Enabled simulated sensors in SimPosix for debugging of EKF behaviour including:

- SimPosix again stores and reads UAVObjects to disk (was disabled by someone)
- simulated sensors moved to allow automated module initialisation in simposix
- fixed a categorization bug in a uavobject

flight/modules/Sensors/simulated/Sensors/sensors.c

@@ -48,20 +48,21 @@
 
 #include <openpilot.h>
 
-#include "attitude.h"
+#include "attitudestate.h"
 #include "accelsensor.h"
 #include "actuatordesired.h"
 #include "attitudestate.h"
 #include "attitudesimulated.h"
 #include "attitudesettings.h"
-#include "rawairspeed.h"
+#include "airspeedsensor.h"
 #include "barosensor.h"
+#include "magsensor.h"
 #include "gyrosensor.h"
 #include "flightstatus.h"
 #include "gpspositionsensor.h"
 #include "gpsvelocitysensor.h"
 #include "homelocation.h"
-#include "sensor.h"
+// #include "sensor.h"
 #include "ratedesired.h"
 #include "revocalibration.h"
 #include "systemsettings.h"
@@ -114,7 +115,6 @@ int32_t SensorsInitialize(void)
     GPSPositionSensorInitialize();
     GPSVelocitySensorInitialize();
     MagSensorInitialize();
-    MagBiasInitialize();
     RevoCalibrationInitialize();
 
     return 0;

flight/targets/boards/simposix/firmware/Makefile

@@ -39,6 +39,7 @@ MODULES += CameraStab
 MODULES += Telemetry
 MODULES += FirmwareIAP
 MODULES += StateEstimation
+MODULES += Sensors/simulated/Sensors
 #MODULES += OveroSync
 
 # Paths

flight/targets/boards/simposix/firmware/UAVObjects.inc

@@ -31,6 +31,7 @@ UAVOBJSRCFILENAMES += actuatorsettings
 UAVOBJSRCFILENAMES += altholdsmoothed
 UAVOBJSRCFILENAMES += attitudesettings
 UAVOBJSRCFILENAMES += attitudestate
+UAVOBJSRCFILENAMES += attitudesimulated
 UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate

flight/targets/boards/simposix/firmware/inc/pios_config.h

@@ -45,6 +45,7 @@
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_SDCARD
+#define PIOS_USE_SETTINGS_ON_SDCARD
 // #define PIOS_INCLUDE_IAP
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI

shared/uavobjectdefinition/gyrosensor.xml

@@ -1,5 +1,5 @@
 <xml>
-    <object name="GyroSensor" singleinstance="true" settings="false" catgory="Sensors">
+    <object name="GyroSensor" singleinstance="true" settings="false" category="Sensors">
         <description>Calibrated sensor data from 3 axis gyroscope in deg/s.</description>
 	<field name="x" units="deg/s" type="float" elements="1"/>
 	<field name="y" units="deg/s" type="float" elements="1"/>