[paparazzi-commits] [paparazzi/paparazzi] 823e02: [ahrs] pass dt to ahrs_propagate

[GitHub]

  Branch: refs/heads/propagate_dt
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 823e02c8bcc96a248dd9249e2ef7d075cf9c34a6
      
https://github.com/paparazzi/paparazzi/commit/823e02c8bcc96a248dd9249e2ef7d075cf9c34a6
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_infrared.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_sim.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/test/ahrs/ahrs_on_synth.c
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
    M sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
    M sw/airborne/test/subsystems/test_ahrs.c

  Log Message:
  -----------
  [ahrs] pass dt to ahrs_propagate

not really properly taken into account for:
- int_cmpl_euler: this is very ugly and still has F_UPDATE 512Hz hardcoded, but 
nobody should use this one anyway..
- float_cmpl and int_cmpl_quat: still use AHRS_PROPAGATE_FREQUENCY to set the 
gains...


  Commit: 8237510f380adfce849ea7543924af18ab7711da
      
https://github.com/paparazzi/paparazzi/commit/8237510f380adfce849ea7543924af18ab7711da
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
    M conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile

  Log Message:
  -----------
  [conf] remove some unneeded defines


  Commit: f9478beb4c9f17ac12c68ce58edf02084be9565a
      
https://github.com/paparazzi/paparazzi/commit/f9478beb4c9f17ac12c68ce58edf02084be9565a
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c

  Log Message:
  -----------
  [rotorcraft] ahrs dt: only calc if USE_AUTO_AHRS_FREQ or 
!defined(AHRS_PROPAGATE_FREQUENCY)


  Commit: a77dc5abe3f309b222e0f2815a03861cf9d61df8
      
https://github.com/paparazzi/paparazzi/commit/a77dc5abe3f309b222e0f2815a03861cf9d61df8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] remove reduced propagation rate stuff

Also calculate dt if USE_AUTO_AHRS_FREQ or !defined(AHRS_PROPAGATE_FREQUENCY)


Compare: 
https://github.com/paparazzi/paparazzi/compare/6208cd54e815...a77dc5abe3f3