From 32ec2b1b2adb02d82e66ea9039cfe64c2cfa0a04 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Wed, 20 Feb 2013 15:22:09 +0100 Subject: [PATCH] [conf] pass configured AHRS_x_FREQUENCY on for rotorcrafts as well --- .../fixedwing/ahrs_float_cmpl_quat.makefile | 24 +++++++------------ .../fixedwing/ahrs_int_cmpl_quat.makefile | 9 +++++++ .../rotorcraft/ahrs_float_cmpl_quat.makefile | 8 +++++++ .../rotorcraft/ahrs_float_cmpl_rmat.makefile | 8 +++++++ .../rotorcraft/ahrs_int_cmpl_quat.makefile | 8 +++++++ 5 files changed, 41 insertions(+), 16 deletions(-) diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile index a0113650176..095cc6fda2e 100644 --- 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 index 4e8e061187b..ca4c99ecdbb 100644 --- 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=$(AHRS_CORRECT_FREQUENCY) +#endif + # # Simple simulation of the AHRS result diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile index 72b75644c9c..4e1cf5090d5 100644 --- a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile @@ -24,6 +24,14 @@ AHRS_SRCS += subsystems/ahrs.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c +ifdef AHRS_PROPAGATE_FREQUENCY +AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) +endif + +ifdef AHRS_CORRECT_FREQUENCY +AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) +endif + ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile index a0b80d067fa..f8800de8665 100644 --- a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile +++ b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile @@ -24,6 +24,14 @@ AHRS_SRCS += subsystems/ahrs.c AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c +ifdef AHRS_PROPAGATE_FREQUENCY +AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY) +endif + +ifdef AHRS_CORRECT_FREQUENCY +AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY) +endif + ap.CFLAGS += $(AHRS_CFLAGS) ap.srcs += $(AHRS_SRCS) diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile index 539ee134a59..ee2a2c102be 100644 --- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile +++ b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile @@ -23,6 +23,14 @@ AHRS_SRCS += subsystems/ahrs.c AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_quat.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c +ifdef AHRS_PROPAGATE_FREQUENCY +AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(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)