[paparazzi-commits] [paparazzi/paparazzi] 17d327: [imu] convert imu subsystems to modules (#1788)

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 17d32772c0e65cc738ba905fee4cbd4dd3297c87
      
https://github.com/paparazzi/paparazzi/commit/17d32772c0e65cc738ba905fee4cbd4dd3297c87
  Author: Felix Ruess <address@hidden>
  Date:   2016-08-12 (Fri, 12 Aug 2016)

  Changed paths:
    M conf/airframes/ENAC/conf_enac.xml
    M conf/airframes/FLIXR/flixr_conf.xml
    M conf/airframes/OPENUAS/openuas_conf.xml
    M conf/airframes/TUDELFT/tudelft_KM_conf.xml
    M conf/airframes/TUDELFT/tudelft_conf.xml
    M conf/airframes/TUDELFT/tudelft_guido_conf.xml
    M conf/airframes/examples/microjet_twog_aspirin.xml
    M conf/conf_example.xml
    M conf/conf_tests.xml
    R conf/firmwares/subsystems/shared/imu_analog.makefile
    R conf/firmwares/subsystems/shared/imu_apogee.makefile
    R conf/firmwares/subsystems/shared/imu_apogee_mpu9150.makefile
    R conf/firmwares/subsystems/shared/imu_ardrone2.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin2_i2c.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_i2c.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_i2c_common.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.0.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.5.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile
    R conf/firmwares/subsystems/shared/imu_aspirin_v2_common.makefile
    R conf/firmwares/subsystems/shared/imu_b2_common.makefile
    R conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
    R conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
    R conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
    R conf/firmwares/subsystems/shared/imu_bebop.makefile
    R conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
    R conf/firmwares/subsystems/shared/imu_elle0.makefile
    R conf/firmwares/subsystems/shared/imu_gl1.makefile
    R conf/firmwares/subsystems/shared/imu_hbmini.makefile
    R conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
    R conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
    R conf/firmwares/subsystems/shared/imu_lisa_m_or_mx_v2.1.makefile
    R conf/firmwares/subsystems/shared/imu_lisa_m_v2.1.makefile
    R conf/firmwares/subsystems/shared/imu_lisa_mx_v2.1.makefile
    R conf/firmwares/subsystems/shared/imu_lisa_s_v1.0.makefile
    R conf/firmwares/subsystems/shared/imu_mpu6000.makefile
    R conf/firmwares/subsystems/shared/imu_mpu6000_hmc5883.makefile
    R conf/firmwares/subsystems/shared/imu_mpu60x0_i2c.makefile
    R conf/firmwares/subsystems/shared/imu_mpu9250_i2c.makefile
    R conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
    R conf/firmwares/subsystems/shared/imu_navgo.makefile
    R conf/firmwares/subsystems/shared/imu_navstik.makefile
    R conf/firmwares/subsystems/shared/imu_nps.makefile
    R conf/firmwares/subsystems/shared/imu_openpilot_revo.makefile
    R conf/firmwares/subsystems/shared/imu_ppzuav.makefile
    R conf/firmwares/subsystems/shared/imu_px4fmu_v1.7.makefile
    R conf/firmwares/subsystems/shared/imu_px4fmu_v2.4.makefile
    R conf/firmwares/subsystems/shared/imu_um6.makefile
    R conf/firmwares/subsystems/shared/imu_umarim.makefile
    R conf/firmwares/subsystems/shared/imu_yai.makefile
    A conf/modules/imu_analog.xml
    A conf/modules/imu_apogee.xml
    A conf/modules/imu_apogee_mpu9150.xml
    A conf/modules/imu_ardrone2.xml
    A conf/modules/imu_aspirin_common.xml
    A conf/modules/imu_aspirin_i2c_common.xml
    A conf/modules/imu_aspirin_i2c_v1.0.xml
    A conf/modules/imu_aspirin_i2c_v1.5.xml
    A conf/modules/imu_aspirin_v1.0.xml
    A conf/modules/imu_aspirin_v1.5.xml
    A conf/modules/imu_aspirin_v2.1.xml
    A conf/modules/imu_aspirin_v2.2.xml
    A conf/modules/imu_aspirin_v2_common.xml
    A conf/modules/imu_b2_common.xml
    A conf/modules/imu_b2_v1.0.xml
    A conf/modules/imu_b2_v1.1.xml
    A conf/modules/imu_b2_v1.2.xml
    A conf/modules/imu_bebop.xml
    A conf/modules/imu_common.xml
    A conf/modules/imu_drotek_10dof_v2.xml
    A conf/modules/imu_elle0.xml
    A conf/modules/imu_gl1.xml
    A conf/modules/imu_hbmini.xml
    A conf/modules/imu_krooz_sd.xml
    A conf/modules/imu_krooz_sd_memsic.xml
    A conf/modules/imu_lisa_m_v2.1.xml
    A conf/modules/imu_lisa_mx_v2.1.xml
    A conf/modules/imu_lisa_s_v1.0.xml
    A conf/modules/imu_mpu6000.xml
    A conf/modules/imu_mpu6000_hmc5883.xml
    A conf/modules/imu_mpu60x0_i2c.xml
    A conf/modules/imu_mpu9250_i2c.xml
    A conf/modules/imu_mpu9250_spi.xml
    A conf/modules/imu_navgo.xml
    A conf/modules/imu_navstik.xml
    A conf/modules/imu_nps.xml
    A conf/modules/imu_openpilot_revo.xml
    A conf/modules/imu_pprzuav.xml
    A conf/modules/imu_px4fmu_v1.7.xml
    A conf/modules/imu_px4fmu_v2.4.xml
    A conf/modules/imu_um6.xml
    A conf/modules/imu_umarim.xml
    M conf/modules/imu_xsens.xml
    A conf/modules/imu_yai.xml
    M conf/modules/module.dtd
    R conf/settings/estimation/body_to_imu.xml
    M sw/airborne/boards/apogee/imu_apogee.c
    M sw/airborne/boards/apogee/imu_apogee.h
    M sw/airborne/boards/ardrone/navdata.h
    M sw/airborne/boards/hbmini/imu_hbmini.c
    M sw/airborne/boards/hbmini/imu_hbmini.h
    M sw/airborne/boards/krooz/imu_krooz.c
    M sw/airborne/boards/krooz/imu_krooz.h
    M sw/airborne/boards/krooz/imu_krooz_memsic.c
    M sw/airborne/boards/krooz/imu_krooz_memsic.h
    M sw/airborne/boards/navgo/imu_navgo.c
    M sw/airborne/boards/navgo/imu_navgo.h
    M sw/airborne/boards/umarim/imu_umarim.c
    M sw/airborne/boards/umarim/imu_umarim.h
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/imu_xsens.h
    R sw/airborne/modules/sensors/imu_aspirin2.c
    R sw/airborne/modules/sensors/imu_aspirin2.h
    M sw/airborne/subsystems/ahrs/ahrs_gx3.c
    M sw/airborne/subsystems/ahrs/ahrs_gx3.h
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/imu.h
    M sw/airborne/subsystems/imu/imu_analog.c
    M sw/airborne/subsystems/imu/imu_analog.h
    M sw/airborne/subsystems/imu/imu_ardrone2.c
    M sw/airborne/subsystems/imu/imu_ardrone2.h
    M sw/airborne/subsystems/imu/imu_aspirin.c
    M sw/airborne/subsystems/imu/imu_aspirin.h
    M sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
    M sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
    M sw/airborne/subsystems/imu/imu_aspirin_i2c.c
    M sw/airborne/subsystems/imu/imu_aspirin_i2c.h
    M sw/airborne/subsystems/imu/imu_b2.c
    M sw/airborne/subsystems/imu/imu_b2.h
    M sw/airborne/subsystems/imu/imu_bebop.c
    M sw/airborne/subsystems/imu/imu_bebop.h
    M sw/airborne/subsystems/imu/imu_crista.c
    M sw/airborne/subsystems/imu/imu_crista.h
    M sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
    M sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
    R sw/airborne/subsystems/imu/imu_dummy.c
    M sw/airborne/subsystems/imu/imu_gl1.c
    M sw/airborne/subsystems/imu/imu_gl1.h
    M sw/airborne/subsystems/imu/imu_mpu6000.c
    M sw/airborne/subsystems/imu/imu_mpu6000.h
    M sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
    M sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
    M sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
    M sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
    M sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
    M sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
    M sw/airborne/subsystems/imu/imu_mpu9250_spi.c
    M sw/airborne/subsystems/imu/imu_mpu9250_spi.h
    M sw/airborne/subsystems/imu/imu_navstik.c
    M sw/airborne/subsystems/imu/imu_navstik.h
    M sw/airborne/subsystems/imu/imu_nps.c
    M sw/airborne/subsystems/imu/imu_nps.h
    M sw/airborne/subsystems/imu/imu_ppzuav.c
    M sw/airborne/subsystems/imu/imu_ppzuav.h
    M sw/airborne/subsystems/imu/imu_px4fmu.c
    M sw/airborne/subsystems/imu/imu_px4fmu.h
    M sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c
    M sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h
    M sw/airborne/subsystems/imu/imu_um6.c
    M sw/airborne/subsystems/imu/imu_um6.h
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
    M sw/airborne/test/subsystems/test_imu.c

  Log Message:
  -----------
  [imu] convert imu subsystems to modules (#1788)

* [imu] convert imu subsystems to modules

Also
- get rid of explicit imu init|event|periodic calls in main
- each imu implementation has their own imu_x_init/event/periodic

* [imu] fix some imu modules

* [imu] fix bad paths

* [imu] add imu_common module that every implementation autoloads

and put body_to_imu settings in imu_common module

* [imu] fix imu_ardrone2

* [conf] add imu_common settings module in conf_example and conf_tests