Merge branch 'ahrs_int_cmpl_quat_correction_scaling' of https://githu…

…b.com/paparazzi/paparazzi into ahrs_int_cmpl_quat_correction_scaling
paparazzi · May 27, 2013 · a28db8e · a28db8e
2 parents 80f1b19 + fce0ddf
commit a28db8e
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diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -5,7 +5,7 @@
   <modules main_freq="512">
     <load name="servo_switch.xml"/>
     <load name="rotorcraft_cam.xml"/>
-    <!--load name="sonar_maxbotix_booz.xml"/-->
+    <!--load name="sonar_adc_ins.xml"/-->
     <!--load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
     </load-->

diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -3,7 +3,10 @@
   <modules main_freq="512">
     <load name="servo_switch.xml"/>
     <load name="rotorcraft_cam.xml"/>
-    <load name="sonar_adc.xml"/>
+    <load name="sonar_adc_ins.xml">
+      <configure name="ADC_SONAR" value="ADC_0"/>
+      <!--define name="SENSOR_SYNC_SEND_SONAR"/-->
+    </load>
     <!--load name="baro_mpl3115.xml">
       <define name="MPL3115_I2C_DEV" value="i2c1"/>
       <define name="USE_I2C1"/>
@@ -176,7 +179,7 @@
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
     <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
-    <define name="SONAR_SENS" value="0.009856" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
+    <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
     <define name="SONAR_MAX_RANGE" value="5.0"/>
     <define name="SONAR_MIN_RANGE" value="0.25"/>
     <!--define name="SONAR_VARIANCE_THRESHOLD" value="0.01"/-->

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
@@ -40,7 +40,7 @@
     <load name="booz_drop.xml"/>
     <load name="sys_mon.xml"/>
     <!--load name="booz_cam.xml"/-->
-    <load name="sonar_maxbotix_booz.xml">
+    <load name="sonar_adc_ins.xml">
       <configure name="ADC_SONAR" value="ADC_0"/>
     </load>
   </modules>

diff --git a/conf/airframes/examples/Twinstar_energyadaptive.xml b/conf/airframes/examples/Twinstar_energyadaptive.xml
@@ -33,7 +33,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <subsystem name="radio_control" type="ppm"/>          <!-- Radio -->
     <subsystem name="gps" type="ublox"/>                  <!-- GPS -->
     <subsystem name="telemetry"     type="transparent"/>  <!-- Communication -->
-    <subsystem name="imu"	type="aspirin_i2c_v1.5"/>      <!-- IMU -->
+    <subsystem name="imu"	type="aspirin_i2c_v1.5">      <!-- IMU -->
+      <configure name="ASPIRIN_I2C_DEV" value="i2c0"/>
+    </subsystem>
     <subsystem name="ahrs"      type="int_cmpl_quat"/>
     <subsystem name="ins"	type="alt_float"/>
     <subsystem name="control" type="energyadaptive"/>
@@ -134,9 +136,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <define name="MAG_X_SENS" value="1." integer="16"/>
     <define name="MAG_Y_SENS" value="1." integer="16"/>
     <define name="MAG_Z_SENS" value="1." integer="16"/>
-    <define name="MAG_XY_SENS" value="0.0" integer="16"/>
-    <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
-    <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI" value="-2" unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="2" unit="deg"/>

diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -197,9 +197,10 @@
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="PGAIN" value="100"/>
+    <define name="PGAIN" value="50"/>
     <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="0"/>
+    <define name="AGAIN" value="100"/>
+    <define name="IGAIN" value="20"/>
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">

diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -4,7 +4,7 @@
 
   <modules main_freq="512">
     <!--load name="vision_cmucam.xml"/-->
-    <load name="sonar_maxbotix_booz.xml"/>
+    <load name="sonar_adc_ins.xml"/>
     <load name="booz_extra_dl.xml"/>
     <load name="booz_gumstix_com.xml"/>
   </modules>

diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -4,7 +4,7 @@
 
   <modules main_freq="512">
     <load name="vision_cmucam.xml"/>
-    <load name="sonar_maxbotix_booz.xml"/>
+    <load name="sonar_adc_ins.xml"/>
   </modules>
 
   <servos>

diff --git a/conf/firmwares/lisa_passthrough.makefile b/conf/firmwares/lisa_passthrough.makefile
@@ -76,7 +76,7 @@ stm_passthrough.srcs += subsystems/commands.c
 #stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 #stm_passthrough.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
 #
-#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_I2C_DEV=i2c1
 #stm_passthrough.CFLAGS += -DUSE_I2C1
 
 # PWM actuator

diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
@@ -582,7 +582,7 @@ test_actuators_mkk.srcs   += $(COMMON_TELEMETRY_SRCS)
 test_actuators_mkk.srcs   += test/test_actuators.c
 test_actuators_mkk.srcs   += subsystems/commands.c
 test_actuators_mkk.srcs   += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_I2C_DEV=i2c1
 test_actuators_mkk.srcs   += $(SRC_FIRMWARE)/actuators/supervision.c
 test_actuators_mkk.CFLAGS += -DUSE_I2C1
 test_actuators_mkk.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -599,7 +599,7 @@ test_actuators_asctecv1.srcs   += $(COMMON_TELEMETRY_SRCS)
 
 test_actuators_asctecv1.srcs   += test/test_actuators.c
 test_actuators_asctecv1.srcs   += subsystems/commands.c
-test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_I2C_DEV=i2c1
 test_actuators_asctecv1.srcs   += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
 test_actuators_asctecv1.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c

diff --git a/conf/firmwares/subsystems/shared/actuators_asctec.makefile b/conf/firmwares/subsystems/shared/actuators_asctec.makefile
@@ -10,17 +10,17 @@ $(TARGET).CFLAGS += -DACTUATORS
 ap.srcs += subsystems/actuators/actuators_asctec.c
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
+ap.CFLAGS += -DACTUATORS_ASCTEC_I2C_DEV=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 endif
 
 ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+ap.CFLAGS += -DACTUATORS_ASCTEC_I2C_DEV=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
 
 
 # Simulator
 nps.srcs += subsystems/actuators/actuators_asctec.c
-nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
+nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_I2C_DEV=i2c0
 
diff --git a/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile
@@ -10,16 +10,16 @@ $(TARGET).CFLAGS += -DACTUATORS
 ap.srcs += subsystems/actuators/actuators_asctec_v2.c
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DACTUATORS_ASCTEC_V2_DEVICE=i2c0
+ap.CFLAGS += -DACTUATORS_ASCTEC_V2_I2C_DEV=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 endif
 
 ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DACTUATORS_ASCTEC_V2_DEVICE=i2c1
+ap.CFLAGS += -DACTUATORS_ASCTEC_V2_I2C_DEV=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
 
 
 # Simulator
 nps.srcs += subsystems/actuators/actuators_asctec_v2.c
-nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
+nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_V2_I2C_DEV=i2c0
diff --git a/conf/firmwares/subsystems/shared/actuators_mkk.makefile b/conf/firmwares/subsystems/shared/actuators_mkk.makefile
@@ -31,14 +31,14 @@ ifeq ($(MKK_I2C_SCL_TIME), )
 MKK_I2C_SCL_TIME=150
 endif
 
-ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
+ap.CFLAGS += -DACTUATORS_MKK_I2C_DEV=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME)
 
 else ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
+ap.CFLAGS += -DACTUATORS_MKK_I2C_DEV=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
 
 # Simulator
 nps.srcs += subsystems/actuators/actuators_mkk.c
-nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0
+nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_I2C_DEV=i2c0
diff --git a/conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile b/conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
@@ -31,14 +31,14 @@ ifeq ($(MKK_V2_I2C_SCL_TIME), )
 MKK_V2_I2C2_SCL_TIME=150
 endif
 
-ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c0
+ap.CFLAGS += -DACTUATORS_MKK_V2_I2C_DEV=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_V2_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_V2_I2C_SCL_TIME)
 
 else ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c1
+ap.CFLAGS += -DACTUATORS_MKK_V2_I2C_DEV=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
 
 # Simulator:
 nps.srcs += subsystems/actuators/actuators_mkk_v2.c
-nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_V2_DEVICE=i2c0
+nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_V2_I2C_DEV=i2c0
diff --git a/conf/firmwares/subsystems/shared/actuators_skiron.makefile b/conf/firmwares/subsystems/shared/actuators_skiron.makefile
@@ -26,11 +26,11 @@ $(TARGET).CFLAGS += -DACTUATORS
 ap.srcs += subsystems/actuators/actuators_skiron.c
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DACTUATORS_SKIRON_DEVICE=i2c0
+ap.CFLAGS += -DACTUATORS_SKIRON_I2C_DEV=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME)
 endif
 
 # Simulator
 nps.srcs += subsystems/actuators/actuators_skiron.c
-nps.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DACTUATORS_SKIRON_DEVICE=i2c0
+nps.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DACTUATORS_SKIRON_I2C_DEV=i2c0
 
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
@@ -49,16 +49,25 @@ IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
 IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_SLAVE_IDX=SPI_SLAVE0
 IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_DEV=spi1
 IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
-IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=i2c1
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C1
+ifndef ASPIRIN_I2C_DEV
+ASPIRIN_I2C_DEV=i2c0
+endif
 else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
 IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
 # Slave select configuration
 # SLAVE2 is on PB12 (NSS) (ADXL345 CS)
 IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
+ifndef ASPIRIN_I2C_DEV
+ASPIRIN_I2C_DEV=i2c2
+endif
 endif
 
+# convert i2cx to upper case
+ASPIRIN_I2C_DEV_UPPER=$(shell echo $(ASPIRIN_I2C_DEV) | tr a-z A-Z)
+
+IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=$(ASPIRIN_I2C_DEV)
+IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_I2C_DEV_UPPER)
+
 #
 # NPS simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_i2c_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_i2c_common.makefile
@@ -38,12 +38,19 @@ IMU_ASPIRIN_SRCS   += peripherals/itg3200.c
 # Magnetometer
 IMU_ASPIRIN_SRCS   += peripherals/hmc58xx.c
 
+# set default i2c bus
+ifndef ASPIRIN_I2C_DEV
 ifeq ($(ARCH), lpc21)
-IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=i2c1
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C1
-IMU_ASPIRIN_CFLAGS += -DI2C1_VIC_SLOT=12
+ASPIRIN_I2C_DEV=i2c0
 else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
+ASPIRIN_I2C_DEV=i2c2
 endif
+endif
+
+# convert i2cx to upper case
+ASPIRIN_I2C_DEV_UPPER=$(shell echo $(ASPIRIN_I2C_DEV) | tr a-z A-Z)
+
+IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=$(ASPIRIN_I2C_DEV)
+IMU_ASPIRIN_CFLAGS += -DUSE_$(ASPIRIN_I2C_DEV_UPPER)
 
 include $(CFG_SHARED)/imu_nps.makefile
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -1135,11 +1135,13 @@
     <field name="cmd_thrust" type="int32"/>
  </message>
 
-  <message name="GUIDANCE" id="144">
-    <field name="pos_n"    type="int32"/>
-    <field name="pos_e"    type="int32"/>
-    <field name="sp_pos_n" type="int32"/>
-    <field name="sp_pos_e" type="int32"/>
+  <message name="GUIDANCE_H_INT" id="144">
+    <field name="sp_x"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="sp_y"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="ref_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="ref_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="est_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="est_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
   </message>
 
   <message name="VERT_LOOP" id="145">

diff --git a/conf/modules/sonar_adc.xml b/conf/modules/sonar_adc.xml
@@ -3,8 +3,8 @@
 <module name="sonar">
   <doc>
     <description>
-     Sonar ADC driver
-     output - Sonar_distance in [m]
+     Sonar ADC driver.
+     Reads an anlog sonar sensor and outputs sonar distance in [m]
     </description>
     <configure name="ADC_SONAR" value="ADC_X" description="select ADC to use with the sonar"/>
     <define name="SONAR_OFFSET" value="0.0"  description="sensor offset in [m] - default is 0.0"/>

diff --git a/conf/modules/sonar_maxbotix_booz.xml → conf/modules/sonar_adc_ins.xml b/conf/modules/sonar_maxbotix_booz.xml → conf/modules/sonar_adc_ins.xml
@@ -3,8 +3,9 @@
 <module name="sonar">
   <doc>
     <description>
-     Sonar ADC INS.
-     On Booz board, ADC_0 should be use by default (payload connector)
+     Sonar ADC (INS bindings).
+     Sonar ADC driver with INS binding, wich oes the same than sonar_adc module with an event function to feed INS subsystem.
+     Even if SONAR_OFFSET and _SCALE can be set, currently only the raw value and the INS_SONAR_SENS will be used in ins filters.
     </description>
     <configure name="ADC_SONAR" value="ADC_X" description="select ADC to use with the sonar"/>
   </doc>
@@ -19,12 +20,6 @@
     <file name="sonar_adc.c"/>
   </makefile>
   <makefile target="ap">
-    <raw>
-# set ADC_SONAR to ADC_0 as default
-ifeq ($(ADC_SONAR),)
-ADC_SONAR = ADC_0
-endif
-    </raw>
     <define name="ADC_CHANNEL_SONAR" value="$(ADC_SONAR)"/>
     <define name="USE_$(ADC_SONAR)"/>
     <define name="USE_SONAR"/>

diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml
@@ -10,23 +10,24 @@
       <dl_setting var="guidance_v_nominal_throttle" min="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
       <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
       <dl_setting var="ins.vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
-   </dl_settings>
+    </dl_settings>
 
-   <dl_settings NAME="Horiz Loop">
+    <dl_settings NAME="Horiz Loop">
+      <dl_setting var="guidance_h_use_ref" min="0" step="1" max="1" module="guidance/guidance_h" shortname="use_ref" values="FALSE|TRUE" handler="SetUseRef" param="GUIDANCE_H_USE_REF"/>
       <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
       <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
       <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/>
       <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
       <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
       <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
       <dl_setting var="ins.hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
-   </dl_settings>
+    </dl_settings>
 
-   <dl_settings NAME="NAV">
-     <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
-     <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
-     <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
-   </dl_settings>
+    <dl_settings NAME="NAV">
+      <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
+      <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
+      <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
+    </dl_settings>
 
   </dl_settings>
 </settings>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
@@ -94,14 +94,17 @@
     <mode name="h_loop" key_press="h">
       <message name="ALIVE"                 period="0.9"/>
       <message name="HOVER_LOOP"            period="0.062"/>
-      <message name="STAB_ATTITUDE"         period=".4"/>
-      <message name="HFF_DBG"               period=".2"/>
-      <!--<message name="STAB_ATTITUDE_REF" period=".4"/>-->
+      <message name="GUIDANCE_H_REF"        period="0.062"/>
+      <message name="STAB_ATTITUDE"         period="0.4"/>
+      <!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
       <message name="ROTORCRAFT_FP"         period="0.8"/>
       <message name="ROTORCRAFT_STATUS"     period="1.2"/>
       <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
-	  <message name="HFF_GPS"               period=".03"/>
       <message name="INS_REF"               period="5.1"/>
+      <!-- HFF messages are only sent if USE_HFF -->
+      <message name="HFF"                   period=".05"/>
+	  <message name="HFF_GPS"               period=".03"/>
+      <message name="HFF_DBG"               period=".2"/>
     </mode>
 
     <mode name="aligner">
@@ -120,6 +123,7 @@
       <message name="DL_VALUE"          period="1.1"/>
       <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="ALIVE"             period="2.1"/>
+      <message name="GUIDANCE_H_INT"    period="0.05"/>
       <!--<message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>-->
       <!-- <message name="GPS_INT"               period=".20"/> -->
       <!--<message name="INS2"              period=".05"/>