[paparazzi-commits] [6029] remove INS2 and INS3 messages as the are old and defunct and rename old INS to INS_Z since it only information from the vert filter

[Felix Ruess]

Revision: 6029
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6029
Author:   flixr
Date:     2010-09-28 19:02:06 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
remove INS2 and INS3 messages as the are old and defunct and rename old INS to 
INS_Z since it only information from the vert filter

Modified Paths:
--------------
    paparazzi3/trunk/conf/messages.xml
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-09-28 19:01:59 UTC (rev 6028)
+++ paparazzi3/trunk/conf/messages.xml  2010-09-28 19:02:06 UTC (rev 6029)
@@ -1036,34 +1036,16 @@
     <field name="body_psi"   type="int32" alt_unit="degres" 
alt_unit_coef="0.0139882"/>
   </message>
 
-  <message name="INS" id="151">
+  <message name="INS_Z" id="151">
     <field name="baro_alt"  type="int32" alt_unit="m"    
alt_unit_coef="0.0039063"/>
     <field name="ins_z"     type="int32" alt_unit="m"    
alt_unit_coef="0.0039063"/>
     <field name="ins_zd"    type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019"/>
     <field name="ins_zdd"   type="int32" alt_unit="m/s2" 
alt_unit_coef="0.0009766"/>
   </message>
 
-  <message name="INS2" id="152">
-    <field name="xdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
-    <field name="ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
-    <field name="zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
-    <field name="xd"  type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-    <field name="yd"  type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-    <field name="zd"  type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-    <field name="x"   type="int32" alt_unit="m"    alt_unit_coef="0.0039"/>
-    <field name="y"   type="int32" alt_unit="m"    alt_unit_coef="0.0039"/>
-    <field name="z"   type="int32" alt_unit="m"    alt_unit_coef="0.0039"/>
-  </message>
+ <!--152 is free -->
+ <!--153 is free -->
 
-  <message name="INS3" id="153">
-    <field name="gps_x_ned"  type="int32" alt_unit="m"    
alt_unit_coef="0.00390625"/>
-    <field name="gps_y_ned"  type="int32" alt_unit="m"    
alt_unit_coef="0.00390625"/>
-    <field name="gps_z_ned"  type="int32" alt_unit="m"    
alt_unit_coef="0.00390625"/>
-    <field name="gps_xd_ned" type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-    <field name="gps_yd_ned" type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-    <field name="gps_zd_ned" type="int32" alt_unit="m/s"  
alt_unit_coef="0.0000019073"/>
-  </message>
-
   <message name="INS_REF" id="154">
     <field name="ecef_x0" type="int32" alt_unit="m"    alt_unit_coef="0.01"/>
     <field name="ecef_y0" type="int32" alt_unit="m"    alt_unit_coef="0.01"/>

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-09-28 19:01:59 UTC (rev 6028)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-09-28 19:02:06 UTC (rev 6029)
@@ -533,49 +533,14 @@
                                 &guidance_h_held_pos.y);               \
   }
 
-#define PERIODIC_SEND_INS(_chan) {                             \
-    DOWNLINK_SEND_INS(_chan,                                   \
+#define PERIODIC_SEND_INS_Z(_chan) {                           \
+    DOWNLINK_SEND_INS_Z(_chan,                                 \
                            &ins_baro_alt,                              \
                            &ins_ltp_pos.z,                     \
                            &ins_ltp_speed.z,                   \
                            &ins_ltp_accel.z);                  \
   }
 
-
-#define PERIODIC_SEND_INS2(_chan) {                    \
-    struct Int32Vect3 pos_low_res;                             \
-    pos_low_res.x = (int32_t)(b2ins_pos_ltp.x>>20);            \
-    pos_low_res.y = (int32_t)(b2ins_pos_ltp.y>>20);            \
-    pos_low_res.z = (int32_t)(b2ins_pos_ltp.z>>20);            \
-    DOWNLINK_SEND_INS2(_chan,                          \
-                            &b2ins_accel_ltp.x,                \
-                            &b2ins_accel_ltp.y,                \
-                            &b2ins_accel_ltp.z,                \
-                            &b2ins_speed_ltp.x,                \
-                            &b2ins_speed_ltp.y,                \
-                            &b2ins_speed_ltp.z,                \
-                            &pos_low_res.x,                    \
-                            &pos_low_res.y,                    \
-                            &pos_low_res.z                     \
-                            );                                 \
-  }
-
-#ifdef USE_GPS
-#include <firmwares/rotorcraft/ins/hf_float.h>
-#define PERIODIC_SEND_INS3(_chan) {                            \
-    DOWNLINK_SEND_INS3(_chan,                                  \
-                            &b2ins_meas_gps_pos_ned.x,                 \
-                            &b2ins_meas_gps_pos_ned.y,                 \
-                            &b2ins_meas_gps_pos_ned.z,                 \
-                            &b2ins_meas_gps_speed_ned.x,               \
-                            &b2ins_meas_gps_speed_ned.y,               \
-                            &b2ins_meas_gps_speed_ned.z                \
-                            );                                         \
-  }
-#else /* !USE_GPS */
-#define PERIODIC_SEND_INS3(_chan) {}
-#endif /* USE_GPS */
-
 #define PERIODIC_SEND_INS(_chan) {                     \
     DOWNLINK_SEND_INS(_chan,                           \
                                           &ins_ltp_pos.x,              \
@@ -601,8 +566,6 @@
                                &ins_qfe);                              \
   }
 
-
-
 #define PERIODIC_SEND_VERT_LOOP(_chan) {                               \
     DOWNLINK_SEND_VERT_LOOP(_chan,                             \
                                  &guidance_v_z_sp,             \