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[paparazzi-commits] [paparazzi/paparazzi] 4aa429: [ins] improving and cl

From: GitHub
Subject: [paparazzi-commits] [paparazzi/paparazzi] 4aa429: [ins] improving and cleaning ins interface
Date: Tue, 21 Aug 2012 09:42:59 -0700

  Branch: refs/heads/state_interface
  Commit: 4aa4297223cb1f5f77ce245080e9c25baa466efe
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-08-21 (Tue, 21 Aug 2012)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/autopilot.makefile
    M conf/firmwares/subsystems/rotorcraft/ins.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
    M conf/flight_plans/basic.xml
    M sw/airborne/estimator.c
    M sw/airborne/estimator.h
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/subsystems/ins.c
    M sw/airborne/subsystems/ins.h
    A sw/airborne/subsystems/ins/ins_float.c
    A sw/airborne/subsystems/ins/ins_float.h
    A sw/airborne/subsystems/ins/ins_int.c
    A sw/airborne/subsystems/ins/ins_int.h
    A sw/airborne/subsystems/ins/ins_int_extended.c
    R sw/airborne/subsystems/ins_extended.c

  Log Message:
  [ins] improving and cleaning ins interface

- INS interface build for FW and Rotorcraft on the same basis as AHRS
- For FW, most of the old estimator (vertical kalman filter) as been moved
  to the new ins_float. Some triggers are missing for main_ap, especially
  the baro_event since the Baro interface is not done here.
- Some more integration is needed to remove old estimator.c
- INS modules should follow the general interface
- FW main_ap is not very clear concerning the INS (nor the AHRS) because
  of the freq scaling part from CDW

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