[modules] baro modules for real sensors only for ap target, not sim

paparazzi · Oct 7, 2013 · bfe0072 · bfe0072
1 parent 49ab9ba
commit bfe0072
Show file tree

Hide file tree

Showing 6 changed files with 4 additions and 42 deletions.
diff --git a/conf/modules/baro_amsys.xml b/conf/modules/baro_amsys.xml
@@ -20,7 +20,7 @@
   <periodic fun="baro_amsys_read_periodic()" freq="10."/>
   <event fun="BaroAmsysEvent()"/>
 
-  <makefile>
+  <makefile target="ap">
     <file name="baro_amsys.c"/>
   </makefile>
 

diff --git a/conf/modules/baro_ets.xml b/conf/modules/baro_ets.xml
@@ -31,7 +31,7 @@
   <periodic fun="baro_ets_read_periodic()" freq="10."/>
   <event fun="BaroEtsEvent()"/>
 
-  <makefile>
+  <makefile target="ap">
     <file name="baro_ets.c"/>
   </makefile>
 

diff --git a/conf/modules/baro_hca.xml b/conf/modules/baro_hca.xml
@@ -13,7 +13,7 @@
   <periodic fun="baro_hca_read_periodic()" freq="10."/>
   <event fun="BaroHcaEvent()"/>
 
-  <makefile>
+  <makefile target="ap">
     <file name="baro_hca.c"/>
   </makefile>
 

diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
@@ -30,12 +30,6 @@
 #include <math.h>
 #include "generated/flight_plan.h" // for ground alt
 
-#ifdef SITL
-#include "subsystems/gps.h"
-#include "subsystems/navigation/common_nav.h"
-#include "math/pprz_isa.h"
-#endif
-
 //Messages
 #include "mcu_periph/uart.h"
 #include "messages.h"
@@ -128,27 +122,13 @@ void baro_amsys_init( void ) {
 
 void baro_amsys_read_periodic( void ) {
   // Initiate next read
-#ifndef SITL
   if (baro_amsys_i2c_trans.status == I2CTransDone){
 #ifndef MEASURE_AMSYS_TEMPERATURE
     i2c_receive(&BARO_AMSYS_I2C_DEV, &baro_amsys_i2c_trans, BARO_AMSYS_ADDR, 2);
 #else
     i2c_receive(&BARO_AMSYS_I2C_DEV, &baro_amsys_i2c_trans, BARO_AMSYS_ADDR, 4);
 #endif
   }
-#else // SITL
-  /* fake an offset so sim works for under hmsl as well */
-  if (!baro_amsys_offset_init) {
-    baro_amsys_offset = BARO_AMSYS_OFFSET_MAX;
-    baro_amsys_offset_init = TRUE;
-  }
-  pBaroRaw = 0;
-  baro_amsys_altitude = gps.hmsl / 1000.0;
-  baro_amsys_p = pprz_isa_pressure_of_altitude(baro_amsys_altitude);
-  baro_amsys_adc = baro_amsys_p;
-  AbiSendMsgBARO_ABS(BARO_AMSYS_SENDER_ID, &baro_amsys_p);
-  baro_amsys_valid = TRUE;
-#endif
 
 #ifdef BARO_AMSYS_SYNC_SEND
   DOWNLINK_SEND_AMSYS_BARO(DefaultChannel, DefaultDevice, &pBaroRaw, &baro_amsys_p, &baro_amsys_offset, &ref_alt_init, &baro_amsys_abs_altitude, &baro_amsys_altitude, &baro_amsys_temp);

diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h
@@ -36,11 +36,7 @@
 extern struct Bmp085 baro_bmp;
 
 /// new measurement every 3rd baro_bmp_periodic
-#ifndef SITL
 #define BARO_BMP_DT (BARO_BMP_PERIODIC_PERIOD / 3)
-#else
-#define BARO_BMP_DT BARO_BMP_PERIODIC_PERIOID
-#endif
 
 extern bool_t baro_bmp_enabled;
 extern float baro_bmp_r;

diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
@@ -48,10 +48,6 @@
 
 #include "subsystems/nav.h"
 
-#ifdef SITL
-#include "subsystems/gps.h"
-#endif
-
 #ifdef BARO_ETS_SYNC_SEND
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
@@ -133,23 +129,13 @@ void baro_ets_init( void ) {
 
 void baro_ets_read_periodic( void ) {
   // Initiate next read
-#ifndef SITL
   if (!baro_ets_delay_done) {
     if (SysTimeTimer(baro_ets_delay_time) < USEC_OF_SEC(BARO_ETS_START_DELAY)) return;
     else baro_ets_delay_done = TRUE;
   }
-  if (baro_ets_i2c_trans.status == I2CTransDone)
+  if (baro_ets_i2c_trans.status == I2CTransDone) {
     i2c_receive(&BARO_ETS_I2C_DEV, &baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
-#else // SITL
-  /* fake an offset so sim works as well */
-  if (!baro_ets_offset_init) {
-    baro_ets_offset = 12400;
-    baro_ets_offset_init = TRUE;
   }
-  baro_ets_altitude = gps.hmsl / 1000.0;
-  baro_ets_adc = baro_ets_offset - ((baro_ets_altitude - ground_alt) / BARO_ETS_SCALE);
-  baro_ets_valid = TRUE;
-#endif
 
 #ifdef BARO_ETS_SYNC_SEND
   DOWNLINK_SEND_BARO_ETS(DefaultChannel, DefaultDevice, &baro_ets_adc, &baro_ets_offset, &baro_ets_altitude);