rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

ahrs: remove unused debug code

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-15 14:20:51 +00:00 committed by stac
parent d280204dd8
commit 139da048f6
1 changed files with 0 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
flight/AHRS/ahrs.c
View File

@ -617,18 +617,6 @@ void converge_insgps()
* @brief SPI protocol handling requests for data from OP mainboard
*/
/**
* @brief What is this meant to do
* @param[in] port
* @param[in] prefix
* @param[in] data
* @param[in] len
* @return None
*/
void dump_spi_message(uint8_t port, const char * prefix, uint8_t * data, uint32_t len)
{
}
static struct opahrs_msg_v1 link_tx_v1;
static struct opahrs_msg_v1 link_rx_v1;
static struct opahrs_msg_v1 user_rx_v1;
@ -661,17 +649,9 @@ void process_spi_request(void)
if (!msg_to_process) {
/* Nothing to do */
//PIOS_COM_SendFormattedString(PIOS_COM_AUX, ".");
return;
}
if (user_rx_v1.tail.magic != OPAHRS_MSG_MAGIC_TAIL) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "x");
}
/* We've got a message to process */
//dump_spi_message(PIOS_COM_AUX, "+", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
switch (user_rx_v1.payload.user.t) {
case OPAHRS_MSG_V1_REQ_RESET:
PIOS_DELAY_WaitmS(user_rx_v1.payload.user.v.req.reset.reset_delay_in_ms);
@ -680,20 +660,17 @@ void process_spi_request(void)
case OPAHRS_MSG_V1_REQ_SERIAL:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_SERIAL);
PIOS_SYS_SerialNumberGet((char *)&(user_tx_v1.payload.user.v.rsp.serial.serial_bcd));
dump_spi_message(PIOS_COM_AUX, "I", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_ALGORITHM:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_ALGORITHM);
ahrs_algorithm = user_rx_v1.payload.user.v.req.algorithm.algorithm;
dump_spi_message(PIOS_COM_AUX, "A", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_NORTH:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_NORTH);
INSSetMagNorth(user_rx_v1.payload.user.v.req.north.Be);
INSGPSInit(); // TODO: Better reinitialization when North is finally established
dump_spi_message(PIOS_COM_AUX, "N", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_CALIBRATION:
@ -748,7 +725,6 @@ void process_spi_request(void)
user_tx_v1.payload.user.v.rsp.calibration.mag_var[1] = mag_var[1];
user_tx_v1.payload.user.v.rsp.calibration.mag_var[2] = mag_var[2];
dump_spi_message(PIOS_COM_AUX, "C", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_ATTITUDERAW:
@ -776,7 +752,6 @@ void process_spi_request(void)
user_tx_v1.payload.user.v.rsp.attituderaw.accels_filtered.y = accel_data.filtered.y;
user_tx_v1.payload.user.v.rsp.attituderaw.accels_filtered.z = accel_data.filtered.z;
dump_spi_message(PIOS_COM_AUX, "R", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_UPDATE:
@ -815,7 +790,6 @@ void process_spi_request(void)
// compute the idle fraction
user_tx_v1.payload.user.v.rsp.update.load = ((float) running_counts / (float) (idle_counts+running_counts)) * 100;
dump_spi_message(PIOS_COM_AUX, "U", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
default: