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[paparazzi-commits] [paparazzi/paparazzi] 541918: [rotorcraft] fix ins s

From: GitHub
Subject: [paparazzi-commits] [paparazzi/paparazzi] 541918: [rotorcraft] fix ins subsystems for nps sim
Date: Wed, 25 Jul 2012 08:11:41 -0700 
  Branch: refs/heads/state_interface
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5419189e0249a582de35b31cd52dcda9ecc9d5f2
      
https://github.com/paparazzi/paparazzi/commit/5419189e0249a582de35b31cd52dcda9ecc9d5f2
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
    M conf/firmwares/subsystems/rotorcraft/ins.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_extended.makefile

  Log Message:
  -----------
  [rotorcraft] fix ins subsystems for nps sim


  Commit: 97eba079c16cfe4c3ae050f81121f1237c74042c
      
https://github.com/paparazzi/paparazzi/commit/97eba079c16cfe4c3ae050f81121f1237c74042c
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M sw/airborne/subsystems/imu/imu_aspirin2.c

  Log Message:
  -----------
  [imu_aspirin2] fix typo: pragma message instead of pragma info


  Commit: 8754f046163f578ffc55b0aa42c76d0a00a27b36
      
https://github.com/paparazzi/paparazzi/commit/8754f046163f578ffc55b0aa42c76d0a00a27b36
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M sw/airborne/subsystems/imu/imu_nps.c

  Log Message:
  -----------
  [nps] fix typo: really set mag instead of gyro available in feed_mag


  Commit: 2bcaefe9e1ee3895751d275dc2c7ca08b356422d
      
https://github.com/paparazzi/paparazzi/commit/2bcaefe9e1ee3895751d275dc2c7ca08b356422d
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/simulator/nps/nps_fdm_jsbsim.c

  Log Message:
  -----------
  [nps] use magnetic field from airframe file if defined there
make it possible to disable the bypassing of the ahrs via define


  Commit: d4db85f88f7b56e254d4975125659aadea01e364
      
https://github.com/paparazzi/paparazzi/commit/d4db85f88f7b56e254d4975125659aadea01e364
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M conf/airframes/examples/bixler_lisa_m_2.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml

  Log Message:
  -----------
  [examples] set correct AHRS_PROPAGATE_FREQUENCY for some examples with 
aspirin 2.1


  Commit: 67da4edc7b513eaa857bed072ee4bbb9000c418a
      
https://github.com/paparazzi/paparazzi/commit/67da4edc7b513eaa857bed072ee4bbb9000c418a
  Author: Felix Ruess <address@hidden>
  Date:   2012-07-24 (Tue, 24 Jul 2012)

  Changed paths:
    M sw/airborne/subsystems/ins/hf_float.h

  Log Message:
  -----------
  [rotorcraft][ins] set hff frequency according to AHRS_PROPAGATE_FREQUENCY


  Commit: 8212e541b221ffa0dfa92b38cb4eab5023b2b196
      
https://github.com/paparazzi/paparazzi/commit/8212e541b221ffa0dfa92b38cb4eab5023b2b196
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M sw/ground_segment/tmtc/messages.ml
    M sw/lib/ocaml/pprz.ml
    M sw/lib/ocaml/pprz.mli

  Log Message:
  -----------
  [units] fix display of deg in messages (no conversion)


  Commit: 315b732a49715e4eb4ab572b0a9a5700b09ed36f
      
https://github.com/paparazzi/paparazzi/commit/315b732a49715e4eb4ab572b0a9a5700b09ed36f
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M sw/airborne/math/pprz_geodetic.h
    M sw/airborne/state.c
    M sw/airborne/state.h

  Log Message:
  -----------
  [state interface] add Utm reference point


  Commit: 71bd6a6c20fade7c03c84e240e663063b286ef59
      
https://github.com/paparazzi/paparazzi/commit/71bd6a6c20fade7c03c84e240e663063b286ef59
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M conf/airframes/examples/bixler_lisa_m_2.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
    M conf/firmwares/subsystems/rotorcraft/ins.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
    M sw/airborne/subsystems/imu/imu_aspirin2.c
    M sw/airborne/subsystems/imu/imu_nps.c
    M sw/airborne/subsystems/ins/hf_float.h
    M sw/ground_segment/tmtc/messages.ml
    M sw/lib/ocaml/pprz.ml
    M sw/lib/ocaml/pprz.mli
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/simulator/nps/nps_fdm_jsbsim.c

  Log Message:
  -----------
  Merge remote-tracking branch 'paparazzi/master' into state_interface


  Commit: 242c6e20019a991df11a07b5636c56ae83be4d01
      
https://github.com/paparazzi/paparazzi/commit/242c6e20019a991df11a07b5636c56ae83be4d01
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M sw/airborne/state.c

  Log Message:
  -----------
  [state interface] add some missing conversions


  Commit: aa2cd517e82c67f7f40f07c23a48bad2c8050d73
      
https://github.com/paparazzi/paparazzi/commit/aa2cd517e82c67f7f40f07c23a48bad2c8050d73
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
    M sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
    M sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
    M sw/airborne/subsystems/nav.c
    M sw/airborne/subsystems/nav.h
    M sw/airborne/subsystems/navigation/common_nav.c
    M sw/airborne/subsystems/navigation/common_nav.h

  Log Message:
  -----------
  [state interface] fw control/guidance/nav converted

Only the basic navigation routines are converted to the new state
interface
Some stuff are missing into the state interface: angle of attack and
sideslip angle


  Commit: 81b8b6b07c9bb11aa70e5c164eb6508c3557487a
      
https://github.com/paparazzi/paparazzi/commit/81b8b6b07c9bb11aa70e5c164eb6508c3557487a
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/ap_downlink.h
    M sw/airborne/firmwares/fixedwing/datalink.c

  Log Message:
  -----------
  [state interface] some datalink stuff converted


  Commit: d5cf03f4ec3d8edc96265c891729e8e0ffe13ac7
      
https://github.com/paparazzi/paparazzi/commit/d5cf03f4ec3d8edc96265c891729e8e0ffe13ac7
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-07-25 (Wed, 25 Jul 2012)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/autopilot.makefile
    M sw/airborne/arch/sim/sim_gps.c
    M sw/airborne/estimator.c
    M sw/airborne/estimator.h
    M sw/airborne/subsystems/ahrs/ahrs_sim.c

  Log Message:
  -----------
  [state interface] estimation in sim is now working

FW can fly in simulation using basic navigation routines
Most of the ahrs filters are already feeding the interface, so it should
work as well
The ins_neutral_* are missing for now


Compare: 
https://github.com/paparazzi/paparazzi/compare/d054afb5577d...d5cf03f4ec3d
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