fix compilation of modules tests

paparazzi · Sep 19, 2022 · 5277ae7 · 5277ae7
1 parent d6fa1a0
commit 5277ae7
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Showing 21 changed files with 75 additions and 49 deletions.
diff --git a/conf/modules/gps_nps.xml b/conf/modules/gps_nps.xml
@@ -21,7 +21,9 @@
     <file name="gps_sim_nps.c"/>
     <define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
     <test>
+      <define name="PERIODIC_FREQUENCY" value="500"/>
       <include name="../simulator/nps"/>
+      <include name="../../conf/simulator/nps"/>
       <shell cmd="pkg-config glib-2.0 --cflags"/>
     </test>
   </makefile>

diff --git a/conf/modules/imu_vectornav.xml b/conf/modules/imu_vectornav.xml
@@ -30,6 +30,6 @@
     <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
     <file name="vn200_serial.c" dir="peripherals"/>
-    <file name="imu_vectornav.c"/
+    <file name="imu_vectornav.c"/>
   </makefile>
 </module>
diff --git a/conf/modules/ins_nps.xml b/conf/modules/ins_nps.xml
@@ -23,7 +23,9 @@
     <!-- use attitude from nps sim -->
     <define name="NPS_BYPASS_AHRS" value="TRUE"/>
     <test>
+      <define name="PERIODIC_FREQUENCY" value="500"/>
       <include name="../simulator/nps"/>
+      <include name="../../conf/simulator/nps"/>
       <shell cmd="pkg-config glib-2.0 --cflags"/>
     </test>
   </makefile>

diff --git a/sw/airborne/modules/ahrs/ahrs_madgwick.c b/sw/airborne/modules/ahrs/ahrs_madgwick.c
@@ -79,7 +79,6 @@ void ahrs_madgwick_propagate(struct FloatRates* gyro, float dt)
   }
 
   // unbias gyro
-  struct FloatRates gyro_unbiased;
   RATES_DIFF(ahrs_madgwick.rates, *gyro, ahrs_madgwick.bias);
 
   // Rate of change of quaternion from gyroscope

diff --git a/sw/airborne/modules/imu/imu_bmi088_i2c.c b/sw/airborne/modules/imu/imu_bmi088_i2c.c
@@ -102,7 +102,7 @@ void imu_bmi088_init(void)
 
   // Set the default scaling
   imu_set_defaults_gyro(IMU_BMI088_ID, NULL, NULL, BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE]);
-  imu_set_defaults_accel(IMU_BMI088_ID, NULL, NULL, MI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE]);
+  imu_set_defaults_accel(IMU_BMI088_ID, NULL, NULL, BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE]);
 }
 
 void imu_bmi088_periodic(void)

diff --git a/sw/airborne/modules/imu/imu_disco.c b/sw/airborne/modules/imu/imu_disco.c
@@ -139,7 +139,13 @@ void imu_disco_event(void)
   ak8963_event(&imu_disco.ak);
 
   if (imu_disco.ak.data_available) {
-    AbiSendMsgIMU_MAG_RAW(IMU_BOARD_ID, now_ts, &imu_disco.ak.data.vect);
-    imu_disco.ak.data_available = false; 
+    struct Int32Vect3 mag;
+    VECT3_ASSIGN(mag,
+        imu_disco.ak.data.vect.x,
+        imu_disco.ak.data.vect.y,
+        imu_disco.ak.data.vect.z);
+
+    AbiSendMsgIMU_MAG_RAW(IMU_BOARD_ID, now_ts, &mag);
+    imu_disco.ak.data_available = false;
   }
 }
diff --git a/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
@@ -167,7 +167,7 @@ void imu_mpu_hmc_event(void)
     };
 
     imu_mpu_hmc.mpu.data_available = false;
-    AbiSendMsgIMU_GYRO_RAW(IMU_MPU6000_HMC_ID, now_ts, &gyro, 1);
+    AbiSendMsgIMU_GYRO_RAW(IMU_MPU6000_HMC_ID, now_ts, &rates, 1);
     AbiSendMsgIMU_ACCEL_RAW(IMU_MPU6000_HMC_ID, now_ts, &accel, 1);
   }
 

diff --git a/sw/airborne/modules/imu/imu_mpu9250.c b/sw/airborne/modules/imu/imu_mpu9250.c
@@ -51,28 +51,31 @@ void imu_mpu9250_event(void)
 
 #include "math/pprz_algebra_int.h"
 #include "modules/datalink/downlink.h"
+#include "modules/core/abi.h"
 
 void imu_mpu9250_report(void)
 {
+  uint8_t id = IMU_MPU9250_ID;
+
   struct Int32Vect3 accel = {
     (int32_t)(mpu9250.data_accel.vect.x),
     (int32_t)(mpu9250.data_accel.vect.y),
     (int32_t)(mpu9250.data_accel.vect.z)
   };
-  DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &accel.x, &accel.y, &accel.z);
+  DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &id, &accel.x, &accel.y, &accel.z);
 
   struct Int32Rates rates = {
     (int32_t)(mpu9250.data_rates.rates.p),
     (int32_t)(mpu9250.data_rates.rates.q),
     (int32_t)(mpu9250.data_rates.rates.r)
   };
-  DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &rates.p, &rates.q, &rates.r);
+  DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &id, &rates.p, &rates.q, &rates.r);
 
   struct Int32Vect3 mag = {
     (int32_t)(mpu9250.akm.data.vect.x),
     (int32_t)(mpu9250.akm.data.vect.y),
     (int32_t)(mpu9250.akm.data.vect.z)
   };
-  DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &mag.x, &mag.y, &mag.z);
+  DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &id, &mag.x, &mag.y, &mag.z);
 }
 
diff --git a/sw/airborne/modules/imu/imu_mpu9250_i2c.c b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
@@ -142,8 +142,8 @@ void imu_mpu9250_event(void)
     };
 
     imu_mpu9250.mpu.data_available = false;
-    AbiSendMsgIMU_GYRO_RAW(IMU_MPU9250_ID, now_ts, &gyro, 1);
-    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &accel, 1);
+    AbiSendMsgIMU_GYRO_RAW(IMU_MPU9250_ID, now_ts, &rates, 1);
+    AbiSendMsgIMU_ACCEL_RAW(IMU_MPU9250_ID, now_ts, &accel, 1);
   }
 #if IMU_MPU9250_READ_MAG
   // Test if mag data are updated

diff --git a/sw/airborne/modules/imu/imu_px4fmu_v2.4.c b/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
@@ -104,7 +104,12 @@ void imu_px4_event(void) {
 #if !IMU_PX4_DISABLE_MAG
   lsm303d_spi_event(&imu_px4.lsm_mag);
   if (imu_px4.lsm_mag.data_available_mag) {
-    AbiSendMsgIMU_MAG_RAW(IMU_PX4_ID, now_ts, &imu_px4.lsm_mag.data_mag.vect);
+    struct Int32Vect3 mag;
+    VECT3_ASSIGN(mag,
+        imu_px4.lsm_mag.data_mag.vect.x,
+        imu_px4.lsm_mag.data_mag.vect.y,
+        imu_px4.lsm_mag.data_mag.vect.z);
+    AbiSendMsgIMU_MAG_RAW(IMU_PX4_ID, now_ts, &mag);
     imu_px4.lsm_mag.data_available_mag = FALSE;
   }
 #endif

diff --git a/sw/airborne/modules/ins/imu_xsens.c b/sw/airborne/modules/ins/imu_xsens.c
@@ -65,33 +65,48 @@ static void handle_ins_msg(void)
   }
   if (xsens.accel_available) {
     struct Int32Vect3 accel = {
-      -ACCEL_BFP_OF_REAL(xsens.accel.ax),
-      -ACCEL_BFP_OF_REAL(xsens.accel.ay),
-      ACCEL_BFP_OF_REAL(xsens.accel.az)
+      -ACCEL_BFP_OF_REAL(xsens.accel.x),
+      -ACCEL_BFP_OF_REAL(xsens.accel.y),
+      ACCEL_BFP_OF_REAL(xsens.accel.z)
     };
     xsens.accel_available = FALSE;
     AbiSendMsgIMU_ACCEL_RAW(IMU_XSENS_ID, now_ts, &accel, 1);
   }
   if (xsens.mag_available) {
     struct Int32Vect3 mag = {
-      -MAG_BFP_OF_REAL(xsens.mag.mx),
-      -MAG_BFP_OF_REAL(xsens.mag.my),
-      MAG_BFP_OF_REAL(xsens.mag.mz)
+      -MAG_BFP_OF_REAL(xsens.mag.x),
+      -MAG_BFP_OF_REAL(xsens.mag.y),
+      MAG_BFP_OF_REAL(xsens.mag.z)
     };
     xsens.mag_available = FALSE;
     AbiSendMsgIMU_MAG_RAW(IMU_XSENS_ID, now_ts, &mag);
   }
 #else
   if (xsens.gyro_available) {
-    AbiSendMsgIMU_GYRO_RAW(IMU_XSENS_ID, now_ts, &xsens.gyro, 1);
+    struct Int32Rates gyro = {
+      RATE_BFP_OF_REAL(xsens.gyro.p),
+      RATE_BFP_OF_REAL(xsens.gyro.q),
+      RATE_BFP_OF_REAL(xsens.gyro.r)
+    };
+    AbiSendMsgIMU_GYRO_RAW(IMU_XSENS_ID, now_ts, &gyro, 1);
     xsens.gyro_available = FALSE;
   }
   if (xsens.accel_available) {
-    AbiSendMsgIMU_ACCEL_RAW(IMU_XSENS_ID, now_ts, &xsens.accel, 1);
+    struct Int32Vect3 accel = {
+      ACCEL_BFP_OF_REAL(xsens.accel.x),
+      ACCEL_BFP_OF_REAL(xsens.accel.y),
+      ACCEL_BFP_OF_REAL(xsens.accel.z)
+    };
+    AbiSendMsgIMU_ACCEL_RAW(IMU_XSENS_ID, now_ts, &accel, 1);
     xsens.accel_available = FALSE;
   }
   if (xsens.mag_available) {
-    AbiSendMsgIMU_MAG_RAW(IMU_XSENS_ID, now_ts, &xsens.mag);
+    struct Int32Vect3 mag = {
+      MAG_BFP_OF_REAL(xsens.mag.x),
+      MAG_BFP_OF_REAL(xsens.mag.y),
+      MAG_BFP_OF_REAL(xsens.mag.z)
+    };
+    AbiSendMsgIMU_MAG_RAW(IMU_XSENS_ID, now_ts, &mag);
     xsens.mag_available = FALSE;
   }
 #endif /* XSENS_BACKWARDS */

diff --git a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
@@ -301,7 +301,7 @@ static void gyro_cb(uint8_t sender_id __attribute__((unused)),
                     uint32_t stamp, struct Int32Rates *gyro)
 {
   if (ins_mekf_wind.is_aligned) {
-    struct FloatRates gyro_f, gyro_body;
+    struct FloatRates gyro_body;
     RATES_FLOAT_OF_BFP(gyro_body, *gyro);
 
 #if USE_AUTO_INS_FREQ || !defined(INS_PROPAGATE_FREQUENCY)

diff --git a/sw/airborne/modules/ins/ins_vectornav.c b/sw/airborne/modules/ins/ins_vectornav.c
@@ -74,25 +74,29 @@ static void send_vn_info(struct transport_tx *trans, struct link_device *dev)
 
 static void send_accel(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_IMU_ACCEL(trans, dev, AC_ID,
+  uint8_t id = IMU_VECTORNAV_ID;
+  pprz_msg_send_IMU_ACCEL(trans, dev, AC_ID, &id,
                           &ins_vn.vn_data.accel.x, &ins_vn.vn_data.accel.y, &ins_vn.vn_data.accel.z);
 }
 
 static void send_gyro(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_IMU_GYRO(trans, dev, AC_ID,
+  uint8_t id = IMU_VECTORNAV_ID;
+  pprz_msg_send_IMU_GYRO(trans, dev, AC_ID, &id,
                          &ins_vn.vn_data.gyro.p, &ins_vn.vn_data.gyro.q, &ins_vn.vn_data.gyro.r);
 }
 
 static void send_accel_scaled(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_IMU_ACCEL_SCALED(trans, dev, AC_ID,
+  uint8_t id = IMU_VECTORNAV_ID;
+  pprz_msg_send_IMU_ACCEL_SCALED(trans, dev, AC_ID, &id,
                                  &ins_vn.accel_i.x, &ins_vn.accel_i.y, &ins_vn.accel_i.z);
 }
 
 static void send_gyro_scaled(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_IMU_GYRO_SCALED(trans, dev, AC_ID,
+  uint8_t id = IMU_VECTORNAV_ID;
+  pprz_msg_send_IMU_GYRO_SCALED(trans, dev, AC_ID, &id,
                                  &ins_vn.gyro_i.p, &ins_vn.gyro_i.q, &ins_vn.gyro_i.r);
 }
 #endif

diff --git a/sw/airborne/modules/sensors/mag_hmc5843.c b/sw/airborne/modules/sensors/mag_hmc5843.c
@@ -22,7 +22,7 @@
 #include "pprzlink/messages.h"
 #include "modules/datalink/downlink.h"
 #include <math.h>
-
+#include "modules/core/abi.h"
 #include "../../peripherals/hmc5843.h"
 
 
@@ -43,7 +43,8 @@ void hmc5843_module_periodic(void)
   mag_x = hmc5843.data.value[0];
   mag_y = hmc5843.data.value[1];
   mag_z = hmc5843.data.value[2];
-  RunOnceEvery(30, DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &mag_x, &mag_y, &mag_z));
+  uint8_t id = MAG_HMC58XX_SENDER_ID;
+  RunOnceEvery(30, DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &id, &mag_x, &mag_y, &mag_z));
 }
 
 void hmc5843_module_event(void)

diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
@@ -30,6 +30,7 @@
 #include "pprzlink/messages.h"
 #include "modules/datalink/downlink.h"
 #include "generated/airframe.h"
+#include "modules/core/abi.h"
 
 #ifndef HMC58XX_CHAN_X
 #define HMC58XX_CHAN_X 0
@@ -51,8 +52,6 @@
 #endif
 
 #if MODULE_HMC58XX_UPDATE_AHRS
-#include "modules/imu/imu.h"
-#include "modules/core/abi.h"
 
 #if defined HMC58XX_MAG_TO_IMU_PHI && defined HMC58XX_MAG_TO_IMU_THETA && defined HMC58XX_MAG_TO_IMU_PSI
 #define USE_MAG_TO_IMU 1
@@ -106,7 +105,7 @@ void mag_hmc58xx_module_event(void)
     // unscaled vector
     VECT3_COPY(mag, imu_mag);
 #endif
-  
+
     AbiSendMsgIMU_MAG_RAW(MAG_HMC58XX_SENDER_ID, now_ts, &mag);
 #endif
 #if MODULE_HMC58XX_SYNC_SEND

diff --git a/sw/airborne/modules/sensors/mag_ist8310.c b/sw/airborne/modules/sensors/mag_ist8310.c
@@ -29,6 +29,7 @@
 #include "pprzlink/messages.h"
 #include "modules/datalink/downlink.h"
 #include "generated/airframe.h"
+#include "modules/core/abi.h"
 
 #ifndef IST8310_CHAN_X
 #define IST8310_CHAN_X 1
@@ -49,11 +50,6 @@
 #define IST8310_CHAN_Z_SIGN +
 #endif
 
-#if MODULE_IST8310_UPDATE_AHRS
-#include "modules/imu/imu.h"
-#include "modules/core/abi.h"
-#endif
-
 struct IST8310 mag_ist8310;
 
 void mag_ist8310_module_init(void)

diff --git a/sw/airborne/modules/sensors/mag_lis3mdl.c b/sw/airborne/modules/sensors/mag_lis3mdl.c
@@ -29,6 +29,7 @@
 #include "pprzlink/messages.h"
 #include "modules/datalink/downlink.h"
 #include "generated/airframe.h"
+#include "modules/core/abi.h"
 
 #ifndef LIS3MDL_CHAN_X
 #define LIS3MDL_CHAN_X 0
@@ -49,11 +50,6 @@
 #define LIS3MDL_CHAN_Z_SIGN +
 #endif
 
-#if MODULE_LIS3MDL_UPDATE_AHRS
-#include "modules/imu/imu.h"
-#include "modules/core/abi.h"
-#endif
-
 struct Lis3mdl mag_lis3mdl;
 
 void mag_lis3mdl_module_init(void)

diff --git a/sw/airborne/modules/sensors/mag_rm3100.c b/sw/airborne/modules/sensors/mag_rm3100.c
@@ -29,6 +29,7 @@
 #include "pprzlink/messages.h"
 #include "modules/datalink/downlink.h"
 #include "generated/airframe.h"
+#include "modules/core/abi.h"
 
 #ifndef RM3100_CHAN_X
 #define RM3100_CHAN_X 0
@@ -58,8 +59,6 @@
 #endif
 
 #if MODULE_RM3100_UPDATE_AHRS
-#include "modules/imu/imu.h"
-#include "modules/core/abi.h"
 
 #if defined RM3100_MAG_TO_IMU_PHI && defined RM3100_MAG_TO_IMU_THETA && defined RM3100_MAG_TO_IMU_PSI
 #define USE_MAG_TO_IMU 1

diff --git a/sw/airborne/peripherals/bmi088.h b/sw/airborne/peripherals/bmi088.h
@@ -28,6 +28,7 @@
 #define BMI088_H
 
 #include "std.h"
+#include "math/pprz_algebra_int.h"
 
 /* Include address and register definition */
 #include "peripherals/bmi088_regs.h"

diff --git a/sw/airborne/peripherals/mpu60x0.c b/sw/airborne/peripherals/mpu60x0.c
@@ -14,9 +14,8 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * 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.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
 /**

diff --git a/sw/airborne/peripherals/mpu60x0.h b/sw/airborne/peripherals/mpu60x0.h
@@ -14,9 +14,8 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * 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.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
 /**