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Code Issues Releases Activity

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

Browse Source 
- 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
This commit is contained in:
Corvus Corax 2013-06-05 19:11:42 +02:00
parent dc68d7d94e
commit 5e306250a5
5 changed files with 8 additions and 5 deletions
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8
flight/modules/Sensors/simulated/sensors.c → flight/modules/Sensors/simulated/Sensors/sensors.c
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@ -48,20 +48,21 @@
#include <openpilot.h> #include <openpilot.h>
#include "attitude.h" #include "attitudestate.h"
#include "accelsensor.h" #include "accelsensor.h"
#include "actuatordesired.h" #include "actuatordesired.h"
#include "attitudestate.h" #include "attitudestate.h"
#include "attitudesimulated.h" #include "attitudesimulated.h"
#include "attitudesettings.h" #include "attitudesettings.h"
#include "rawairspeed.h" #include "airspeedsensor.h"
#include "barosensor.h" #include "barosensor.h"
#include "magsensor.h"
#include "gyrosensor.h" #include "gyrosensor.h"
#include "flightstatus.h" #include "flightstatus.h"
#include "gpspositionsensor.h" #include "gpspositionsensor.h"
#include "gpsvelocitysensor.h" #include "gpsvelocitysensor.h"
#include "homelocation.h" #include "homelocation.h"
#include "sensor.h" // #include "sensor.h"
#include "ratedesired.h" #include "ratedesired.h"
#include "revocalibration.h" #include "revocalibration.h"
#include "systemsettings.h" #include "systemsettings.h"
@ -114,7 +115,6 @@ int32_t SensorsInitialize(void)
GPSPositionSensorInitialize(); GPSPositionSensorInitialize();
GPSVelocitySensorInitialize(); GPSVelocitySensorInitialize();
MagSensorInitialize(); MagSensorInitialize();
MagBiasInitialize();
RevoCalibrationInitialize(); RevoCalibrationInitialize();
return 0; return 0;

1
flight/targets/boards/simposix/firmware/Makefile
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@ -39,6 +39,7 @@ MODULES += CameraStab
MODULES += Telemetry MODULES += Telemetry
MODULES += FirmwareIAP MODULES += FirmwareIAP
MODULES += StateEstimation MODULES += StateEstimation
MODULES += Sensors/simulated/Sensors
#MODULES += OveroSync #MODULES += OveroSync
# Paths # Paths

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
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@ -31,6 +31,7 @@ UAVOBJSRCFILENAMES += actuatorsettings
UAVOBJSRCFILENAMES += altholdsmoothed UAVOBJSRCFILENAMES += altholdsmoothed
UAVOBJSRCFILENAMES += attitudesettings UAVOBJSRCFILENAMES += attitudesettings
UAVOBJSRCFILENAMES += attitudestate UAVOBJSRCFILENAMES += attitudestate
UAVOBJSRCFILENAMES += attitudesimulated
UAVOBJSRCFILENAMES += gyrostate UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate UAVOBJSRCFILENAMES += accelstate

1
flight/targets/boards/simposix/firmware/inc/pios_config.h
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@ -45,6 +45,7 @@
#define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED #define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD #define PIOS_INCLUDE_SDCARD
#define PIOS_USE_SETTINGS_ON_SDCARD
// #define PIOS_INCLUDE_IAP // #define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_SERVO #define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SPI

2
shared/uavobjectdefinition/gyrosensor.xml
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@ -1,5 +1,5 @@
<xml> <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> <description>Calibrated sensor data from 3 axis gyroscope in deg/s.</description>
<field name="x" units="deg/s" type="float" elements="1"/> <field name="x" units="deg/s" type="float" elements="1"/>
<field name="y" units="deg/s" type="float" elements="1"/> <field name="y" units="deg/s" type="float" elements="1"/>