Merge remote-tracking branch 'paparazzi/master'

Conflicts: sw/airborne/modules/sensors/baro_board_module.c
paparazzi · Sep 15, 2012 · 3f45b20 · 3f45b20
2 parents bbd2692 + 2e77c82
commit 3f45b20
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Showing 21 changed files with 179 additions and 180 deletions.
diff --git a/conf/airframes/examples/easystar_ets.xml b/conf/airframes/examples/easystar_ets.xml
@@ -20,6 +20,7 @@
     <define name="USE_I2C0"/>
     <define name="USE_AIRSPEED"/>
     <define name="USE_BARO_ETS"/>
+    <define name="INS_BARO_SENS" value="0.32"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
@@ -36,6 +37,9 @@
   <modules>
     <load name="airspeed_ets.xml"/>
     <load name="baro_ets.xml"/>
+    <load name="baro_board.xml">
+      <define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
+    </load>
     <load name="infrared_adc.xml"/>
   </modules>
 

diff --git a/conf/gui.xml b/conf/gui.xml
diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml
@@ -7,7 +7,7 @@
   <header>
     <file name="baro_board_module.h"/>
   </header>
-  <makefile target="ap">
+  <makefile>
     <file name="baro_board_module.c"/>
     <define name="USE_BAROMETER"/>
   </makefile>

diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c
@@ -36,6 +36,7 @@ value sim_use_gps_pos(value x, value y, value z, value c, value a, value s, valu
   struct UtmCoor_f utm_f;
   lla_f.lat = Double_val(lat);
   lla_f.lon = Double_val(lon);
+  lla_f.alt = Double_val(a);
   utm_f.zone = nav_utm_zone0;
   utm_of_lla_f(&utm_f, &lla_f);
   LLA_BFP_OF_REAL(gps.lla_pos, lla_f);

diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h
@@ -155,4 +155,7 @@
 #define PWM5_Pin GPIO0
 #define PWM6_Pin GPIO1
 
+// Remap the servos 5 and 6 to TIM5 CH1 and CH2
+#define REMAP_SERVOS_5AND6 1
+
 #endif /* CONFIG_LISA_M_2_0_H */
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -1,17 +1,4 @@
 /*
- * Driver for the EagleTree Systems Airspeed Sensor
- * Has only been tested with V3 of the sensor hardware
- *
- * Notes:
- * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
- * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
- *
- * Sensor module wire assignments:
- * Red wire: 5V
- * White wire: Ground
- * Yellow wire: SDA
- * Brown wire: SCL
- *
  * Copyright (C) 2009 Vassilis Varveropoulos
  * Modified by Mark Griffin on 8 September 2010 to work with new i2c transaction routines.
  * Converted by Gautier Hattenberger to modules (10/2010)
@@ -32,8 +19,25 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file airspeed_ets.c
+ *
+ * Driver for the EagleTree Systems Airspeed Sensor.
+ * Has only been tested with V3 of the sensor hardware.
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
  *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
  */
+
 #include "sensors/airspeed_ets.h"
 #include "state.h"
 #include "mcu_periph/i2c.h"

diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h
@@ -1,17 +1,4 @@
 /*
- * Driver for the EagleTree Systems Airspeed Sensor
- * Has only been tested with V3 of the sensor hardware
- *
- * Notes:
- * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
- * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
- *
- * Sensor module wire assignments:
- * Red wire: 5V
- * White wire: Ground
- * Yellow wire: SDA
- * Brown wire: SCL
- *
  * Copyright (C) 2009 Vassilis Varveropoulos
  * Modified by Mark Griffin on 8 September 2010 to work with new i2c transaction routines.
  * Converted by Gautier Hattenberger to modules (10/2010)
@@ -32,7 +19,23 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file airspeed_ets.h
+ *
+ * Driver for the EagleTree Systems Airspeed Sensor.
+ * Has only been tested with V3 of the sensor hardware.
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
  *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
  */
 
 #ifndef AIRSPEED_ETS_H

diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h
@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/*
- * Wrapper for the board specific barometer
+/**
+ * @file baro_board_module.h
+ *
+ * Wrapper for the board specific barometer.
  */
 
 #ifndef BARO_BOARD_MODULE_H

diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
@@ -1,19 +1,4 @@
 /*
- * Driver for the EagleTree Systems Altitude Sensor
- * Has only been tested with V3 of the sensor hardware
- *
- * Notes:
- * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
- * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
- * Pitch gains may need to be updated.
- *
- *
- * Sensor module wire assignments:
- * Red wire: 5V
- * White wire: Ground
- * Yellow wire: SDA
- * Brown wire: SCL
- *
  * Copyright (C) 2009 Vassilis Varveropoulos
  * Copyright (C) 2010 The Paparazzi Team
  *
@@ -35,6 +20,25 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file baro_ets.c
+ *
+ * Driver for the EagleTree Systems Altitude Sensor.
+ * Has only been tested with V3 of the sensor hardware.
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ * Pitch gains may need to be updated.
+ *
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ */
+
 #include "sensors/baro_ets.h"
 #include "mcu_periph/i2c.h"
 #include "state.h"
@@ -46,6 +50,16 @@
 #include "subsystems/gps.h"
 #endif
 
+#ifdef BARO_ETS_TELEMETRY
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "subsystems/datalink/downlink.h"
+#endif //BARO_ETS_TELEMETRY
+
 #define BARO_ETS_ADDR 0xE8
 #define BARO_ETS_REG 0x07
 #define BARO_ETS_SCALE 0.32
@@ -97,23 +111,19 @@ void baro_ets_read_periodic( void ) {
   if (baro_ets_i2c_trans.status == I2CTransDone)
     I2CReceive(BARO_ETS_I2C_DEV, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
 #else // SITL
+  /* fake an offset so sim works for under hmsl as well */
+  if (!baro_ets_offset_init) {
+    baro_ets_offset = 200;
+    baro_ets_offset_init = TRUE;
+  }
   baro_ets_altitude = gps.hmsl / 1000.0;
-  baro_ets_adc = baro_ets_altitude / BARO_ETS_SCALE;
+  baro_ets_adc = baro_ets_offset - baro_ets_altitude / BARO_ETS_SCALE;
   baro_ets_valid = TRUE;
-#endif
-}
-
 #ifdef BARO_ETS_TELEMETRY
-
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+  DOWNLINK_SEND_BARO_ETS(DefaultChannel, DefaultDevice, &baro_ets_adc, &baro_ets_offset, &baro_ets_altitude);
 #endif
-
-#include "mcu_periph/uart.h"
-#include "messages.h"
-#include "subsystems/datalink/downlink.h"
-
 #endif
+}
 
 void baro_ets_read_event( void ) {
   // Get raw altimeter from buffer

diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
@@ -1,19 +1,4 @@
 /*
- * Driver for the EagleTree Systems Altitude Sensor
- * Has only been tested with V3 of the sensor hardware
- *
- * Notes:
- * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
- * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
- * Pitch gains may need to be updated.
- *
- *
- * Sensor module wire assignments:
- * Red wire: 5V
- * White wire: Ground
- * Yellow wire: SDA
- * Brown wire: SCL
- *
  * Copyright (C) 2009 Vassilis Varveropoulos
  * Copyright (C) 2010 The Paparazzi Team
  *
@@ -35,6 +20,25 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file baro_ets.h
+ *
+ * Driver for the EagleTree Systems Altitude Sensor.
+ * Has only been tested with V3 of the sensor hardware.
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ * Pitch gains may need to be updated.
+ *
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ */
+
 #ifndef BARO_ETS_H
 #define BARO_ETS_H
 

diff --git a/sw/airborne/subsystems/ins/ins_float.c b/sw/airborne/subsystems/ins/ins_float.c
@@ -113,7 +113,7 @@ void ins_update_gps(void) {
   utm.north = gps.utm_pos.north / 100.;
   utm.zone = nav_utm_zone0;
 
-#if !USE_BARO_BMP && !USE_BARO_ETS && !USE_BARO_MS5534A
+#if !USE_BAROMETER
   float falt = gps.hmsl / 1000.;
   EstimatorSetAlt(falt);
 #endif