use imu analog_gyro subsystem in microjet example and print errors if…

… old gyro subsystems are used
paparazzi · Oct 31, 2011 · 620e3b1 · 620e3b1
1 parent 64c5aa0
commit 620e3b1
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Showing 3 changed files with 25 additions and 33 deletions.
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
@@ -67,13 +67,19 @@
     <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
-  <section name="GYRO" prefix="GYRO_">
+  <!--section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="500"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
     <define name="ROLL_DIRECTION" value="1."/>
+  </section-->
+
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_SIGN"  value="1"/>
+    <define name="GYRO_P_NEUTRAL" value="32362"/>
+    <define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
   </section>
 
   <section name="BAT">
@@ -186,9 +192,11 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="gyro"          type="roll"/>
-    <subsystem name="ahrs" 		type="infrared"/>
-    <subsystem name="gps" 		    type="ublox_utm"/>
+    <subsystem name="imu"       type="analog_gyro">
+      <configure name="GYRO_P" value="ADC_3"/>
+    </subsystem>
+    <subsystem name="ahrs"      type="infrared"/>
+    <subsystem name="gps"       type="ublox_utm"/>
     <subsystem name="navigation"/>
 
   </firmware>

diff --git a/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile b/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile
@@ -1,14 +1,8 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-# additional pitch stabilization with gyro
-#
-# this assumes you are already using a roll gyro
-#
-# default values for tiny and twog are:
-# ADC_GYRO_PITCH    = ADC_4
-#
-# to change just redefine these before including this file
-#
-
-ap.CFLAGS += -DADC_CHANNEL_GYRO_PITCH=$(ADC_GYRO_PITCH) -DUSE_$(ADC_GYRO_PITCH)
+$(info Error: Please replace <subsystem name="gyro" type="pitch"/> with)
+$(info   <subsystem name="imu" type="analog_gyro">)
+$(info     <configure name="GYRO_P" value="ADC_3"/>)
+$(info     <configure name="GYRO_Q" value="ADC_4"/>)
+$(info   </subsystem>)
+$(info in your airframe file.)
 
+$(error The gyro_pitch subsystem has been removed)
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile b/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile
@@ -1,17 +1,7 @@
-# Hey Emacs, this is a -*- makefile -*-
+$(info Error: Please replace <subsystem name="gyro" type="roll"/> with)
+$(info   <subsystem name="imu" type="analog_gyro">)
+$(info     <configure name="GYRO_P" value="ADC_3"/>)
+$(info   </subsystem>)
+$(info in your airframe file.)
 
-# roll stabilization with gyro
-
-#
-# default values for tiny and twog are:
-# ADC_GYRO_ROLL    = ADC_3
-# ADC_GYRO_NB_SAMPLES = 16
-#
-# to change just redefine these before including this file
-#
-
-ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
-ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
-
-ap.CFLAGS += -DUSE_GYRO -DADXRS150
-ap.srcs += $(SRC_FIXEDWING)/gyro.c
+$(error The gyro_pitch subsystem has been removed)