add USE_AHRS_ALIGNER flag to imu based ahrs makefiles

paparazzi · Aug 23, 2011 · fe19284 · fe19284
1 parent c40433d
commit fe19284
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Showing 5 changed files with 14 additions and 9 deletions.
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -4,6 +4,7 @@
 
 
 $(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+$(TARGET).CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifeq ($(TARGET), ap)
 

diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -4,6 +4,8 @@
 #
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
+
 ifdef AHRS_ALIGNER_LED
 AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif

diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -7,6 +7,8 @@
 #
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
+
 ifdef AHRS_ALIGNER_LED
 AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif

diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
@@ -1,16 +1,15 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
 # Fixed point complementary filter using euler angles for attitude estimation
 #
 
+AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_CMPL
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 ifdef AHRS_ALIGNER_LED
-ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
-ap.CFLAGS += -DUSE_AHRS_CMPL
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
+AHRS_SRCS   += subsystems/ahrs.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_euler.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
-sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -7,6 +7,7 @@
 #
 
 AHRS_CFLAGS  = -DUSE_AHRS
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 ifdef AHRS_ALIGNER_LED
 AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif