[conf] pass configured AHRS_x_FREQUENCY on for rotorcrafts as well

paparazzi · Feb 20, 2013 · 32ec2b1 · 32ec2b1
1 parent 92e234d
commit 32ec2b1
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Showing 5 changed files with 41 additions and 16 deletions.
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -27,22 +27,14 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
-
-
-# Extra stuff for fixedwings
-
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 60
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 60
-endif
-
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+# for fixedwings this is already added in autopilot.makefile
+#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/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -27,6 +27,15 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
+# for fixedwings this is already added in autopilot.makefile
+#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
+
 
 #
 # Simple simulation of the AHRS result

diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
@@ -24,6 +24,14 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 

diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
@@ -24,6 +24,14 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 

diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -23,6 +23,14 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_quat.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)