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[paparazzi-commits] [5997] use full path to imu includes
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5997] use full path to imu includes |
|
Date: |
Tue, 28 Sep 2010 12:52:11 +0000 |
Revision: 5997
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5997
Author: flixr
Date: 2010-09-28 12:52:11 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
use full path to imu includes
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/booz2_ins.c
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
paparazzi3/trunk/sw/airborne/booz/booz_fms.c
paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float-old.c
paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.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/actuators/actuators_heli.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
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/simulator/nps/nps_autopilot_booz.c
Modified: paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/arch/sim/max1167_hw.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -24,7 +24,7 @@
#include "max1167.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
void max1167_hw_init( void ) {}
Modified: paparazzi3/trunk/sw/airborne/beth/main_overo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -37,7 +37,7 @@
#include "fms_debug.h"
#include "fms_spi_link.h"
#include "fms_autopilot_msg.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -31,7 +31,7 @@
#include "booz/booz2_commands.h"
#include "booz/actuators.h"
//#include "booz/booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/beth/overo_estimator.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -1,6 +1,6 @@
#include "overo_estimator.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/beth/overo_file_logger.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -1,6 +1,6 @@
#include "overo_file_logger.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
struct FileLogger file_logger;
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_ins.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_ins.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_ins.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -24,7 +24,7 @@
#include "booz2_ins.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "firmwares/rotorcraft/baro.h"
#include "booz_gps.h"
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -46,7 +46,7 @@
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
#include "booz2_battery.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz_gps.h"
#include "booz2_ins.h"
#include "ahrs.h"
Modified: paparazzi3/trunk/sw/airborne/booz/booz_fms.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_fms.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/booz_fms.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -23,7 +23,7 @@
#include "booz_fms.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz_gps.h"
#include "ahrs.h"
Modified: paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float-old.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float-old.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float-old.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -24,7 +24,7 @@
#include "booz2_hf_float.h"
#include "booz2_ins.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "ahrs.h"
#include "math/pprz_algebra_int.h"
Modified: paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -24,7 +24,7 @@
#include "booz2_hf_float.h"
#include "booz2_ins.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "ahrs.h"
#include "booz_gps.h"
#include <stdlib.h>
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -26,7 +26,7 @@
#include "ahrs.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz_radio_control.h"
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz_test_imu.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -31,7 +31,7 @@
#include "messages.h"
#include "downlink.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/test/imu_dummy.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -1,3 +1,3 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/booz/test/test_mlkf.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -2,7 +2,7 @@
#include <string.h>
#include "math/pprz_algebra_double.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "ahrs.h"
#include "ahrs/ahrs_mlkf.h"
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -40,7 +40,7 @@
#include "csc_msg_def.h"
#include ACTUATORS
-#include "imu.h"
+#include <firmwares/rotorcraft/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 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_xsens.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -27,10 +27,10 @@
*/
#include "mercury_xsens.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz/ahrs.h"
#include "booz/ahrs/ahrs_aligner.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "csc_booz2_ins.h"
#include <inttypes.h>
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,12 +21,12 @@
* Boston, MA 02111-1307, USA.
*/
-#include "firmwares/rotorcraft/actuators.h"
-#include "firmwares/rotorcraft/actuators/actuators_heli.h"
+#include <firmwares/rotorcraft/actuators.h>
+#include "actuators_heli.h"
#include "booz/booz2_commands.h"
/* let's start butchery now and use the actuators_pwm arch functions */
-#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
+#include <firmwares/rotorcraft/actuators/actuators_pwm.h>
/* get SetActuatorsFromCommands() macro */
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,13 +18,13 @@
* 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.
+ * Boston, MA 02111-1307, USA.
*/
#include "ahrs_aligner.h"
#include <stdlib.h> /* for abs() */
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "led.h"
struct AhrsAligner ahrs_aligner;
@@ -37,7 +37,7 @@
static uint32_t samples_idx;
void ahrs_aligner_init(void) {
-
+
ahrs_aligner.status = AHRS_ALIGNER_RUNNING;
INT_RATES_ZERO(gyro_sum);
INT_VECT3_ZERO(accel_sum);
@@ -70,7 +70,7 @@
else
avg_ref_sensor -= SAMPLES_NB / 2;
avg_ref_sensor /= SAMPLES_NB;
-
+
ahrs_aligner.noise = 0;
int i;
for (i=0; i<SAMPLES_NB; i++) {
@@ -91,8 +91,8 @@
ahrs_aligner.low_noise_cnt++;
else
if ( ahrs_aligner.low_noise_cnt > 0)
- ahrs_aligner.low_noise_cnt--;
-
+ ahrs_aligner.low_noise_cnt--;
+
if (ahrs_aligner.low_noise_cnt > LOW_NOISE_TIME) {
ahrs_aligner.status = AHRS_ALIGNER_LOCKED;
#ifdef AHRS_ALIGNER_LED
@@ -102,4 +102,3 @@
}
}
-
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* 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.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef AHRS_ALIGNER_H
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -23,7 +23,7 @@
#include "ahrs_cmpl_euler.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "ahrs_aligner.h"
#include "airframe.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -24,7 +24,7 @@
#ifndef AHRS_CMPL_EULER_H
#define AHRS_CMPL_EULER_H
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
#include "std.h"
#include "math/pprz_algebra_int.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* 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.
+ * Boston, MA 02111-1307, USA.
*/
#include "math/pprz_algebra_float.h"
@@ -93,7 +93,7 @@
extern void ahrs_align(void);
-/*
+/*
* Propagate our dynamic system
*
* quat_dot = Wxq(pqr) * quat
@@ -124,18 +124,18 @@
RATES_FLOAT_OF_BFP(bafe_rates, imu.gyro);
RATES_SUB(bafe_rates, bafe_bias);
- /* compute F
+ /* compute F
F is only needed later on to update the state covariance P.
However, its [0:3][0:3] region is actually the Wxq(pqr) which is needed to
compute the time derivative of the quaternion, so we compute F now
*/
-
+
/* Fill in Wxq(pqr) into F */
bafe_F[0][0] = bafe_F[1][1] = bafe_F[2][2] = bafe_F[3][3] = 0;
bafe_F[1][0] = bafe_F[2][3] = bafe_rates.p * 0.5;
bafe_F[2][0] = bafe_F[3][1] = bafe_rates.q * 0.5;
bafe_F[3][0] = bafe_F[1][2] = bafe_rates.r * 0.5;
-
+
bafe_F[0][1] = bafe_F[3][2] = -bafe_F[1][0];
bafe_F[0][2] = bafe_F[1][3] = -bafe_F[2][0];
bafe_F[0][3] = bafe_F[2][1] = -bafe_F[3][0];
@@ -143,7 +143,7 @@
bafe_F[0][4] = bafe_F[2][6] = bafe_quat.qx * 0.5;
bafe_F[0][5] = bafe_F[3][4] = bafe_quat.qy * 0.5;
bafe_F[0][6] = bafe_F[1][5] = bafe_quat.qz * 0.5;
-
+
bafe_F[1][4] = bafe_F[2][5] = bafe_F[3][6] = bafe_quat.qi * -0.5;
bafe_F[3][5] = -bafe_F[0][4];
bafe_F[1][6] = -bafe_F[0][5];
@@ -152,7 +152,7 @@
bafe_qdot.qi=
bafe_F[0][1]*bafe_quat.qx+bafe_F[0][2]*bafe_quat.qy+bafe_F[0][3] * bafe_quat.qz;
bafe_qdot.qx= bafe_F[1][0]*bafe_quat.qi
+bafe_F[1][2]*bafe_quat.qy+bafe_F[1][3] * bafe_quat.qz;
bafe_qdot.qy= bafe_F[2][0]*bafe_quat.qi+bafe_F[2][1]*bafe_quat.qx
+bafe_F[2][3] * bafe_quat.qz;
- bafe_qdot.qz=
bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy
;
+ bafe_qdot.qz=
bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy
;
/* propagate quaternion */
bafe_quat.qi += bafe_qdot.qi * BAFE_DT;
bafe_quat.qx += bafe_qdot.qx * BAFE_DT;
@@ -169,4 +169,3 @@
#endif /* AHRS_FLOAT_EKF_H */
-
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* 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.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef AHRS_FLOAT_EKF_H
@@ -35,4 +35,3 @@
#endif /* AHRS_FLOAT_EKF_H */
-
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -24,8 +24,8 @@
#include "ahrs_float_lkf.h"
-#include "imu.h"
-#include "ahrs_aligner.h"
+#include <firmwares/rotorcraft/imu.h>
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
#include "airframe.h"
#include "math/pprz_algebra_float.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -25,7 +25,7 @@
#ifndef AHRS_FLOAT_LKF_H
#define AHRS_FLOAT_LKF_H
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
#include "std.h"
#include "math/pprz_algebra_int.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -22,7 +22,7 @@
*/
#include "ahrs.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
struct Ahrs ahrs;
struct AhrsFloat ahrs_float;
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.h 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ahrs.h 2010-09-28
12:52:11 UTC (rev 5997)
@@ -27,7 +27,7 @@
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
-#include "ahrs/ahrs_aligner.h"
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
#define AHRS_UNINIT 0
#define AHRS_RUNNING 1
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
volatile uint8_t imu_ssp_status;
static void SSP_ISR(void) __attribute__((naked));
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "LPC21xx.h"
#include "armVIC.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "airframe.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -2,7 +2,7 @@
* simulator ARCH for rotorcraft imu crista
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "airframe.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -29,7 +29,7 @@
#ifndef IMU_CRISTA_ARCH_H
#define IMU_CRISTA_ARCH_H
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#define ImuCristaArchPeriodic() {}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include <stm32/gpio.h>
#include <stm32/misc.h>
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,7 +1,7 @@
#ifndef IMU_ASPIRIN_ARCH_H
#define IMU_ASPIRIN_ARCH_H
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "led.h"
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include <stm32/gpio.h>
#include <stm32/rcc.h>
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
2010-09-28 12:37:51 UTC (rev 5996)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include <stm32/gpio.h>
#include <stm32/rcc.h>
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "i2c.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -25,7 +25,7 @@
#define IMU_ASPIRIN_H
#include "airframe.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "i2c.h"
#include "booz/peripherals/booz_itg3200.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
void imu_impl_init(void) {
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -24,7 +24,7 @@
#ifndef IMU_B2_H
#define IMU_B2_H
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "airframe.h"
#include "peripherals/booz_max1168.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
volatile bool_t ADS8344_available;
uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
2010-09-28 12:52:11 UTC (rev 5997)
@@ -24,7 +24,7 @@
#ifndef IMU_CRISTA_H
#define IMU_CRISTA_H
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "airframe.h"
#define ADS8344_NB_CHANNELS 8
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -38,7 +38,7 @@
#include "actuators.h"
#include "booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz_gps.h"
#include "booz/booz2_analog.h"
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-09-28
12:52:11 UTC (rev 5997)
@@ -2,7 +2,7 @@
#define OVERO_TEST_PASSTHROUGH_H
#include "std.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/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
2010-09-28 12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-09-28 12:52:11 UTC (rev 5997)
@@ -28,7 +28,7 @@
#include "booz/booz2_commands.h"
#include "actuators.h"
#include "actuators/actuators_pwm.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "booz/booz_radio_control.h"
#include "lisa/lisa_overo_link.h"
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-09-28 12:37:51 UTC
(rev 5996)
+++ paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c 2010-09-28 12:52:11 UTC
(rev 5997)
@@ -31,7 +31,7 @@
#include "messages.h"
#include "downlink.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "interrupt_hw.h"
Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-09-28
12:37:51 UTC (rev 5996)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-09-28
12:52:11 UTC (rev 5997)
@@ -4,7 +4,7 @@
#include "nps_sensors.h"
#include "nps_radio_control.h"
#include "booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
#include "firmwares/rotorcraft/baro.h"
#include "actuators/supervision.h"
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- [paparazzi-commits] [5997] use full path to imu includes,
Felix Ruess <=