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AHRS: removed Quaternion build support from APM/ACM/rover

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This commit is contained in:
Andrew Tridgell 2012-08-22 10:42:21 +10:00
parent 6d28b3519f
commit 6d11940ada
13 changed files with 6 additions and 56 deletions
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4
APMrover2/APMrover2.pde
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@ -254,11 +254,7 @@ AP_GPS_None g_gps_driver(NULL);
#endif // CONFIG_IMU_TYPE #endif // CONFIG_IMU_TYPE
AP_IMU_INS imu( &ins ); AP_IMU_INS imu( &ins );
#if QUATERNION_ENABLE == ENABLED
AP_AHRS_Quaternion ahrs(&imu, g_gps);
#else
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
#endif
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators

4
APMrover2/config.h
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@ -919,7 +919,3 @@
# define RESET_SWITCH_CHAN_PWM 1750 # define RESET_SWITCH_CHAN_PWM 1750
#endif #endif
// experimental quaternion code
#ifndef QUATERNION_ENABLE
# define QUATERNION_ENABLE DISABLED
#endif

3
APMrover2/system.pde
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@ -107,9 +107,6 @@ static void init_ardupilot()
"\n\nFree RAM: %u\n"), "\n\nFree RAM: %u\n"),
memcheck_available_memory()); memcheck_available_memory());
#if QUATERNION_ENABLE == ENABLED
Serial.printf_P(PSTR("Quaternion test\n"));
#endif
// //
// Initialize Wire and SPI libraries // Initialize Wire and SPI libraries
// //

4
ArduCopter/ArduCopter.pde
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@ -268,15 +268,11 @@ AP_IMU_INS imu(&ins);
// a NULL GPS object pointer // a NULL GPS object pointer
static GPS *g_gps_null; static GPS *g_gps_null;
#if QUATERNION_ENABLE == ENABLED
AP_AHRS_Quaternion ahrs(&imu, g_gps_null);
#else
#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
#else #else
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
#endif #endif
#endif
AP_TimerProcess timer_scheduler; AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS

3
ArduCopter/Makefile
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@ -42,9 +42,6 @@ sitl-hexa:
sitl-y6: sitl-y6:
make -f ../libraries/Desktop/Makefile.desktop y6 make -f ../libraries/Desktop/Makefile.desktop y6
sitl-quaternion:
make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED"
etags: etags:
cd .. && etags -f ArduCopter/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduCopter libraries) cd .. && etags -f ArduCopter/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduCopter libraries)

5
ArduCopter/config.h
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@ -1062,11 +1062,6 @@
#endif #endif
// experimental quaternion code
#ifndef QUATERNION_ENABLE
# define QUATERNION_ENABLE DISABLED
#endif
// experimental mpu6000 DMP code // experimental mpu6000 DMP code
#ifndef DMP_ENABLED #ifndef DMP_ENABLED
# define DMP_ENABLED DISABLED # define DMP_ENABLED DISABLED

4
ArduCopter/options.cmake
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@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL
DESCRIPTION "Enable logging?" DESCRIPTION "Enable logging?"
DEFAULT OFF) DEFAULT OFF)
apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED
DESCRIPTION "Enable quaterion navigation?"
DEFAULT OFF)
apm_option("GPS_PROTOCOL" TYPE STRING apm_option("GPS_PROTOCOL" TYPE STRING
DESCRIPTION "GPS protocol?" DESCRIPTION "GPS protocol?"
DEFAULT "GPS_PROTOCOL_AUTO" DEFAULT "GPS_PROTOCOL_AUTO"

3
ArduCopter/setup.pde
View File

@ -1233,9 +1233,6 @@ static void report_gps()
static void report_version() static void report_version()
{ {
Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get()); Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get());
#if QUATERNION_ENABLE == ENABLED
Serial.printf_P(PSTR("Quaternion test\n"));
#endif
print_divider(); print_divider();
print_blanks(2); print_blanks(2);
} }

4
ArduPlane/ArduPlane.pde
View File

@ -214,15 +214,11 @@ AP_GPS_None g_gps_driver(NULL);
#endif // CONFIG_IMU_TYPE #endif // CONFIG_IMU_TYPE
AP_IMU_INS imu( &ins ); AP_IMU_INS imu( &ins );
#if QUATERNION_ENABLE == ENABLED
AP_AHRS_Quaternion ahrs(&imu, g_gps);
#else
#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
#else #else
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
#endif #endif
#endif
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators

3
ArduPlane/Makefile
View File

@ -40,9 +40,6 @@ sitl:
sitl-mount: sitl-mount:
make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED" make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED"
sitl-quaternion:
make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED"
etags: etags:
cd .. && etags -f ArduPlane/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduPlane libraries) cd .. && etags -f ArduPlane/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduPlane libraries)

5
ArduPlane/config.h
View File

@ -834,11 +834,6 @@
# define RESET_SWITCH_CHAN_PWM 1750 # define RESET_SWITCH_CHAN_PWM 1750
#endif #endif
// experimental quaternion code
#ifndef QUATERNION_ENABLE
# define QUATERNION_ENABLE DISABLED
#endif
// experimental mpu6000 DMP code // experimental mpu6000 DMP code
#ifndef DMP_ENABLED #ifndef DMP_ENABLED
# define DMP_ENABLED DISABLED # define DMP_ENABLED DISABLED

4
ArduPlane/options.cmake
View File

@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL
DESCRIPTION "Enable logging?" DESCRIPTION "Enable logging?"
DEFAULT OFF) DEFAULT OFF)
apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED
DESCRIPTION "Enable quaterion navigation?"
DEFAULT OFF)
apm_option("GPS_PROTOCOL" TYPE STRING apm_option("GPS_PROTOCOL" TYPE STRING
DESCRIPTION "GPS protocol?" DESCRIPTION "GPS protocol?"
DEFAULT "GPS_PROTOCOL_AUTO" DEFAULT "GPS_PROTOCOL_AUTO"

4
ArduPlane/system.pde
View File

@ -92,10 +92,6 @@ static void init_ardupilot()
"\n\nFree RAM: %u\n"), "\n\nFree RAM: %u\n"),
memcheck_available_memory()); memcheck_available_memory());
#if QUATERNION_ENABLE == ENABLED
Serial.printf_P(PSTR("Quaternion test\n"));
#endif
// //
// Initialize Wire and SPI libraries // Initialize Wire and SPI libraries
// //