +0000 |
Revision: 5890
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5890
Author: poine
Date: 2010-09-16 09:52:35 +0000 (Thu, 16 Sep 2010)
Log Message:
-----------
cleaning
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
Modified: paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml 2010-09-16
08:19:27 UTC (rev 5889)
+++ paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml 2010-09-16
09:52:35 UTC (rev 5890)
@@ -5,6 +5,11 @@
HOST=auto3
+ PAPARAZZI_INC = -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) \
+ -I$(PAPARAZZI_SRC)/sw/airborne \
+ -I$(PAPARAZZI_SRC)/sw/include
+
+
LIB_EIGEN_DIR =
/opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE
-DEIGEN_DONT_ALIGN -DNDEBUG
@@ -19,7 +24,7 @@
# test 1: how do I build cpp for using libeigen ?
test1.ARCHDIR = omap
test1.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
- test1.cpp_srcs = fms/libeknav/hello_world.cpp
+ test1.cpp_srcs = fms/libeknav/test_libeknav_1.cpp
# test 2: now build with libeknav
test2.ARCHDIR = omap
@@ -31,9 +36,7 @@
# test 3: now try to add Paparazzi's C
test3.ARCHDIR = omap
test3.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
- test3.CXXFLAGS += -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT)
- test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/airborne
- test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/include
+ test3.CXXFLAGS += $(PAPARAZZI_INC)
test3.cpp_srcs = fms/libeknav/test_libeknav_3.cpp
test3.CXXFLAGS += $(LIBEKNAV_CFLAGS)
test3.cpp_srcs += $(LIBEKNAV_SRCS)
@@ -45,7 +48,7 @@
# test network based telemetry on overo (using udp_transport2/messages2)
overo_test_telemetry2.ARCHDIR = omap
- overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+ overo_test_telemetry2.CFLAGS += $(PAPARAZZI_INC)
overo_test_telemetry2.srcs = fms/overo_test_telemetry2.c
overo_test_telemetry2.CFLAGS += -DDOWNLINK
-DDOWNLINK_TRANSPORT=UdpTransport
overo_test_telemetry2.srcs += fms/udp_transport2.c downlink.c
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
2010-09-16 08:19:27 UTC (rev 5889)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
2010-09-16 09:52:35 UTC (rev 5890)
@@ -88,27 +88,9 @@
static void main_periodic(int my_sig_num __attribute__ ((unused))) {
- static uint32_t cnt;
- cnt++;
-
main_dialog_with_io_proc();
+ main_run_ins();
- const double dt = 1./512.;
- Vector3d gyro(0., 0., 0.);
- Vector3d accelerometer(0., 0., 9.81);
- ins.predict(gyro, accelerometer, dt);
-
- if (cnt % 10 == 0) { /* update mag at 50Hz */
- Vector3d magnetometer = Vector3d::UnitZ();
- const double mag_noise = std::pow(5 / 180.0 * M_PI, 2);
- ins.obs_vector(magnetometer, magnetometer, mag_noise);
- }
- if (cnt % 128 == 0) /* update gps at 4 Hz */ {
- const Vector3d gps_pos_noise = Vector3d::Ones() *10*10;
- const Vector3d gps_speed_noise = Vector3d::Ones()*0.1*0.1;
- ins.obs_gps_pv_report(pos_0_ecef, speed_0_ecef, gps_pos_noise,
gps_speed_noise);
- }
-
}
@@ -128,3 +110,26 @@
MAGS_FLOAT_OF_BFP(imu.mag, in->mag);
}
+
+static void main_run_ins() {
+
+ static uint32_t cnt;
+ cnt++;
+
+ const double dt = 1./512.;
+ Vector3d gyro(0., 0., 0.);
+ Vector3d accelerometer(0., 0., 9.81);
+ ins.predict(gyro, accelerometer, dt);
+
+ if (cnt % 10 == 0) { /* update mag at 50Hz */
+ Vector3d magnetometer = Vector3d::UnitZ();
+ const double mag_noise = std::pow(5 / 180.0 * M_PI, 2);
+ ins.obs_vector(magnetometer, magnetometer, mag_noise);
+ }
+ if (cnt % 128 == 0) /* update gps at 4 Hz */ {
+ const Vector3d gps_pos_noise = Vector3d::Ones() *10*10;
+ const Vector3d gps_speed_noise = Vector3d::Ones()*0.1*0.1;
+ ins.obs_gps_pv_report(pos_0_ecef, speed_0_ecef, gps_pos_noise,
gps_speed_noise);
+ }
+
+}
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