remove infrared sensors

paparazzi · Oct 7, 2023 · 4f711c7 · 4f711c7
1 parent f6bfa19
commit 4f711c7
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Showing 12 changed files with 6 additions and 43 deletions.
diff --git a/conf/gcs/svalbard2.xml b/conf/gcs/svalbard2.xml
@@ -8,13 +8,6 @@
         <property name="size" value="19."/>
         <property name="color" value="blue"/>
       </papget>
-      <papget type="message_field" display="text" x="921" y="340">
-        <property name="field" value="IR_SENSORS:vertical"/>
-        <property name="scale" value="1"/>
-        <property name="format" value="%.0f"/>
-        <property name="size" value="19."/>
-        <property name="color" value="red"/>
-      </papget>
     </widget>
     <columns>
       <rows SIZE="422">

diff --git a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
@@ -21,7 +21,6 @@
       <message name="SETTINGS"            period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SECURE_LINK_STATUS"  period="2.1"/>
       <message name="COMMANDS"            period="1"/>
       <message name="FBW_STATUS"          period="2"/>
@@ -46,7 +45,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>
@@ -132,7 +130,6 @@
       <message name="SETTINGS"            period="1.0"/>
       <message name="DATALINK_REPORT"     period="1.0"/>
       <message name="DL_VALUE"            period="1.0"/>
-      <message name="IR_SENSORS"          period="1.0"/>
       <message name="SECURE_LINK_STATUS"  period="1.0"/>
       <message name="COMMANDS"            period="0.01"/> <!-- For HITL, important! Do not change! The period must match CONTROL_FREQUENCY -->
       <message name="FBW_STATUS"          period="1.0"/>

diff --git a/conf/telemetry/GVF/gvf_default_fixedwing.xml b/conf/telemetry/GVF/gvf_default_fixedwing.xml
@@ -20,7 +20,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="CAM"                 period="0.5"/>
@@ -49,7 +48,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="IMU_GYRO"            period="10.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
@@ -69,7 +67,6 @@
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="2.1"/>
       <message name="BARO_RAW"          period="0.5"/>
-      <message name="IR_SENSORS"        period="0.5"/>
       <message name="IMU_GYRO_RAW"      period="0.1"/>
     </mode>
   </process>

diff --git a/conf/telemetry/OPENUAS/openuas_fixedwing_imu.xml b/conf/telemetry/OPENUAS/openuas_fixedwing_imu.xml
@@ -23,7 +23,6 @@
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period="0.5"/>
@@ -53,7 +52,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>

diff --git a/conf/telemetry/default_fixedwing.xml b/conf/telemetry/default_fixedwing.xml
@@ -22,7 +22,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="IMU_GYRO"            period="1.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
@@ -50,7 +49,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="IMU_GYRO"            period="10.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
@@ -70,7 +68,6 @@
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="2.1"/>
       <message name="BARO_RAW"          period="0.5"/>
-      <message name="IR_SENSORS"        period="0.5"/>
       <message name="IMU_GYRO_RAW"      period="0.1"/>
       <message name="AIRSPEED_RAW"      period="0.5"/>
     </mode>

diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
@@ -22,7 +22,6 @@
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
@@ -51,7 +50,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>

diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -22,7 +22,6 @@
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.2"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
@@ -50,7 +49,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>

diff --git a/conf/telemetry/fixedwing_control_new.xml b/conf/telemetry/fixedwing_control_new.xml
@@ -18,15 +18,13 @@
       <message name="PPRZ_MODE"      period="5."/>
       <message name="DATALINK_REPORT"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
-      <message name="IR_SENSORS"     period="1.2"/>
       <message name="IMU_GYRO"       period="0.2"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
     </mode>
     <mode name="debug">
       <message name="ATTITUDE"       period="0.5"/>
       <message name="TUNE_ROLL"      period="0.2"/>
-      <message name="DEBUG_MCU_LINK" period="5."/>
       <message name="ADC"            period="0.5"/>
     </mode>
   </process>

diff --git a/conf/telemetry/fixedwing_flight_recorder.xml b/conf/telemetry/fixedwing_flight_recorder.xml
@@ -22,7 +22,6 @@
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
@@ -54,7 +53,6 @@
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DATALINK_REPORT"     period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
-      <message name="IR_SENSORS"          period="5.2"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>

diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
@@ -216,7 +216,11 @@ static void calibration(void)
   ut1 = (c5 << 3) + 20224;
 
 #ifndef BARO_NO_DOWNLINK
-  DOWNLINK_SEND_BARO_WORDS(DefaultChannel, DefaultDevice, &words[0], &words[1], &words[2], &words[3]);
+  float debug[4];
+  for (int i=0; i<4; i++){
+    debug[0] = words[0];
+  }
+  DOWNLINK_SEND_DEBUG_VECT(DefaultChannel, DefaultDevice, "baro_calib", 4, debug);
 #endif
 }
 

diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink
diff --git a/sw/logalizer/matlab_log/messages.xml b/sw/logalizer/matlab_log/messages.xml
@@ -10,21 +10,11 @@
       <message name="TAKEOFF" ID="4">
         <field name="cpu_time" type="uint16" unit="s"/>
       </message>
-      <message name="RAD_OF_IR" ID="5">
-        <field name="ir" type="int16"/>
-        <field name="rad" type="int16" unit="decideg"/>
-        <field name="rad_of_ir" type="float" format="%.5f"/>
-      </message>
       <message name="ATTITUDE" ID="6">
         <field name="phi" type="int16" unit="deg"/>
         <field name="psi" type="int16" unit="deg"/>
         <field name="theta" type="int16" unit="deg"/>
       </message>
-      <message name="IR_SENSORS" ID="7">
-        <field name="longitudinal" type="int16"/>
-        <field name="lateral" type="int16"/>
-        <field name="vertical" type="int16"/>
-      </message>
       <message name="GPS" ID="8">
         <field name="mode" type="uint8" unit="byte_mask"/>
         <field name="utm_east" type="int32" unit="cm"/>
@@ -69,11 +59,6 @@
         <field name="stage_time" type="uint16" unit="s"/>
         <field name="energy" type="uint16" unit="mAh"/>
       </message>
-      <message name="DEBUG_MCU_LINK" ID="13">
-        <field name="i2c_nb_err" type="uint8"/>
-        <field name="i2c_mcu1_nb_err" type="uint8"/>
-        <field name="ppm_rate" type="uint8"/>
-      </message>
       <message name="CALIBRATION" ID="14">
         <field name="climb_sum_err" type="float" format="%.1f"/>
         <field name="climb_pgain" type="float" format="%.3f"/>