renamed ahrs subsystems for clarity

paparazzi · Aug 23, 2011 · cd5928d · cd5928d
1 parent 2ef3e3e
commit cd5928d
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diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -35,7 +35,7 @@
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="dcm"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
     <subsystem name="control" type="new"/>
     <subsystem name="navigation"/>
     <!-- Sensors -->

diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -30,7 +30,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -35,7 +35,7 @@
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -17,7 +17,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -31,7 +31,7 @@
     <subsystem name="imu"           type="navgo"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -16,7 +16,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
@@ -266,8 +266,8 @@
 	 <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-   <!--    <subsystem name="ahrs"          type="cmpl"/> -->
-   <subsystem name="ahrs"          type="ic"/>
+   <!--    <subsystem name="ahrs"          type="int_cmpl_euler"/> -->
+   <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -238,13 +238,13 @@
 
     <!-- Sensors -->
     <!--
-    <subsystem name="ahrs" type="ic">
+    <subsystem name="ahrs" type="int_cmpl_quat">
       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
     </subsystem>
     <subsystem name="imu" type="aspirin_i2c"/>
     -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm">
+    <subsystem name="ahrs" type="float_dcm">
 <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
 

diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
@@ -207,7 +207,7 @@
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
@@ -234,9 +234,9 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
@@ -186,7 +186,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
 

diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -295,7 +295,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
     <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_utm"/>

diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -214,7 +214,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
     <subsystem name="gps" type="ublox_utm"/>
     <subsystem name="navigation"/>
 

diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -294,7 +294,7 @@ second attempt
 	<subsystem name="imu"           type="crista"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
 
   </firmware>

diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -253,7 +253,7 @@
 	<subsystem name="imu"           type="b2_v1.1"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
   </firmware>
 

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
@@ -19,7 +19,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="booz2_test_progs">

diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
@@ -209,7 +209,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
 </firmware>
 <firmware name="booz_test_progs">
     <target name="test_telemetry" board="booz_1.0"/>

diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
@@ -198,7 +198,7 @@
 
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="stabilization" type="quaternion"/>
   </firmware>
 

diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -205,7 +205,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
@@ -226,7 +226,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
 

diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -205,8 +205,8 @@
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
-    <!--<subsystem name="ahrs"          type="ic"/>-->
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <!--<subsystem name="ahrs"          type="int_cmpl_quat"/>-->
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
@@ -207,9 +207,9 @@
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
@@ -212,7 +212,7 @@
       <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
-    <subsystem name="ahrs"  type="dcm"/>
+    <subsystem name="ahrs"  type="float_dcm"/>
     <subsystem name="gps"       type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>

diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
@@ -36,7 +36,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
 
     <subsystem name="i2c"/>
 

diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
@@ -204,7 +204,7 @@
       <configure name="GPS_PORT"     value="UART3"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">

diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
@@ -13,7 +13,7 @@
     <subsystem name="control"/>
 
     <!-- Attitude Estimation -->
-    <subsystem name="ahrs" 		type="dcm"/>
+    <subsystem name="ahrs" 		type="float_dcm"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="hb"/>

diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
@@ -1,7 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-# $Id$
-#
 # Copyright (C) 2010 The Paparazzi Team
 #
 # This file is part of Paparazzi.

diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
@@ -1,55 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
+include $(CFG_FIXEDWING)/ahrs_float_dcm.makefile
 
-# attitude estimation for fixedwings via dcm algorithm
-
-
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-
-ifeq ($(TARGET), ap)
-
-ap.CFLAGS += -DUSE_AHRS
-
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
-
-ifdef AHRS_ALIGNER_LED
-  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 60
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 60
-endif
-
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-
-endif
-
-# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
-
-ifeq ($(TARGET), sim)
-
-sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
-sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
-
-sim.CFLAGS += -DUSE_INFRARED
-sim.srcs += subsystems/sensors/infrared.c
-sim.srcs += subsystems/sensors/infrared_adc.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-sim.srcs += $(SRC_ARCH)/sim_imu.c
-
-endif
-
-jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
+$(warning The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -0,0 +1,55 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# attitude estimation for fixedwings via dcm algorithm
+
+
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+
+ifeq ($(TARGET), ap)
+
+ap.CFLAGS += -DUSE_AHRS
+
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
+
+ifdef AHRS_ALIGNER_LED
+  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+
+ifdef CPU_LED
+  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
+endif
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+else
+  AHRS_PROPAGATE_FREQUENCY = 60
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+else
+  AHRS_CORRECT_FREQUENCY = 60
+endif
+
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
+endif
+
+# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
+sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
+
+sim.CFLAGS += -DUSE_INFRARED
+sim.srcs += subsystems/sensors/infrared.c
+sim.srcs += subsystems/sensors/infrared_adc.c
+
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_imu.c
+
+endif
+
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c