Sensor hil fix's

ArduPlane/ArduPlane.pde

@@ -483,7 +483,7 @@ static void fast_loop()
 
 	#if HIL_MODE == HIL_MODE_SENSORS
 		// update hil before dcm update
-		hil.update();
+		gcs_update();
 	#endif
 
 	dcm.update_DCM();

ArduPlane/GCS_Mavlink.pde

@@ -1401,8 +1401,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             // TODO: check scaling for temp/absPress
             float temp = 70;
             float absPress = 1;
-            //      Serial.printf_P(PSTR("accel:\t%d\t%d\t%d\n"), packet.xacc, packet.yacc, packet.zacc);
+                  Serial.printf_P(PSTR("accel: %d %d %d\n"), packet.xacc, packet.yacc, packet.zacc);
-            //      Serial.printf_P(PSTR("gyro:\t%d\t%d\t%d\n"), packet.xgyro, packet.ygyro, packet.zgyro);
+                  Serial.printf_P(PSTR("gyro: %d %d %d\n"), packet.xgyro, packet.ygyro, packet.zgyro);
 
             // rad/sec
             Vector3f gyros;

ArduPlane/config.h

@@ -83,24 +83,6 @@
  # define GPS_PROTOCOL GPS_PROTOCOL_NONE
 #endif
 
-
-// If we are in XPlane, diasble the mag
-#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
-
- // check xplane settings
- #if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
-
-  // MAGNETOMETER not supported by XPLANE
-  # undef MAGNETOMETER
-  # define MAGNETOMETER			DISABLED
-
-  # if HIL_MODE != HIL_MODE_ATTITUDE
-  #  error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE
-  # endif
-
- #endif
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // GPS_PROTOCOL
 //

ArduPlane/sensors.pde

@@ -22,7 +22,7 @@ static void init_barometer(void)
 	for(int i = 0; i < 30; i++){		// We take some readings...
 
 		#if HIL_MODE == HIL_MODE_SENSORS
-			hil.update(); 				// look for inbound hil packets
+			gcs_update(); 				// look for inbound hil packets
 		#endif
 
 		barometer.Read(); 				// Get initial data from absolute pressure sensor

libraries/APM_BMP085/APM_BMP085.cpp

@@ -286,44 +286,4 @@ void APM_BMP085_Class::Calculate()
 	x1 = (x1 * 3038) >> 16;
 	x2 = (-7357 * p) >> 16;
 	Press = p + ((x1 + x2 + 3791) >> 4);
-}
+}
-
-// Constructors ////////////////////////////////////////////////////////////////
-APM_BMP085_HIL_Class::APM_BMP085_HIL_Class()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_BMP085_HIL_Class::Init(int initialiseWireLib)
-{
-  BMP085_State=1;
-}
-
-
-// Read the sensor. This is a state machine
-// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
-uint8_t APM_BMP085_HIL_Class::Read()
-{
-	uint8_t result = 0;
-
-	if (BMP085_State == 1){
-		BMP085_State++;
-	}else{
-
-		if (BMP085_State == 5){
-			BMP085_State = 1;				// Start again from state = 1
-			result = 1;						// New pressure reading
-		}else{
-			BMP085_State++;
-			result = 1;						// New pressure reading
-		}
-	}
-	return(result);
-}
-
-void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press)
-{
-    // TODO: map floats to raw
-	Temp 	= _Temp;
-	Press 	= _Press;
-}

libraries/APM_BMP085/APM_BMP085.h

@@ -4,6 +4,8 @@
 #define TEMP_FILTER_SIZE 16
 #define PRESS_FILTER_SIZE 10
 
+#include <APM_BMP085_hil.h>
+
 class APM_BMP085_Class
 {
   public:
@@ -43,21 +45,4 @@ class APM_BMP085_Class
 	void Calculate();
 };
 
-class APM_BMP085_HIL_Class
-{
-  private:
-    uint8_t BMP085_State;
-  public:
-	int32_t RawPress;
-	int32_t RawTemp;
-	int16_t Temp;
-	int32_t Press;
-	//int Altitude;
-	uint8_t oss;
-	APM_BMP085_HIL_Class();  // Constructor
-	void Init(int initialiseWireLib = 1);
-	uint8_t Read();
-    void setHIL(float Temp, float Press);
-};
-
 #endif

libraries/APM_BMP085/APM_BMP085_hil.cpp

@@ -0,0 +1,50 @@
+
+
+extern "C" {
+  // AVR LibC Includes
+  #include <inttypes.h>
+  #include <avr/interrupt.h>
+  #include "WConstants.h"
+}
+
+#include "APM_BMP085_hil.h"
+
+// Constructors ////////////////////////////////////////////////////////////////
+APM_BMP085_HIL_Class::APM_BMP085_HIL_Class()
+{
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+void APM_BMP085_HIL_Class::Init(int initialiseWireLib)
+{
+  BMP085_State=1;
+}
+
+
+// Read the sensor. This is a state machine
+// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
+uint8_t APM_BMP085_HIL_Class::Read()
+{
+	uint8_t result = 0;
+
+	if (BMP085_State == 1){
+		BMP085_State++;
+	}else{
+
+		if (BMP085_State == 5){
+			BMP085_State = 1;				// Start again from state = 1
+			result = 1;						// New pressure reading
+		}else{
+			BMP085_State++;
+			result = 1;						// New pressure reading
+		}
+	}
+	return(result);
+}
+
+void APM_BMP085_HIL_Class::setHIL(float _Temp, float _Press)
+{
+    // TODO: map floats to raw
+	Temp 	= _Temp;
+	Press 	= _Press;
+}

libraries/APM_BMP085/APM_BMP085_hil.h

@@ -0,0 +1,24 @@
+#ifndef APM_BMP085_hil_h
+#define APM_BMP085_hil_h
+
+#define TEMP_FILTER_SIZE 16
+#define PRESS_FILTER_SIZE 10
+
+class APM_BMP085_HIL_Class
+{
+  private:
+    uint8_t BMP085_State;
+  public:
+  	APM_BMP085_HIL_Class();  // Constructor
+	int32_t RawPress;
+	int32_t RawTemp;
+	int16_t Temp;
+	int32_t Press;
+	//int Altitude;
+	uint8_t oss;
+	void Init(int initialiseWireLib = 1);
+	uint8_t Read();
+    void setHIL(float Temp, float Press);
+};
+
+#endif

libraries/AP_IMU/AP_IMU_Shim.h

@@ -13,7 +13,7 @@ public:
 
 	/// @name IMU protocol
 	//@{
-	virtual void	init(Start_style style, void (*callback)(unsigned long t)) {}
+    virtual void	init(Start_style style = COLD_START, void (*callback)(unsigned long t) = delay) {};
 	virtual void	init_accel(void (*callback)(unsigned long t) = delay) {};
 	virtual void	init_gyro(void (*callback)(unsigned long t) = delay) {};
 	virtual bool	update(void) {