From 174ace99335bd33b53cd740e69037cb61f9f38b7 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 11 Feb 2013 19:32:01 +0100
Subject: [PATCH] [fixedwing] print used ahrs freqs, pass configure options
 on...

---
 .../firmwares/subsystems/fixedwing/autopilot.makefile |  8 ++++++++
 conf/firmwares/subsystems/shared/imu_umarim.makefile  |  2 ++
 sw/airborne/firmwares/fixedwing/main_ap.c             | 11 +++++++----
 3 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
index b24a313122e..bb7c3104d5e 100644
--- a/conf/firmwares/subsystems/fixedwing/autopilot.makefile
+++ b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
@@ -174,6 +174,14 @@ else ifeq ($(BOARD), lisa_l)
 ap_CFLAGS += -DUSE_I2C2
 endif
 
+# ahrs frequencies if configured
+ifdef AHRS_PROPAGATE_FREQUENCY
+ap_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+ifdef AHRS_CORRECT_FREQUENCY
+ap_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 
 ######################################################################
 ##
diff --git a/conf/firmwares/subsystems/shared/imu_umarim.makefile b/conf/firmwares/subsystems/shared/imu_umarim.makefile
index 256207aa19d..7fb6122c599 100644
--- a/conf/firmwares/subsystems/shared/imu_umarim.makefile
+++ b/conf/firmwares/subsystems/shared/imu_umarim.makefile
@@ -16,7 +16,9 @@ IMU_UMARIM_SRCS += peripherals/adxl345_i2c.c
 # with default UMARIM_GYRO_SMPLRT_DIV (gyro output 50Hz)
 # the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
 AHRS_PROPAGATE_FREQUENCY ?= 50
+AHRS_CORRECT_FREQUENCY ?= 50
 ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
 
 ap.CFLAGS += $(IMU_UMARIM_CFLAGS)
 ap.srcs   += $(IMU_UMARIM_SRCS)
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index d245c49efae..94205888422 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -86,20 +86,23 @@
 #include "led.h"
 
 
-#if USE_AHRS
-#if USE_IMU
+#if USE_AHRS && USE_IMU
+
 #ifndef AHRS_PROPAGATE_FREQUENCY
 #define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
+PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
 #ifndef AHRS_CORRECT_FREQUENCY
 #define AHRS_CORRECT_FREQUENCY PERIODIC_FREQUENCY
 #endif
+PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
+
 static inline void on_gyro_event( void );
 static inline void on_accel_event( void );
 static inline void on_mag_event( void );
 volatile uint8_t ahrs_timeout_counter = 0;
-#endif // USE_IMU
-#endif // USE_AHRS
+
+#endif // USE_AHRS && USE_IMU
 
 #if USE_GPS
 static inline void on_gps_solution( void );