[paparazzi-commits] [paparazzi/paparazzi] f19ace: [ahrs] pass imu measurements as arguments

[GitHub]

  Branch: refs/heads/ahrs_refactor
  Home:   https://github.com/paparazzi/paparazzi
  Commit: f19ace58dfdbe1d07ec7774b4a9c60446d86e895
      
https://github.com/paparazzi/paparazzi/commit/f19ace58dfdbe1d07ec7774b4a9c60446d86e895
  Author: Felix Ruess <address@hidden>
  Date:   2014-10-13 (Mon, 13 Oct 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c

  Log Message:
  -----------
  [ahrs] pass imu measurements as arguments

Trying to get rid of need of global imu struct for autopilots where these are 
running in multiple tasks...

only mlkf for tests


  Commit: 697712b5af0d9e9a779128f360e95638097c0d80
      
https://github.com/paparazzi/paparazzi/commit/697712b5af0d9e9a779128f360e95638097c0d80
  Author: Felix Ruess <address@hidden>
  Date:   2014-10-13 (Mon, 13 Oct 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/geo_mag/geo_mag.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h

  Log Message:
  -----------
  [ahrs] no more deps on global imu or ahrs_aligner

also get rid of common ahrs_impl, every implementation instance has it's own 
struct name


  Commit: 140214ea717470c0f2f36e75f34b9f9fbd24c273
      
https://github.com/paparazzi/paparazzi/commit/140214ea717470c0f2f36e75f34b9f9fbd24c273
  Author: Felix Ruess <address@hidden>
  Date:   2014-10-13 (Mon, 13 Oct 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h

  Log Message:
  -----------
  [ahrs] register ahrs impl, store function pointers

Each AHRS implementation can register appropriate functions, not every one 
needs to be implemented.
No more empty weak implementations.

Starts to make it possible to have multiple AHRS algorithms running at the same 
time.
Each ahrs implementation has it's own function names.
For now we can still have only one implementation if called via the ahrs 
interface.


  Commit: 5f00d73ff2b6965ffebd98f3e3bc3b6bed32dc90
      
https://github.com/paparazzi/paparazzi/commit/5f00d73ff2b6965ffebd98f3e3bc3b6bed32dc90
  Author: Felix Ruess <address@hidden>
  Date:   2014-10-13 (Mon, 13 Oct 2014)

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

  Log Message:
  -----------
  [ahrs] global ahrs dispatcher functions


Compare: 
https://github.com/paparazzi/paparazzi/compare/f19ace58dfdb^...5f00d73ff2b6