Merge pull request #513 from paparazzi/ins_propagate_freq

[rotorcraft] INS_PROPAGATE_FREQUENCY for vff
paparazzi · Aug 28, 2013 · 27b872c · 27b872c
2 parents b8ec860 + 7344099
commit 27b872c
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Showing 4 changed files with 19 additions and 2 deletions.
diff --git a/conf/firmwares/subsystems/rotorcraft/ins.makefile b/conf/firmwares/subsystems/rotorcraft/ins.makefile
@@ -8,5 +8,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
-$(TARGET).CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./$(PERIODIC_FREQUENCY).)'
+$(TARGET).CFLAGS += -DUSE_VFF
 
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
@@ -8,5 +8,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int_extended.c
 
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c
-$(TARGET).CFLAGS += -DUSE_VFF_EXTENDED -DDT_VFILTER='(1./$(PERIODIC_FREQUENCY).)'
+$(TARGET).CFLAGS += -DUSE_VFF_EXTENDED
 
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
@@ -30,6 +30,7 @@
  */
 
 #include "subsystems/ins/vf_extended_float.h"
+#include "generated/airframe.h"
 
 #define DEBUG_VFF_EXTENDED 1
 
@@ -39,6 +40,14 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 
+#ifndef INS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
+
+#define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))
+
+
 /*
 
 X = [ z zdot accel_bias baro_offset ]

diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c
@@ -27,6 +27,14 @@
  */
 
 #include "subsystems/ins/vf_float.h"
+#include "generated/airframe.h"
+
+#ifndef INS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
+
+#define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))
 
 /*