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[paparazzi-commits] [paparazzi/paparazzi] 828d5b: [fixedwing] removed AH

From: GitHub
Subject: [paparazzi-commits] [paparazzi/paparazzi] 828d5b: [fixedwing] removed AHRS_CPU_LED
Date: Mon, 18 Jun 2012 05:19:22 -0700 
  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 828d5b653bb7942973c38af2915c79dda975e832
      
https://github.com/paparazzi/paparazzi/commit/828d5b653bb7942973c38af2915c79dda975e832
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-04 (Mon, 04 Jun 2012)

  Changed paths:
    M conf/airframes/CDW/LisaAspirin2.xml
    M conf/airframes/CDW/yapa3_aspirin2.xml
    M conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
    M conf/airframes/flixr_discovery.xml
    M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] removed AHRS_CPU_LED


  Commit: 93a8dbeae3d0ee8d34aecbd99734dd92a5f61bae
      
https://github.com/paparazzi/paparazzi/commit/93a8dbeae3d0ee8d34aecbd99734dd92a5f61bae
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-04 (Mon, 04 Jun 2012)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/subsystems/ahrs/ahrs_infrared.h
    M sw/airborne/subsystems/ahrs/ahrs_sim.c
    M sw/airborne/subsystems/ahrs/ahrs_sim.h

  Log Message:
  -----------
  [fixedwing] removed AhrsEvent


  Commit: 62cb9fd34ec621ca842ad6aff0166f56590d5c56
      
https://github.com/paparazzi/paparazzi/commit/62cb9fd34ec621ca842ad6aff0166f56590d5c56
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-04 (Mon, 04 Jun 2012)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/modules/ins/ins_module.h
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h

  Log Message:
  -----------
  [fixedwing] added InsEvent for xsens


  Commit: 6287018be23667bed9c8f13babfd5fe58c94f49b
      
https://github.com/paparazzi/paparazzi/commit/6287018be23667bed9c8f13babfd5fe58c94f49b
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-04 (Mon, 04 Jun 2012)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h

  Log Message:
  -----------
  trying to fix gps for ins xsens subsystem


  Commit: 14cc0d41a16bf3cec0bc3d5dcff5cdc68b3a1979
      
https://github.com/paparazzi/paparazzi/commit/14cc0d41a16bf3cec0bc3d5dcff5cdc68b3a1979
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-04 (Mon, 04 Jun 2012)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/ap_downlink.h
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h

  Log Message:
  -----------
  [xsens] some minor updates for xsens gps


  Commit: 2440139fc3d593e8e4ea6e56a44151770dc0a7ae
      
https://github.com/paparazzi/paparazzi/commit/2440139fc3d593e8e4ea6e56a44151770dc0a7ae
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-05 (Tue, 05 Jun 2012)

  Changed paths:
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h

  Log Message:
  -----------
  [xsens] make a struct for the xsens time


  Commit: 9884442f58b47ae6d324629ff13212b6eb1f7989
      
https://github.com/paparazzi/paparazzi/commit/9884442f58b47ae6d324629ff13212b6eb1f7989
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-05 (Tue, 05 Jun 2012)

  Changed paths:
    A conf/airframes/examples/microjet_imu_xsens.xml
    A conf/airframes/examples/microjet_lisa_m_xsens.xml
    A conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
    M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
    M sw/airborne/modules/ins/ins_module.h
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h

  Log Message:
  -----------
  [xsens] new imu xsens subsystem
* use the Xsens to only provide imu measurements
* use an external AHRS algorithm with it


  Commit: fa1f65c73c3d525b112465ebd0110a975021b330
      
https://github.com/paparazzi/paparazzi/commit/fa1f65c73c3d525b112465ebd0110a975021b330
  Author: Felix Ruess <address@hidden>
  Date:   2012-06-18 (Mon, 18 Jun 2012)

  Changed paths:
    M conf/airframes/CDW/LisaAspirin2.xml
    M conf/airframes/CDW/yapa3_aspirin2.xml
    M conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
    A conf/airframes/examples/microjet_imu_xsens.xml
    A conf/airframes/examples/microjet_lisa_m_xsens.xml
    M conf/airframes/flixr_discovery.xml
    M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
    A conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
    M conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
    M sw/airborne/firmwares/fixedwing/ap_downlink.h
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/modules/ins/ins_module.h
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/modules/ins/ins_xsens.h
    M sw/airborne/subsystems/ahrs/ahrs_infrared.h
    M sw/airborne/subsystems/ahrs/ahrs_sim.c
    M sw/airborne/subsystems/ahrs/ahrs_sim.h

  Log Message:
  -----------
  Merge pull request #209 'fixedwing_ins'
tried to clean ins xsens subsystem up a little for fixedwings

* removed the AhrsEvent
* removed all ahrs things from ins_xsens
* added an InsEvent for fixedwings
* removed some gps stuff from ins_xsens and used the normal gps callbacks 
instead
* made baud rate for xsens configurable

To use the XSens MTi-G as a full INS (with the xsens GPS):
```xml
<subsystem name="ins" type="xsens">
    <configure name="XSENS_UART_NR" value="3"/>
    <configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```
to use it only as an IMU (still need to add an AHRS algorithm and other GPS as 
usual)
```xml
<subsystem name="imu" type="xsens">
    <configure name="XSENS_UART_NR" value="3"/>
    <configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```


Compare: 
https://github.com/paparazzi/paparazzi/compare/9beb75403302...fa1f65c73c3d
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