[conf] fixedwing ahrs use gps course instead of mag for heading by de…

…fault
paparazzi · Nov 12, 2013 · f833406 · f833406
1 parent 116a0fd
commit f833406
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -5,14 +5,16 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 ifneq ($(AHRS_ALIGNER_LED),none)

diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -5,14 +5,16 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 ifneq ($(AHRS_ALIGNER_LED),none)

diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -6,14 +6,16 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 ifneq ($(AHRS_ALIGNER_LED),none)