From 33f3500e64bb3758a6a67743762bbf6a4e0c4afd Mon Sep 17 00:00:00 2001 From: peabody124 Date: Sun, 16 Jan 2011 02:45:27 +0000 Subject: [PATCH] CC-3: New module for copter control git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2441 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/CopterControl/Makefile | 2 +- flight/Modules/CCAttitude/ccattitude.c | 110 +++ flight/Modules/CCAttitude/inc/ccattitude.h | 37 + .../OpenPilotOSX.xcodeproj/project.pbxproj | 887 ++++++++++-------- 4 files changed, 669 insertions(+), 367 deletions(-) create mode 100644 flight/Modules/CCAttitude/ccattitude.c create mode 100644 flight/Modules/CCAttitude/inc/ccattitude.h diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index eeb43bf1b..d5679a28d 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD USE_THUMB_MODE = YES # List of modules to include -MODULES = Telemetry ManualControl Stabilization +MODULES = Telemetry CCAttitude #Actuator Telemetry ManualControl Stabilization FirmwareIAP #MODULES = Telemetry Example diff --git a/flight/Modules/CCAttitude/ccattitude.c b/flight/Modules/CCAttitude/ccattitude.c new file mode 100644 index 000000000..b5dec820c --- /dev/null +++ b/flight/Modules/CCAttitude/ccattitude.c @@ -0,0 +1,110 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup CCAttitude Copter Control Attitude Estimation + * @brief Handles communication with AHRS and updating position + * Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects + * @{ + * + * @file ccattitude.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Module to handle all comms to the AHRS on a periodic basis. + * + * @see The GNU Public License (GPL) Version 3 + * + ******************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/** + * Input objects: None, takes sensor data via pios + * Output objects: @ref AttitudeRaw @ref AttitudeActual + * + * This module computes an attitude estimate from the sensor data + * + * The module executes in its own thread. + * + * UAVObjects are automatically generated by the UAVObjectGenerator from + * the object definition XML file. + * + * Modules have no API, all communication to other modules is done through UAVObjects. + * However modules may use the API exposed by shared libraries. + * See the OpenPilot wiki for more details. + * http://www.openpilot.org/OpenPilot_Application_Architecture + * + */ + +#include "pios.h" +#include "ccattitude.h" +#include "attituderaw.h" + +// Private constants +#define STACK_SIZE_BYTES 340 +#define TASK_PRIORITY (tskIDLE_PRIORITY+4) + +// Private types + +// Private variables +static xTaskHandle taskHandle; + +// Private functions +static void CCAttitudeTask(void *parameters); + +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ +int32_t CCAttitudeInitialize(void) +{ + // Start main task + xTaskCreate(CCAttitudeTask, (signed char *)"CCAttitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle); + return 0; +} + +/** + * Module thread, should not return. + */ +static void CCAttitudeTask(void *parameters) +{ + portTickType lastSysTime; + +// AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL); + + // Main task loop + while (1) { + //PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS); + + // TODO: register the adc callback, push the data onto a queue (safe for thread) + // with the queue ISR version + AttitudeRawData attitudeRaw; + AttitudeRawGet(&attitudeRaw); + attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = PIOS_ADC_PinGet(0); + attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = PIOS_ADC_PinGet(1); + attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = PIOS_ADC_PinGet(2); + AttitudeRawSet(&attitudeRaw); + + /* Wait for the next update interval */ + vTaskDelayUntil(&lastSysTime, 100 / portTICK_RATE_MS); + + } +} + +/** + * @} + * @} + */ diff --git a/flight/Modules/CCAttitude/inc/ccattitude.h b/flight/Modules/CCAttitude/inc/ccattitude.h new file mode 100644 index 000000000..6dd6c2a1a --- /dev/null +++ b/flight/Modules/CCAttitude/inc/ccattitude.h @@ -0,0 +1,37 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup AHRSCommsModule AHRSComms Module + * @{ + * + * @file ahrs_comms.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Module to handle all comms to the AHRS on a periodic basis. + * + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef AHRS_COMMS_H +#define AHRS_COMMS_H + +#include "openpilot.h" + +int32_t AHRSCommsInitialize(void); + +#endif // AHRS_COMMS_H diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 22a4e7ab2..fe0a15883 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -162,14 +162,10 @@ 651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_prop.h; sourceTree = ""; }; 651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */ = {isa = 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65E6DF9912E0313E00058553 /* crc.lst */, + 65E6DF9A12E0313E00058553 /* crc.o */, + 65E6DF9B12E0313E00058553 /* dep */, + 65E6DFD412E0313E00058553 /* fifo_buffer.lst */, + 65E6DFD512E0313E00058553 /* fifo_buffer.o */, + 65E6DFD612E0313E00058553 /* gpio_in.lst */, + 65E6DFD712E0313E00058553 /* gpio_in.o */, + 65E6DFD812E0313E00058553 /* main.lst */, + 65E6DFD912E0313E00058553 /* main.o */, + 65E6DFDA12E0313E00058553 /* misc.lst */, + 65E6DFDB12E0313E00058553 /* misc.o */, + 65E6DFDC12E0313E00058553 /* packet_handler.lst */, + 65E6DFDD12E0313E00058553 /* packet_handler.o */, + 65E6DFDE12E0313E00058553 /* pios_adc.lst */, + 65E6DFDF12E0313E00058553 /* pios_adc.o */, + 65E6DFE012E0313E00058553 /* pios_board.lst */, + 65E6DFE112E0313E00058553 /* pios_board.o */, + 65E6DFE212E0313E00058553 /* pios_com.lst */, + 65E6DFE312E0313E00058553 /* pios_com.o */, + 65E6DFE412E0313E00058553 /* pios_delay.lst */, + 65E6DFE512E0313E00058553 /* pios_delay.o */, + 65E6DFE612E0313E00058553 /* pios_gpio.lst */, + 65E6DFE712E0313E00058553 /* pios_gpio.o */, + 65E6DFE812E0313E00058553 /* pios_irq.lst */, + 65E6DFE912E0313E00058553 /* pios_irq.o */, + 65E6DFEA12E0313E00058553 /* pios_led.lst */, + 65E6DFEB12E0313E00058553 /* pios_led.o */, + 65E6DFEC12E0313E00058553 /* pios_spi.lst */, + 65E6DFED12E0313E00058553 /* pios_spi.o */, + 65E6DFEE12E0313E00058553 /* pios_sys.lst */, + 65E6DFEF12E0313E00058553 /* pios_sys.o */, + 65E6DFF012E0313E00058553 /* pios_usart.lst */, + 65E6DFF112E0313E00058553 /* pios_usart.o */, + 65E6DFF212E0313E00058553 /* pios_usb_hid.lst */, + 65E6DFF312E0313E00058553 /* pios_usb_hid.o */, + 65E6DFF412E0313E00058553 /* pios_usb_hid_desc.lst */, + 65E6DFF512E0313E00058553 /* pios_usb_hid_desc.o */, + 65E6DFF612E0313E00058553 /* pios_usb_hid_istr.lst */, + 65E6DFF712E0313E00058553 /* pios_usb_hid_istr.o */, + 65E6DFF812E0313E00058553 /* pios_usb_hid_prop.lst */, + 65E6DFF912E0313E00058553 /* pios_usb_hid_prop.o */, + 65E6DFFA12E0313E00058553 /* pios_usb_hid_pwr.lst */, + 65E6DFFB12E0313E00058553 /* pios_usb_hid_pwr.o */, + 65E6DFFC12E0313E00058553 /* pios_wdg.lst */, + 65E6DFFD12E0313E00058553 /* pios_wdg.o */, + 65E6DFFE12E0313E00058553 /* PipXtreme.bin */, + 65E6DFFF12E0313E00058553 /* PipXtreme.elf */, + 65E6E00012E0313F00058553 /* PipXtreme.hex */, + 65E6E00112E0313F00058553 /* PipXtreme.lss */, + 65E6E00212E0313F00058553 /* PipXtreme.map */, + 65E6E00312E0313F00058553 /* PipXtreme.sym */, + 65E6E00412E0313F00058553 /* printf-stdarg.lst */, + 65E6E00512E0313F00058553 /* printf-stdarg.o */, + 65E6E00612E0313F00058553 /* rfm22b.lst */, + 65E6E00712E0313F00058553 /* rfm22b.o */, + 65E6E00812E0313F00058553 /* saved_settings.lst */, + 65E6E00912E0313F00058553 /* saved_settings.o */, + 65E6E00A12E0313F00058553 /* startup_stm32f10x_MD.lst */, + 65E6E00B12E0313F00058553 /* startup_stm32f10x_MD.o */, + 65E6E00C12E0313F00058553 /* stm32f10x_adc.lst */, + 65E6E00D12E0313F00058553 /* stm32f10x_adc.o */, + 65E6E00E12E0313F00058553 /* stm32f10x_bkp.lst */, + 65E6E00F12E0313F00058553 /* stm32f10x_bkp.o */, + 65E6E01012E0313F00058553 /* stm32f10x_crc.lst */, + 65E6E01112E0313F00058553 /* stm32f10x_crc.o */, + 65E6E01212E0313F00058553 /* stm32f10x_dac.lst */, + 65E6E01312E0313F00058553 /* stm32f10x_dac.o */, + 65E6E01412E0313F00058553 /* stm32f10x_dbgmcu.lst */, + 65E6E01512E0313F00058553 /* stm32f10x_dbgmcu.o */, + 65E6E01612E0313F00058553 /* stm32f10x_dma.lst */, + 65E6E01712E0313F00058553 /* stm32f10x_dma.o */, + 65E6E01812E0313F00058553 /* stm32f10x_exti.lst */, + 65E6E01912E0313F00058553 /* stm32f10x_exti.o */, + 65E6E01A12E0313F00058553 /* stm32f10x_flash.lst */, + 65E6E01B12E0313F00058553 /* stm32f10x_flash.o */, + 65E6E01C12E0313F00058553 /* stm32f10x_gpio.lst */, + 65E6E01D12E0313F00058553 /* stm32f10x_gpio.o */, + 65E6E01E12E0313F00058553 /* stm32f10x_i2c.lst */, + 65E6E01F12E0313F00058553 /* stm32f10x_i2c.o */, + 65E6E02012E0313F00058553 /* stm32f10x_iwdg.lst */, + 65E6E02112E0313F00058553 /* stm32f10x_iwdg.o */, + 65E6E02212E0313F00058553 /* stm32f10x_pwr.lst */, + 65E6E02312E0313F00058553 /* stm32f10x_pwr.o */, + 65E6E02412E0313F00058553 /* stm32f10x_rcc.lst */, + 65E6E02512E0313F00058553 /* stm32f10x_rcc.o */, + 65E6E02612E0313F00058553 /* stm32f10x_rtc.lst */, + 65E6E02712E0313F00058553 /* stm32f10x_rtc.o */, + 65E6E02812E0313F00058553 /* stm32f10x_spi.lst */, + 65E6E02912E0313F00058553 /* stm32f10x_spi.o */, + 65E6E02A12E0313F00058553 /* stm32f10x_tim.lst */, + 65E6E02B12E0313F00058553 /* stm32f10x_tim.o */, + 65E6E02C12E0313F00058553 /* stm32f10x_usart.lst */, + 65E6E02D12E0313F00058553 /* stm32f10x_usart.o */, + 65E6E02E12E0313F00058553 /* stopwatch.lst */, + 65E6E02F12E0313F00058553 /* stopwatch.o */, + 65E6E03012E0313F00058553 /* system_stm32f10x.lst */, + 65E6E03112E0313F00058553 /* system_stm32f10x.o */, + 65E6E03212E0313F00058553 /* transparent_comms.lst */, + 65E6E03312E0313F00058553 /* transparent_comms.o */, + 65E6E03412E0313F00058553 /* uavtalk_comms.lst */, + 65E6E03512E0313F00058553 /* uavtalk_comms.o */, + 65E6E03612E0313F00058553 /* usb_core.lst */, + 65E6E03712E0313F00058553 /* usb_core.o */, + 65E6E03812E0313F00058553 /* usb_init.lst */, + 65E6E03912E0313F00058553 /* usb_init.o */, + 65E6E03A12E0313F00058553 /* usb_int.lst */, + 65E6E03B12E0313F00058553 /* usb_int.o */, + 65E6E03C12E0313F00058553 /* usb_mem.lst */, + 65E6E03D12E0313F00058553 /* usb_mem.o */, + 65E6E03E12E0313F00058553 /* usb_regs.lst */, + 65E6E03F12E0313F00058553 /* usb_regs.o */, + 65E6E04012E0313F00058553 /* usb_sil.lst */, + 65E6E04112E0313F00058553 /* usb_sil.o */, + 65E6E04212E0313F00058553 /* watchdog.lst */, + 65E6E04312E0313F00058553 /* watchdog.o */, + ); + path = Build; + sourceTree = ""; + }; + 65E6DF9B12E0313E00058553 /* dep */ = { + isa = PBXGroup; + children = ( + 65E6DF9C12E0313E00058553 /* aes.o.d */, + 65E6DF9D12E0313E00058553 /* buffer.o.d */, + 65E6DF9E12E0313E00058553 /* core_cm3.o.d */, + 65E6DF9F12E0313E00058553 /* crc.o.d */, + 65E6DFA012E0313E00058553 /* fifo_buffer.o.d */, + 65E6DFA112E0313E00058553 /* gpio_in.o.d */, + 65E6DFA212E0313E00058553 /* main.o.d */, + 65E6DFA312E0313E00058553 /* misc.o.d */, + 65E6DFA412E0313E00058553 /* packet_handler.o.d */, + 65E6DFA512E0313E00058553 /* pios_adc.o.d */, + 65E6DFA612E0313E00058553 /* pios_board.o.d */, + 65E6DFA712E0313E00058553 /* pios_com.o.d */, + 65E6DFA812E0313E00058553 /* pios_delay.o.d */, + 65E6DFA912E0313E00058553 /* pios_gpio.o.d */, + 65E6DFAA12E0313E00058553 /* pios_irq.o.d */, + 65E6DFAB12E0313E00058553 /* pios_led.o.d */, + 65E6DFAC12E0313E00058553 /* pios_spi.o.d */, + 65E6DFAD12E0313E00058553 /* pios_sys.o.d */, + 65E6DFAE12E0313E00058553 /* pios_usart.o.d */, + 65E6DFAF12E0313E00058553 /* pios_usb_hid.o.d */, + 65E6DFB012E0313E00058553 /* pios_usb_hid_desc.o.d */, + 65E6DFB112E0313E00058553 /* pios_usb_hid_istr.o.d */, + 65E6DFB212E0313E00058553 /* pios_usb_hid_prop.o.d */, + 65E6DFB312E0313E00058553 /* pios_usb_hid_pwr.o.d */, + 65E6DFB412E0313E00058553 /* pios_wdg.o.d */, + 65E6DFB512E0313E00058553 /* printf-stdarg.o.d */, + 65E6DFB612E0313E00058553 /* rfm22b.o.d */, + 65E6DFB712E0313E00058553 /* saved_settings.o.d */, + 65E6DFB812E0313E00058553 /* stm32f10x_adc.o.d */, + 65E6DFB912E0313E00058553 /* stm32f10x_bkp.o.d */, + 65E6DFBA12E0313E00058553 /* stm32f10x_crc.o.d */, + 65E6DFBB12E0313E00058553 /* stm32f10x_dac.o.d */, + 65E6DFBC12E0313E00058553 /* stm32f10x_dbgmcu.o.d */, + 65E6DFBD12E0313E00058553 /* stm32f10x_dma.o.d */, + 65E6DFBE12E0313E00058553 /* stm32f10x_exti.o.d */, + 65E6DFBF12E0313E00058553 /* stm32f10x_flash.o.d */, + 65E6DFC012E0313E00058553 /* stm32f10x_gpio.o.d */, + 65E6DFC112E0313E00058553 /* stm32f10x_i2c.o.d */, + 65E6DFC212E0313E00058553 /* stm32f10x_iwdg.o.d */, + 65E6DFC312E0313E00058553 /* stm32f10x_pwr.o.d */, + 65E6DFC412E0313E00058553 /* stm32f10x_rcc.o.d */, + 65E6DFC512E0313E00058553 /* stm32f10x_rtc.o.d */, + 65E6DFC612E0313E00058553 /* stm32f10x_spi.o.d */, + 65E6DFC712E0313E00058553 /* stm32f10x_tim.o.d */, + 65E6DFC812E0313E00058553 /* stm32f10x_usart.o.d */, + 65E6DFC912E0313E00058553 /* stopwatch.o.d */, + 65E6DFCA12E0313E00058553 /* system_stm32f10x.o.d */, + 65E6DFCB12E0313E00058553 /* transparent_comms.o.d */, + 65E6DFCC12E0313E00058553 /* uavtalk_comms.o.d */, + 65E6DFCD12E0313E00058553 /* usb_core.o.d */, + 65E6DFCE12E0313E00058553 /* usb_init.o.d */, + 65E6DFCF12E0313E00058553 /* usb_int.o.d */, + 65E6DFD012E0313E00058553 /* usb_mem.o.d */, + 65E6DFD112E0313E00058553 /* usb_regs.o.d */, + 65E6DFD212E0313E00058553 /* usb_sil.o.d */, + 65E6DFD312E0313E00058553 /* watchdog.o.d */, + ); + path = dep; + sourceTree = ""; + }; + 65E6E04612E0313F00058553 /* inc */ = { + isa = PBXGroup; + children = ( + 65E6E04712E0313F00058553 /* aes.h */, + 65E6E04812E0313F00058553 /* crc.h */, + 65E6E04912E0313F00058553 /* gpio_in.h */, + 65E6E04A12E0313F00058553 /* main.h */, + 65E6E04B12E0313F00058553 /* packet_handler.h */, + 65E6E04C12E0313F00058553 /* pios_config.h */, + 65E6E04D12E0313F00058553 /* pios_usb.h */, + 65E6E04E12E0313F00058553 /* pios_usb_hid_desc.h */, + 65E6E04F12E0313F00058553 /* rfm22b.h */, + 65E6E05012E0313F00058553 /* saved_settings.h */, + 65E6E05112E0313F00058553 /* stopwatch.h */, + 65E6E05212E0313F00058553 /* transparent_comms.h */, + 65E6E05312E0313F00058553 /* uavtalk_comms.h */, + 65E6E05412E0313F00058553 /* usb_conf.h */, + 65E6E05512E0313F00058553 /* watchdog.h */, + ); + path = inc; + sourceTree = ""; + }; 65E8EF1E11EEA61E00BBF654 /* OpenPilot */ = { isa = PBXGroup; children = ( 65E8EF1F11EEA61E00BBF654 /* Makefile */, 65E8EF2011EEA61E00BBF654 /* Makefile.posix */, - 65E8EF2111EEA61E00BBF654 /* Modules */, 65E8EF5B11EEA61E00BBF654 /* System */, 65E8EF6811EEA61E00BBF654 /* Tests */, ); @@ -7353,280 +7782,6 @@ path = ../../OpenPilot; sourceTree = SOURCE_ROOT; }; - 65E8EF2111EEA61E00BBF654 /* Modules */ = { - isa = PBXGroup; - children = ( - 65E8EF2211EEA61E00BBF654 /* Actuator */, - 65E8EF2611EEA61E00BBF654 /* AHRSComms */, - 65E8EF2A11EEA61E00BBF654 /* Altitude */, - 65E8EF2E11EEA61E00BBF654 /* Attitude */, - 65E8EF3011EEA61E00BBF654 /* Battery */, - 65E8EF3411EEA61E00BBF654 /* Example */, - 651F32EC1281DE7E00D065F8 /* FirmwareIAP */, - 65E8EF3D11EEA61E00BBF654 /* GPS */, - 65632CBE124E09D900469B77 /* Guidance */, - 65E8EF4311EEA61E00BBF654 /* ManualControl */, - 65E8EF4711EEA61E00BBF654 /* MK */, - 65E8EF4C11EEA61E00BBF654 /* Osd */, - 65E8EF4F11EEA61E00BBF654 /* Stabilization */, - 65E8EF5311EEA61E00BBF654 /* System */, - 65E8EF5711EEA61E00BBF654 /* Telemetry */, - ); - name = Modules; - path = ../../OpenPilot/Modules; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2211EEA61E00BBF654 /* Actuator */ = { - isa = PBXGroup; - children = ( - 65632DEE125146E100469B77 /* matrixmixer */, - 65E8EF2311EEA61E00BBF654 /* actuator.c */, - 65E8EF2411EEA61E00BBF654 /* inc */, - ); - name = Actuator; - path = ../../OpenPilot/Modules/Actuator; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2411EEA61E00BBF654 /* inc */ = { - isa = PBXGroup; - children = ( - 65E8EF2511EEA61E00BBF654 /* actuator.h */, - ); - name = inc; - path = ../../OpenPilot/Modules/Actuator/inc; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2611EEA61E00BBF654 /* AHRSComms */ = { - isa = PBXGroup; - children = ( - 65E8EF2711EEA61E00BBF654 /* ahrs_comms.c */, - 65E8EF2811EEA61E00BBF654 /* inc */, - ); - name = AHRSComms; - path = ../../OpenPilot/Modules/AHRSComms; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2811EEA61E00BBF654 /* inc */ = { - isa = PBXGroup; - children = ( - 65E8EF2911EEA61E00BBF654 /* ahrs_comms.h */, - ); - name = inc; - path = ../../OpenPilot/Modules/AHRSComms/inc; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2A11EEA61E00BBF654 /* Altitude */ = { - isa = PBXGroup; - children = ( - 65E8EF2B11EEA61E00BBF654 /* altitude.c */, - 65E8EF2C11EEA61E00BBF654 /* inc */, - ); - name = Altitude; - path = ../../OpenPilot/Modules/Altitude; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2C11EEA61E00BBF654 /* inc */ = { - isa = PBXGroup; - children = ( - 65E8EF2D11EEA61E00BBF654 /* altitude.h */, - ); - name = inc; - path = ../../OpenPilot/Modules/Altitude/inc; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2E11EEA61E00BBF654 /* Attitude */ = { - isa = PBXGroup; - children = ( - 65E8EF2F11EEA61E00BBF654 /* inc */, - ); - name = Attitude; - path = ../../OpenPilot/Modules/Attitude; - sourceTree = SOURCE_ROOT; - }; - 65E8EF2F11EEA61E00BBF654 /* inc */ = { - isa = PBXGroup; - children = ( - ); - name = inc; - path = ../../OpenPilot/Modules/Attitude/inc; - sourceTree = SOURCE_ROOT; - }; - 65E8EF3011EEA61E00BBF654 /* Battery */ = { - isa = PBXGroup; - children = ( - 65E8EF3111EEA61E00BBF654 /* battery.c */, - 65E8EF3211EEA61E00BBF654 /* inc */, - ); - name = Battery; - path = ../../OpenPilot/Modules/Battery; - sourceTree = SOURCE_ROOT; - }; - 65E8EF3211EEA61E00BBF654 /* inc */ = { - isa = PBXGroup; - children = ( - 65E8EF3311EEA61E00BBF654 /* battery.h */, - ); - name = inc; - path = 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