[conf] CDW

paparazzi · Sep 15, 2015 · 89efdef · 89efdef
1 parent 426d50c
commit 89efdef
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
@@ -24,9 +24,6 @@
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </subsystem>
-    <subsystem name="ahrs" type="float_mlkf">
-      <configure name="SECONDARY_AHRS" value="float_mlkf"/>
-    </subsystem>
     <subsystem name="ins" type="extended"/>
   </firmware>
 

diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml
@@ -16,8 +16,8 @@
    airframe="airframes/CDW/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_aubel.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
   />

diff --git a/sw/airborne/modules/computer_vision/cv_georeference.c b/sw/airborne/modules/computer_vision/cv_georeference.c
@@ -106,6 +106,10 @@ void georeference_project(struct camera_frame_t *tar, int wp)
   if (wp > 0) {
     waypoint_set_xy_i(wp, geo.x_t.y, geo.x_t.x);
     waypoint_set_alt_i(wp, geo.x_t.z);
+
+//    DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp, &(geo.x_t->x),
+//                                   &(geo.x_t->y), &(geo.x_t->z));
+
   }
 }